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Uncalibrated Path Planning in the image Space for the Fixed Camera Configuration

自动化学报 2013年第6期39卷 759-769页

作者： LIANG Xin-Wu HUANG Xin-Han WANG Min 1. Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Pro- cessing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被... 详细信息

基于图象的视觉 servoing 能被用来高效地控制机器人操纵者的运动。什么时候起始并且然而，需要的配置是远的是由许多研究人员，指出了如此的一条控制途径能由于它的本地性质受不了集中和稳定性问题。由指定足够的图象特征轨道在图象被列在后面，我们能利用基于图象的视觉 servoing 的本地集中和稳定性避免这些问题。因此，路径在图象空间计划是在最近的年里的机器人学的一个活跃研究话题。然而，几乎所有为 camera-in-hand 配置的盒子相关结果被建立。在这篇论文，我们建议 uncalibrated 为改正照相机配置的盒子的视觉路径计划算法。这个算法在射影的空格直接计算图象特征的轨道以便他们与僵硬天体运动兼容。由把旋转和翻译的射影的代表分解成他们的各自的正规形式，我们能容易插入内推他们在射影的空间的路径。然后，在图象飞机的图象特征的轨道能经由射影的路径被产生。这样，特征点的知识组织并且照相机内在的参数没被要求。验证建议算法的可行性和表演，基于 puma560 机器人，操纵者在这被给的模拟结果糊。

关键词：路径规划算法摄像机内参数图像空间配置稳定性问题图片校准视觉伺服

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Object tracking within the framework of concept drift

Object tracking within the framework of concept drift

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11th Asian Conference on Computer Vision, ACCV 2012

作者： Chen, Li Zhou, Yue Yang, Jie Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9783642374302

It is well known that the backgrounds or the targets always change in real scenes, which weakens the effectiveness of classical tracking algorithms because of frequent model mismatches. In this paper, an object tracking algorithm within the framework of concept drift is proposed to solve this problem. We detect the driftpoints using a simple message-passing algorithm based on Bayesian Approach. The analyzed probability distribution lays the foundation for the self-adaption of our new model. Our tracking algorithm within the framework of concept drift improves the tracking robustness and accuracy which is illustrated by the two experiments on two real-world changing scenes. © 2013 Springer-Verlag.

关键词： Probability distributions

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Changes in spectrum mapping in rhythmic movement involved in walking after spinal cord injury

Changes in spectrum mapping in rhythmic movement involved in...

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2013 IEEE International Conference on Medical Imaging Physics and Engineering, ICMIPE 2013

作者： Wei, Li Zhiqiao, Yan Yue, Huang Jiang, Xu Image Processing and Intelligent Control Key Laboratory Education Ministry of China China School of Automation Huazhong University of Science and Technology Wuhan 430074 China Rehabilitation Department Tongji Hospital Wuhan 430074 China

ISBN: (纸本)9781467360128

Spectrum mapping reflects the strength of brain electrical activity in different frequency band. The current study analyzes changes in electroencephalography (EEG) after spinal cord injury (SCI) on the basis of spectrum mapping. Comparing spectrum mappings of SCI patients and normal subjects, the fact that beta rhythm dominated in brain electrical activity during walking period was concluded. In addition, the proportion of delta wave increased and slightly exceeded that of beta wave after spinal cord injury and power values in delta band of SCI patients performed greater than that of normal subjects. © 2013 IEEE.

关键词： Electroencephalography

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Displacement prediction model of landslide based on functional networks

Displacement prediction model of landslide based on function...

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10th International Symposium on Neural Networks, ISNN 2013

作者： Chen, Jiejie Zeng, Zhigang Tang, Huiming Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074 China Faculty of Engineering China University of Geosciences Wuhan 430074 China

ISBN: (纸本)9783642390678

In this paper, a novel computational intelligence scheme is proposed to forecast landslide based on functional networks. Two types functional networks, general functional networks with two variables basis function (GFN) and separable functional networks (SFN) are applied to predict a real-world example. In addition, the experiments reveal that the landslide prediction using functional networks is reasonable and effective, and GFN are consistently better than SFN in terms of the same measurements. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Landslides

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Design of mobile robot controller based on dual ARM Cortex architecture

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 284-288页

作者： Peng, Gang Yuan, Bing College of Automation Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

A design and implementation of a mobile robot controller on dual ARM Cortex architecture was presented. Processor S5PV210 was upper controller of ARM Cortex A8 architecture, and communicated with lower controller STM32 of ARM Cortex M3 architecture, through RS232 bus and modbus as protocol. S5PV210 processor had abundant interface with linux and QT/Embedded graphic interface, such as network, video, Wifi, 3G. STM32 could sense external environment and control the motor by interface, thus a universal mobile robot controller was designed with well-organized, good real-time, and universality.

