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检索条件"机构=Key Laboratory of Image and Graphics Intelligent Processing"

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The analytical algorithm of program quaternion in the arbitrary spacecraft attitude-adjusting control

The analytical algorithm of program quaternion in the arbitr...

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2011

作者： Ni, Shaobo Wu, Jianwu Shan, Jiayuan Liu, Lei Su, Mao School of Aerospace Engineering Beijing Institute of Technology Beijing 100081 China Beijing Aerospace Automatic Control Institute Beijing 100854 China Key Laboratory of Education Ministry for Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9783642259913

The analytical algorithm of program quaternion is studied, aiming at the problem of the arbitrary spacecraft attitude-adjusting control. It also provides the analytical constructor method of the program quaternion for any given initial quaternion and angle velocity, terminal quaternion and angle velocity. The advantages of this method are as follows: (1) Good adaptability. Both of the initial and terminal conditions are arbitrary;(2) Simple model. The calculation process only involves the simple algebraic operation;(3) Easy to optimize. By using the program quaternion model, the time consumption in the process of spacecraft attitude adjustment and the maximum angular velocity can be optimized directly. According to the Mathematical simulation results, the program quaternion tracking can be realized by a simple PD control law. © 2011 Springer-Verlag.

关键词： Attitude control

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Denosing 3D Ultrasound images by Non-local Means Accelerated by GPU

Denosing 3D Ultrasound Images by Non-local Means Accelerated...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Song Hu WenGuang Hou Department of Biomedical Engineering Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China HuaZhong University of Science and technology Wuhan China

In Ultrasound imaging, speckle noise is the most serious problem which affects the performance of images. Non-local mean filter is a nice method to remove the speckle noise, but the algorithm' computational complexity makes it's a highly time-consuming method. In many applications like image-guided surgical intervention, real-time de-noising is required. This paper implements a NLM method accelerated by GPU for real-time denoising of 3D ultrasound images. The experimental results show the proposed accelerated de-noising method is efficient in terms of denoising quality and real-time.

关键词： graphics processing unit Three dimensional displays Ultrasonic imaging Noise reduction Biomedical imaging Filtering algorithms Speckle

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Optimal control of nonlinear system based on linear extended state observer

Optimal control of nonlinear system based on linear extended...

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作者： Xu, Zhicai Wang, Zhishen Wang, Yongji Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9789881725592

Systems with unknown nonlinear characteristics and unknown disturbances are linearized using dynamic feedback linearization based on linear extended state observer. Also a method for the parameter regulation is presented. And then for a given performance index, an optimal control law is designed using LQR theory. Finally numerical simulation results demonstrate that this control method can meet the performance requirement with good robustness. © 2011 Chinese Assoc of Automati.

关键词： Nonlinear systems

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image Retrieval Using the Modified Intersecting Cortical Model

Image Retrieval Using the Modified Intersecting Cortical Mod...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Wenjin Yuan Xuming Zhang School of Life Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

The intersecting cortical model(ICM) is driven from the pulse-coupled neural networks (PCNN), and a lot of works have been done on it. In this paper, we have proposed a method, which is modified from the PCNN, to retrieval the image. This method uses the iteration times of the ICM as the feature, and we do it repeatedly. So we will get the feature vectors and utilize the features to retrieval the image. And the experimental results have proved the effectiveness of the proposed method. While the proposed method shows some advantages like the feature curves are linear and steady.

关键词： Neurons Mathematical model Feature extraction Computational modeling Equations Time series analysis Firing

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Transmit Aperture Function for Large Depth Focusing Combined with Phase Coherence Imaging for Interference Suppressing

Transmit Aperture Function for Large Depth Focusing Combined...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Mengling Xu Yimin Chen Ming Yuchi Mingyue Ding School of Life Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science & Technology Wuhan China

Dynamic focus and dynamic aperture applied on both transmit and receive aperture can provide the best possible quality of the B-mode ultrasound image, which is called a "gold standard" image. However, they are implemented only on the receive beam in most medical ultrasound systems because the application of dynamic focus on the transmit beam will reduce the frame rate severely, which has great medical importance especially when tissue motion needs to be considered. Recently, a specific transmit aperture function has been proposed to achieve uniform transmit energy distribution on the axis over a large depth without reducing the frame rate. Although it can maintain the uniformity of the transmit energy on the axis, the energy distribution off the axis of the transmit beam is not satisfactory, meaning a wider main lobe width and higher side lobe levels compared with some general aperture functions such as rectangular and hamming functions. To suppress the interference signals originating from the targets on the side and grating lobes, we processed the received echo signals using the phase coherence imaging method (PCI), which is an adaptive receive aperture weighting technique presented in the recent literatures. Experimental results show that the uniform sensitivity along the axis range has been achieved and image quality on spatial and contrast resolution improved when we use the transmit aperture function combined with PCI.

