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Chinese Conference on Pattern Recognition (CCPR)

作者： Shaoyan Gai Feipeng Da Weiguang Yang Key Laboratory of Measurement and Control for Complex System of Ministry of Education South-East University Nanjing China

High precision identification of feature points is an important technology and one of the bases of computer vision, image analysis and image processing. In the practical applications, the feature points can not be identified easily in various conditions of light illumination, visual angle, texture, and perspective projection. And in many cases, the size of feature point is small, the context is uncertain and the shape of feature point is different from each other. According to the properties of actual vision images, a novel method of feature point identification using multi-scale detecting technology is presented. In this thesis, an automatic circle feature point detection system is developed based on digital image processing techniques, in which, the feature points are detected in two scales. In large-scale recognition, the image pre-processing is carried out to reduce the impact of image noise, and the feature points with various shape deformation can be found out. And then, the founded points are checked along with small scale detecting. The relationship of the points and their mappings in three dimensional space is obtained and used to judge if the point is a real feature point one by one. Thus the deformed feature points in various perspective projection conditions can be recognized correctly. Experimental results show that this approach for feature points identification is not only fast but also robust. The proposed technology is a kind of useful method for contour extraction and feature points identification in the fields of computer vision and image analysis.

关键词： Computer vision Image texture analysis Shape Image processing Application software Lighting Digital images Large-scale systems Image recognition Noise reduction

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Improved color-based particle filter for tracking moving object

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Journal of Computational Information systems 2009年第1期5卷 323-330页

作者： Zhang, Tao Fei, Shumin Li, Xiaodong Lu, Hong Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing 210096 China

Robust real-time tracking of non-rigid objects is a challenging task. Color is a powerful feature for tracking deformable objects in image sequences with complex backgrounds. Color distribution is applied, as it is robust to partial occlusion, is rotation and scale invariant and computationally efficient. Particle filter has been proven very successful for non-linear and non-Gaussian estimation tracking problems. The article presents the integration of color distributions into particle filtering. A target is tracked with a particle filter by comparing its histogram with the histograms of the sample positions using the Bhattacharyya distance. Additionally, to solve the sample impoverishment (all particles collapse to a single point within a few iterations) in the particle-filter algorithm, a new resampling algorithm is proposed to tackle sample impoverishment. The performance of the proposed filter is evaluated qualitatively on various real-world video sequences. The experimental results show that the improved color-based particle filter algorithm can reduce sample impoverishment effectively and track the moving object very well. Copyright © 2009 Binary Information Press.

关键词： Color

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Flow-rate Characteristics measurement of Regulators Based on the Pressure Response in an Isothermal Tank

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Chinese Journal of Mechanical Engineering 2009年第5期22卷 633-638页

作者： FAN Wei ZHANG Hongli WANG Tao PENG Guangzheng ONEYAMA Naotake Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China School of Automation Beijing Institute of Technology Beijing 100081 China Electrical Engineering College Xinjiang University Urumchi 830046 China SMC Tsukuba Technical Center Ibaraki-ken 300-2493 Japan

Regulators are important components in pneumatic system, and their flow-rate characteristics are the key parameters for designers. According to the correlatively international standard and national standard of China, which describe the flow-rate characteristics measurement method of pneumatic regulators, the pressure and the flow are measured point by point, and then the flow-rate characteristics curve is plotted point to point. This method has some disadvantages, such as equipment complexity, much air consumption, and low efficiency. To settle the problems presented above, this paper puts forward a new high efficient and energy saving flow-rate characteristics measurement method of regulators, which is based on the pressure response when charging and discharging to an isothermal tank without any flow meters. The measurement principle, the system and the steps are introduced. And the tracking differentiator is used for the data processing of the pressure difference. Two typical kinds of regulators were experimentally investigated, and their flow-rate characteristics curves were obtained with the new and the conventional method, respectively. Comparatively, it＇s proved that this new method is feasible because it is not only able to meet the demand of the measurement precision, but also to save energy and improve efficiency. Compared to the conventional method, the new method takes only about 1/10 amount of time and consumes about only 1/30 amount of air. Hopefully it will be able to serve as an international standard of flow-rate characteristics measurement method of regulators.

关键词： regulator flow-rate characteristics isothermal tank charging and discharging once pressure response tracking differentiator energy saving and high efficiency

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Mean-square exponential stability of stochastic Markovian jump systems with mode-dependent time-varying delays

Mean-square exponential stability of stochastic Markovian ju...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Li Ma Fei-Peng Da Kan-Jian Zhang Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of EducationSoutheast University

In this paper,the mean-square exponential stability problem is investigated for stochastic Markovian jump open-loop systems with mode-dependent time-varying *** constructing a modified Lyapunov-Krasovskii functional,a delay-dependent sufficient condition for the solvability of the above problem is presented in terms of linear matrix inequalities（LMIs）.The decay rate can be a given finite positive constant and synchronously the derivative of time-varying delays is only required to have a upper bound which is not required to be less than *** examples are presented to illustrate the effectiveness of the theoretical result.

