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A partition method for solving block pentadiagonal linear system on intel hypercube iPSC/860 3rd

A partition method for solving block pentadiagonal linear sy...

3rd International Austrian Center for Parallel Computation Conference with Special Emphasis on Parallel Databases and Parallel I/O, 1996

作者： Halada, Ladislav Lucká, Mária Dep. of Mathematics Slovak Technical University Nán.slobody Bratislava812 31 Slovakia Institute for Control Theory and Robotics Slovak Academy of Sciences Dúbravsks cesta 9 Bratislava842 37 Slovakia

ISBN: (纸本)3540616950

We present a parallel partition algorithm for the solution of block pentadiagonal linear systems suitable for computation on computers with distributed memory. The method belongs to the direct methods and is based on the partition method derived in [1] for non-block banded matrices. The parallelization is achieved by dividing of the original block matrix into large blocks that can be processed almost independently. The time measurement results achieved by implementation of this method in the message passing Fortran on Intel hypercube iPSC/860 have shown a dependence of the effectivity of the implementation on the size of the large blocks. © 9 Springer-Verlag Berlin Heidelberg 1996.

关键词： Linear systems

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Non-negative Sparse Coding for Motion Extraction

Non-negative Sparse Coding for Motion Extraction

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International Joint Conference on Neural Networks

作者： T. Guthier V. Willert A. Schnall K. Kreuter J. Eggert Control Theory and Robotics Department Technische Universitaet Darmstadt Germany Honda Research Institute Europe Germany

ISBN: (纸本)9781467361279

Visual motion is a rich source of information that is directly coupled to the underlying shape of a moving object. One way to describe motion is to use optical flow fields. Due to the aperture problem, dense optical flow estimation is an ill-constraint problem, while sparse optical flow estimation looses the shape information of moving objects. Current estimation algorithms based on regularization or segmentation fail at surface deformations or when the relevant motion is less dominant then its sourrounding movements. Both is e.g. true for face movements, where small movement patterns, so called action units, need to be preserved for further image analysis. We present a novel approach to capture the characteristics of local motion patterns that is based on the brightness constancy equation of optical flow estimation in combination with feature extraction using translation invariant non-negative sparse coding. Our approach simultaneously learns basic motion patterns and estimates the flow field without requiring pretrained motion patterns from ground truth optical flow data. We show on a face expression dataset how this method can preserve weak movements even in the presence of large head movements.

关键词： Motion Extraction underlying shape flow field without requiring pretrained

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Stability of longitudinal bunch length feedback for heavy-ion synchrotrons

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Physical Review Special Topics - Accelerators and Beams 2013年第3期16卷 032801-032801页

作者： D. Lens H. Klingbeil []Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universit?t Darmstadt Landgraf-Georg-Stra?e 4 D-64283 Darmstadt Germany

In heavy-ion synchrotrons such as the SIS18 at Helmholtzzentrum für Schwerionenforschung, Helmholtz Centre for Heavy Ion Research (GSI), coherent oscillations of the particle bunches are damped by rf feedback systems to increase the stability and to improve the beam quality. In the longitudinal direction, important modes are the coherent longitudinal dipole and quadrupole oscillation. In this paper we present a new and rigorous approach to analyze the longitudinal feedback to damp these modes. The results are applied to the rf feedback loop at GSI that damps the quadrupole mode. The stability analysis is compared with simulations and is in good agreement with results of a beam experiment. Finally, we summarize practical implications for the operation of the feedback system regarding performance and stability.

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A Probabilistic Method for Motion Pattern Segmentation

A Probabilistic Method for Motion Pattern Segmentation

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International Joint Conference on Neural Networks (IJCNN)

作者： Daniel Weiler Volker Willert Julian Eggert Edgar Korner Institute of Automatic Control Control Theory and Robotics Lab Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach Germany

In this paper we present an approach for probabilistic motion pattern segmentation. We combine level-set methods for image segmentation with motion estimations based on probability distribution functions (pdf's) calculated at each image position. To this end, we extend a region based level-set framework to exploit the motion pdf's. We then compare segmentation results of the pdf-based with those of optical-flow-based motion segmentation approaches. We found that the straightforward way of characterizing the segmented region by spatially averaging the motion measurement pdf's does not yield satisfactory results. However, describing the spatial characteristics of the motion pdf's with nonparametric density estimates enables to solve complex motion segmentation problems. In particular for situations with demanding motion patterns like partly overlapping objects and transparent motion, we show that the probabilistic approach yields better results. This confirms the idea that for motion processing it is beneficial to consistently retain the uncertainty and ambiguity of the measurement process right up to the final integration stage, instead of directly processing optical flow vectors.

关键词： Image segmentation Pixel Motion estimation Motion measurement Motion segmentation Computer vision Image motion analysis Neural networks Probability distribution Fluid flow measurement

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Algorithm for Task-Resource Selecting and Modelling of the Production Line

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IFAC Proceedings Volumes 1997年第21期30卷 261-264页

作者： I. Budinská B. Frankovič Institute of Control Theory and Robotics Slovak Academy of Sciences 84237 Bratislava Dúbravská c. 9 Slovak Republic.

This paper deals with task-resource selecting and control of production line. For the solution of this problem, an algorithm based on the production cost and the resource characteristics was developed. There is shown ... 详细信息

关键词： Modelling optimisation simulation scheduling production line

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SNN-LDS: Spatio-temporal non-negative sparse coding for human action recognition

SNN-LDS: Spatio-temporal non-negative sparse coding for huma...