关键词： Apertures Ultrasonic imaging Coherence Wires Biomedical imaging image resolution

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Control of Upper-Limb Power-Assist Exoskeleton Based on Motion Intention Recognition

Control of Upper-Limb Power-Assist Exoskeleton Based on Moti...

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yongji Wang Jian Huang Weiguang Huo Jun Wu Lei Cheng Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technol Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Educa

Recognizing the user motion intention plays an important role in the study of power-assist robots. An intention-guided control strategy is proposed for the upper-limb power-assist exoskeleton. A force sensor system comprised of force sensing resistors (FSRs) is designed to online estimate the motion intention of user upper limb. A new concept called “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and the observation model of IRD are obtained by enumerating the upper limb behavior modes and analyzing the relationship between the measured force signals and the motion intention. Based on these two models, the IRD can be online inferred by applying filtering technology. Guided by the estimated IRD, an admittance control strategy is assumed to control the motions of three DC motors in the joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by the experiments on a 3-DOF robotic exoskeleton.

关键词： Joints Exoskeletons Force Humans Robot sensing systems Jacobian matrices

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3D Ultrasound Data Acqusition System Based on Back End Scan Mode

3D Ultrasound Data Acqusition System Based on Back End Scan ...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Jian Qi Mingyue Ding Ming Yuchi Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China School of Life Science and Technology Huazhong University of Science and Technology Wuhan China

The data acquisition of 3D-Ultrasound includes array scan and mechanical scan, and the later one is more easy to realize. Currently, the traditional probe scanning mode is Front-end scanning. Under the above scanning mode, when it scans over the breast, 2D-Ultrasound probe slides through the surface of the patients' bodies, the image will be influenced strongly by the human *** this paper we propose a new scanning mode to solve the above problem: Back-End scan, the back end rotates while the front end contacts the patients' skin without slide. The device designed using dual stepper motors which are under the synchronization control. Experiment results show the effectiveness of the proposed device.

关键词： Probes Ultrasonic imaging Synchronous motors Three dimensional displays Gears Ribs Phantoms

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Fast image Matching Based on Multi-core DSP

Fast Image Matching Based on Multi-core DSP

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Fumin Guo Mingyue Ding Xuming Zhang School of Life Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

Traditional image matching algorithm based on gray correlation provides accurate results but it is time-consuming because of large amount of calculation. An improved gray correlation based image matching algorithm based on multi-core DSP is proposed to speed up the matching velocity with the acceptable margin of errors. With the development of portable embedded image processer, especially the multi-core DSPs for parallel computing to speed up the process, these image matching algorithms need to be transplanted to these embedded system. Experiments based on CPU in the form of Visual C++6.0 application program and multi-core Digital Signal Processor(DSP) verify the effectiveness of the algorithm, making it applicable to embedded image processing system with a multi-core DSP.

关键词： Digital signal processing Correlation image matching Signal processing algorithms Algorithm design and analysis Multicore processing Feature extraction

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Geometric Active Contour Model and its Application to Carotid Plaque Detection

Geometric Active Contour Model and its Application to Caroti...

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International Conference on intelligent Computation and Bio-Medical Instrumentation (ICBMI)

作者： Jieyu Cheng Mingyue Ding Xuming Zhang Life School of Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

This paper gives an overview of three different geometric active contour models with the focus on the application to carotid plaque detection from cross-sectional ultrasound images of the carotid artery. On one hand, basic principles of these geometric active contour models are presented. On the other hand, performance of these models are tested on 16 images and compared with the manual delineations.

关键词： Active contours image segmentation Computational modeling Manuals Level set Ultrasonic imaging Solid modeling

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Echo State Networks Based Method for Harmonic Extraction in Shunt Active Power Filters

Echo State Networks Based Method for Harmonic Extraction in ...

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Jinbang Xu Jun Yang Feng Liu Zhixiong Zhang Anwen Shen Department of Control Science & Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science & Technology Wuhan China

With the wide use of power conversion devices, harmonic currents are being injected into the power grid. Shunt Active Power Filters (SAPF) is a power electronic device to compensate the harmonic currents caused by nonlinear loads. As the foundation of the harmonics recognition and compensation, harmonic extraction techniques are becoming more and more important. This paper proposes a new harmonic extraction method based on the Echo State Networks (ESN). ESN is a new type of Recurrent Neural Networks (RNN), which has much faster training speed than other types of RNN. To evaluate the dynamic system modeling capability of the ESN, the ESN with different dynamic reservoir size are discussed. The performance of the ESN based harmonic extraction method is compared with traditional methods and method based on multilayer perceptron networks (MLP). The ESN algorithm is trained and tested in MATLAB.

关键词： Harmonic analysis Power harmonic filters Training Training data Reservoirs Neurons

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