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Wireless acoustic sensor network with compressive sampling

Wireless acoustic sensor network with compressive sampling

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IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009

作者： Qiao, Daoe Luo, Hong Xu, Xiaoli Beijing Key Laboratory Measurement and Control of Mechanical and Electrical System Beijing Information Science and Technology University Beijing 100192 China School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9780889868106

We design a complete platform of wireless acoustic sensor network, featuring with compressive sampling and adaptive sampling. The compressive sampling is a new theory that combines sampling and compression into a single linear measurement process. It captures signals at a rate significantly below the Nyquist rate, and recovers exactly the original signals using convex optimization or greedy algorithm. In addition, we adopt an adaptive sampling scheme, in which the sampling rates can be changed with the running stages. The detective stage works at a lower rate than the monitoring stage. There is only one sensor node running at monitoring stage for the interested event. Through experiments, we illustrate that the wireless acoustic sensor network we built achieves dramatic low sampling rate and utilizes the network bandwidth much more effective.

关键词： Compressed sensing

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Modified Particle Filter for Object Tracking in Low Frame Rate Video

Modified Particle Filter for Object Tracking in Low Frame Ra...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Tao Zhang Shumin Fei Hong Lu Xiaodong Li the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationInstitute of AutomationSoutheast University the Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Institute of AutomationSoutheast University School of Automation Nanjing Institute of Technology

Object tracking algorithm using modified Particle filter in low frame rate(LFR) video is proposed in this paper,which the object moving significantly and randomly between consecutive frames in the low frame rate ***,Particle filtering use motion transitions to model the movement of the ***,in object tracking with low frame rate sequences,it is very difficult to model significant random jumps of *** key notion of our solution is that using the object detection and extraction to locate the tracked object,while not using the dynamical *** propagate the sample set around the detected regions,which the samples are assumed to be uniformly distributed in the neighborhoods of the detected *** is similar to the general particle filter to propagate *** we compute the likelihood between the target model and the candidate regions,which are based on color histogram *** extensive experiments show that the proposed algorithm performs robustly in a large variety of tracking scenarios.

关键词： frame filter Modified Particle Filter for Object Tracking in Low Frame Rate Video Object Filter

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Nonuniformity Correction and Calibration Method in the High-precision CCD measurement and Servo control system

Nonuniformity Correction and Calibration Method in the High-...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jing LI Junzheng WANG Bin ZHOU Wei SHEN Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

The CCD pixels nonuniformity may give a greater margin of error to measurement results in the high-precision CCD measurement and servo control *** paper analyzes the image pixels nonuniformity caused by noises,and establishes the corresponding image *** threshold value segmentation algorithm is used for image *** algorithm using two point linear method for pixel nonuniformity correction,getting center coordinates of facula by calculating the zeroth order moment and first moment of image is put forward,and a new image calibrated method that transforms the image coordinates into the real is *** results show that the algorithm can separate light intensity parts from the image,correct pixel nonuniformity,and stabilize pixel gray value of light intensity *** will make the center coordinates of image light intensity spots stable and decrease the error of the real coordinates after conversion,if the images are acquired under the same *** measurement precision as well as the control precision is improved greatly.

关键词： image Nonuniformity Correction and Calibration Method in the High-precision CCD measurement and Servo control system CCD

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Distributed H∞ control of Spatially Interconnected systems with Random Communication Packet Losses

Distributed H∞ Control of Spatially Interconnected Systems ...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Hui Li Qinghe Wu Di Yu Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology IEEE

This paper deals with the H control of spatially interconnected systems where homogeneous subsystems communicate with their neighbors over packet dropping *** the robust stability analysis and controller synthesis problems are thoroughly *** first, temporal forward and spatial shift operators are used to model the interconnected systems with random communication packet losses as discrete time-space linear multidimensional systems with Markovian jumping *** conditions are obtained which make the whole interconnected systems mean-square stable and achieve the prescribed H disturbance attenuation *** method for designing distributed state feedback controllers are presented, which could robustly mean-square stabilize the interconnected *** results take the form of computationally tractable linear matrix ***, a simulation example of multiple vehicle platoon control with the effect of communication packet losses is exploited to demonstrate the effectiveness of the proposed model and method.

关键词： Lyapunov Distributed H control of Spatially Interconnected systems with Random Communication Packet Losses

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An Optimized Method for Line Extraction Using Laser Scan Data

An Optimized Method for Line Extraction Using Laser Scan Dat...

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中国人工智能学会第十三届学术年会

作者： Cheng-hao Hua Lihua Dou Jie Chen Yutian Mao Beijing Institute of Technology and the Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081

In this paper an optimized line features extraction method is developed for real-time line features identification from 2D laser range finder A polished line prototype is subtly combined with Incremental algorithm which can detect line features *** ensuring the correctness,the selected line features are examined with split-and-merge fuzzy *** greatly enhances the robustness of line features extraction,especially in the clutter *** method provides a novel framework which is very efficient and robust of line features *** advantages are very helpful for the further application of mobile robots such as simultaneously localization and mapping,real-time navigation in the clutter environment *** performance of this approach is verified by simulation and experiments.

关键词： Festure extraction Mobile robot Line prototype Laserrange finder

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Friction compensation using dual observer for 3-axis turntable servo system

Friction compensation using dual observer for 3-axis turntab...

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IEEE International Conference on Automation and Logistics

作者： Zhigang Liu Junzheng Wang Jiangbo Zhao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China

Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.

关键词： Friction Servomechanisms Mathematical model Torque Parameter estimation control systems Mathematics Servomotors Lyapunov method Adaptive control

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