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24th International Conference on Artificial Neural Networks, ICANN 2014

作者： Guthier, Thomas Šošić, Adrian Willert, Volker Eggert, Julian Control Theory and Robotics TU Darmstadt Landgraf-Georg Strasse 4 Darmstadt Germany Signal Processing Group TU Darmstadt Merckstrasse 25 Darmstadt Germany Honda Research Institute Europe Carl-Legien Strasse 30 Offenbach Germany

ISBN: (纸本)9783319111780

Current state-of-the-art approaches for visual human action recognition focus on complex local spatio-temporal descriptors, while the spatio-temporal relations between the descriptors are discarded. These bag-of-features (BOF) based methods come with the disadvantage of limited descriptive power, because class-specific mid- and large-scale spatio-temporal information, such as body pose sequences, cannot be represented. To overcome this restriction, we propose sparse non-negative linear dynamical systems (sNN-LDS) as a dynamic, parts-based, spatio-temporal representation of local descriptors. We provide novel learning rules based on sparse non-negative matrix factorization (sNMF) to simultaneously learn both the parts as well as their transitions. On the challenging UCF-Sports dataset our sNN-LDS combined with simple local features is competitive with state-of-the-art BOF-SVM methods. © 2014 Springer International Publishing Switzerland.

关键词： Linear control systems

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Level-set segmentation with contour based object representation

Level-set segmentation with contour based object representat...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Daniel Weiler Florian Roehrbein Julian Eggert Institute of Automatic Control Control Theory and Robotics Laboratory Darmstadt University of Technology Darmstadt Germany Honda Research Institute Europe GmbH Offenbach Germany

In this paper we present an approach for contour based object representation. To this end we use a curvature signal gained by a level-set segmentation method. The advantage of that curvature signal is that it generates no computational overhead as it is a byproduct of standard level-set segmentation methods. Different methods for the description of the segmented objects, so called object descriptors are presented. The object descriptors are all invariant against translation, rotation and scale of the object. Furthermore we show a sparse and memory efficient representation of the descriptors for a series of objects. Finally an approach for classification of unknown objects based on ldquomemorizedrdquo objects is proposed.

关键词： Image segmentation Shape Biological system modeling Neurons Pixel Neural networks Signal generators Labeling Automatic control control theory

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Line moments and invariants for real time processing of vectorized contour data 8th

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8th International Conference on Image Analysis and Processing, ICIAP 1995

作者： Lambert, Georg Gao, Hua Control System Theory and Robotics Dept. Technical University of Darmstadt Landgraf-Georg-Str.4 Darmstadt Germany Institute of Production Engineering and Machine Tools Technical University of Darmstadt Petersenstr. 30 Darmstadt64287 Germany

ISBN: (纸本)3540602984

In this article a new concept for real time analysis of images based on the vectorized contours is presented. Given the polygone approximation of contours the geometric moments can be formulated for line contours. The resulting line moments (LM’s) can be calculated for an arbitrary collection of contour fragments. Neither the existence of an area nor a closed contour is prerequisite to characterize an object by line moments. Due to these properties of the LM’s time consuming preprocessing of noisy object contours is not required. Even objects with structured surfaces can be characterized by LM’s. The formalism to apply the geometric moments to contour patterns is derived. A direct and a recursive algorithm to efficiently compute the LM’s is given. As an application of the LM’s an analysis system for structured textures is presented and results are discussed. © Springer-Verlag Berlin Heidelberg 1995.

关键词： Computers

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An Efficient System for Predicting Hand-Object Contact Probability Based on RGB Image Sequences

An Efficient System for Predicting Hand-Object Contact Proba...

引用

International Workshop on Advanced Computational Intelligence (IWACI)

作者： Ji’an Tao Lu Xu Xinyan Ma Kuizhi Mei Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Institute of Control Theory and Control Engineering Xi’an Jiaotong University Xi’an China

ISBN: (数字)9781728142487

ISBN: (纸本)9781728142494

Predicting the probability of contact between objects is a very important research direction in computer vision. We propose an efficient system to predict the motion path of the hand in a sequence of RGB images, and get the probability of contact between the hand and objects. For this problem, first, we use YOLOv3 as target detector and Social LSTM as the predictor to accurately predict the movement path of hand. Second, in terms of contact probability, we adopt the strong feature extraction capability of the convolutional neural networks to learn the potential relation between the position of objects. The experimental results show that our system can effectively predict the path and the probability of contact.

关键词： Feature extraction Trajectory Object detection Prediction algorithms Detectors Convolutional neural networks Task analysis

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control system design for micro AUV based on open source hardware

Control system design for micro AUV based on open source har...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Wang, Chenguang Hu, Zhiqiang Yang, Yi Geng, Lingbo Wang, Ling Department of Control Theory and Engineering Shenyang Ligong University Shenyang Liaoning Province China Department of Ocean Robotics Shenyang Institute of Automation Shenyang Liaoning Province China Department of Electric Automation Shenyang Ligong University Shenyang Liaoning Province China

ISBN: (纸本)9781538680698

This paper mainly introduces the the control system of micro AUV based on open source hardware. The control system is the most important part of the AUV and its performance has a direct impact on the stability and reliability of AUV. Due to the small size and limited energy, micro AUV puts more restrictions on the volume and power consumption of the control system. In this paper, we choose the BeagleBone Black, the open source hardware, as the main controller, the rich peripheral interface of it facilitates data acquisition and centralized processing of the vehicle. Arduino, another type of open source hardware, is used as the node controller of the control system. Compared with the traditional hardware design, this architecture has the advantages of small volume, low power consumption, low cost, short period of development and maintenance, and it also had good performance in data processing and real-time control. The experimental results showed that the control system based on this architecture run effectively. © 2018 IEEE.

关键词： control systems

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