关键词： Mobile robots

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Uncalibrated Path Planning in the image Space for the Fixed Camera Configuration

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Acta Automatica Sinica 2013年第6期39卷 759-769页

作者： Xin-Wu LIANG Xin-Han HUANG Min WANG Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education of China Shanghai 200240 China Department of Control Science and Engineering Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Ministry of Education of China Wuhan 430074 China

image-based visual servoing can be used to efficiently control the motion of robot manipulators. When the initial and the desired configurations are distant, however, as pointed out by many researchers, such a control approach can suffer from the convergence and stability problems due to its local properties. By specifying adequate image feature trajectories to be followed in the image, we can take advantage of the local convergence and stability of image-based visual servoing to avoid these problems. Hence, path planning in the image space has been an active research topic in robotics in recent years. However, almost all of the related results are established for the case of camera-in-hand configuration. In this paper, we propose an uncalibrated visual path planning algorithm for the case of fixed-camera configuration. This algorithm computes the trajectories of image features directly in the projective space such that they are compatible with rigid body motion. By decomposing the projective representations of the rotation and the translation into their respective canonical forms, we can easily interpolate their paths in the projective space. Then, the trajectories of image features in the image plane can be generated via projective paths. In this way, the knowledge of feature point structures and camera intrinsic parameters are not required. To validate the feasibility and performance of the proposed algorithm, simulation results based on the puma560 robot manipulator are given in this paper.

关键词： Visual servoing path planning uncalibrated camera projective space fixed-camera configuration

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Handling multi-objective in an HTN planner for emergency decision-making

Handling multi-objective in an HTN planner for emergency dec...

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IEEE Conference Anthology

作者： Minglei Li Hongwei Wang Chao Qi Dan Liu Jian Wang Zhe Wang Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science & Technology Wuhan China

There are many multi-objective planning problems in emergency decision-making domain. HTN planners were widely used in emergency decision-making, while they have limited ability to solve optimization, especially multi-objective optimization. Aimed to handling multi-objective in HTN planners, this paper proposes a novel method based on SHOP2, which is a domain-independent state-based forward HTN planner. The method uses a weighted vector to mirror the decision maker's performance for various objectives and an anytime search algorithm to improve the ability to find the best solution plan. Finally, a case of emergency evacuation is given to testify the effectiveness of the method.

关键词： Planning Decision making Floods Optimization Vectors Measurement Search problems

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AN ACTIVE CONTOUR MODEL BASED ON MULTIPLE BOUNDARY MEASURES

AN ACTIVE CONTOUR MODEL BASED ON MULTIPLE BOUNDARY MEASURES

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IEEE International Conference on image processing

作者： Yu Qiao Lei Zhou Jie Yang Yonghui Gao The Key Laboratory of Ministry of Education for System Control and Information Processing Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University

ISBN: (纸本)9781479923427

Weak boundary contrast, inhomogeneous background and overlapped intensity distributions of the object and background are main causes that may lead to failure of boundary detection for many traditional active contour methods. In this paper, we propose a region-based active contour model to address these problems in both local and global ways. A localized active contour framework is developed, in which two local boundary measures are introduced for the evolution of the level set function. These measures are used to select the boundary candidates for boundary preservation such that the evolution of the contour is guided in a reasonable way. The object boundary is determined by a global boundary measure which evaluates the boundary completeness during the entire evolution process. The experiments demonstrate that our method works well against weak boundary contrast, inhomogeneous background and overlapped intensity distributions.

关键词： Region-based active contour model Level set method Local boundary measures Boundary preservation Global boundary measure contour Boundary boundary layer set method boundary contrast Comet Nucleus Tour Edge detection evolution evolution evolution intensity distribution

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Distributed leader-following swarm of heterogeneous multi-agent systems

Distributed leader-following swarm of heterogeneous multi-ag...

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13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, LSS 2013

作者： Liang, Haili Su, Housheng Wang, Xiaofan Chen, Michael Z. Q. Department of Automation Shanghai Jiao Tong University Ministry of Education of China Shanghai 200240 China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Mechanical Engineering University of Hong Kong Hong Kong

This paper investigates distributed leader-following swarm of heterogeneous multi-agent systems. Comparing with the existing works on leader-following swarm of homogeneous multi-agent systems, this paper is much more approaching the practical situation because the agents have different dynamics. We show that the heterogeneous followers will gather with a certain error lever under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. © IFAC.

关键词： Multi agent systems

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Event-triggered consensus of nonlinear multi-agent systems with nonlinear interconnections

Event-triggered consensus of nonlinear multi-agent systems w...

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Chinese control Conference (CCC)

作者： Xiuxia Yin Dong Yue Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan Hubei CN

This paper investigates the consensus problem for a set of nonlinear multi-agent systems with nonlinear interconnections. First, in order to reduce the communication burden in the multi-agent network, a distributed event-triggered consensus control is designed by taking into account the effect of the nonlinear interconnections. Then, based on the Lyapunov functional method and the Kronecker product technique, sufficient conditions are obtained to guarantee the consensus in the form of linear matrix inequality (LMI). Finally, a simulation example is proposed to illustrate the effectiveness of the developed theory.

关键词： Tin Multi-agent systems control design Lead Bandwidth Ear Nickel

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