There are many types of bio-signals with various control application prospects. In this work possible control application domain of electroencephalographic signal obtained from an easily available, inexpensive EEG hea...
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Manipulator motion planning is a task which relies heavily on the construction of a configuration space prior to path planning. However when fast real-time motion is needed, the full construction of the manipulator...
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ISBN:
(纸本)9781467355094
Manipulator motion planning is a task which relies heavily on the construction of a configuration space prior to path planning. However when fast real-time motion is needed, the full construction of the manipulator's high-dimensional configuration space can be too slow and expensive. Alternative planning methods, which avoid this full construction of the manipulator's configuration space are needed to solve this problem. Here, one such existing local planning method for manipulators based on configuration-sampling and subgoal-selection has been extended. Using a modified Artificial Potential Fields (APF) function, goal-configuration sampling and a novel subgoal selection method, provides faster, more direct paths than the previously proposed work. Simulation results show a decrease in both runtime and path lengths, along with a decrease in unexpected local minimum and collisions issues.
This paper presents an Invariant Information Local Sub-map Filter (IILSF) as a technique for consistent Simultaneous Localisation and Mapping (SLAM) in a large environment. It harnesses the benefits of sub-map techniq...
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ISBN:
(纸本)9781467355094
This paper presents an Invariant Information Local Sub-map Filter (IILSF) as a technique for consistent Simultaneous Localisation and Mapping (SLAM) in a large environment. It harnesses the benefits of sub-map technique to improve the consistency and efficiency of Extended Kalman Filter (EKF) based SLAM. The IILSF makes use of invariant information obtained from estimated locations of features in independent sub-maps, instead of incorporating every observation directly into the global map. Then the global map is updated at regular intervals. Applying this technique to the EKF based SLAM algorithm: (a) reduces the computational complexity of maintaining the global map estimates and (b) simplifies transformation complexities and data association ambiguities usually experienced in fusing sub-maps together. Simulation results show that the method was able to accurately fuse local map observations to generate an efficient and consistent global map, in addition to significantly reducing computational cost and data association ambiguities.
The matching accuracy of remote sensing image-pair has a great relationship with the brightness value of the corresponding points. Generally the corresponding points of remote image-pair have great brightness differen...
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The matching accuracy of remote sensing image-pair has a great relationship with the brightness value of the corresponding points. Generally the corresponding points of remote image-pair have great brightness difference, which may affect and reduce the matching precision. Therefore, in order to acquire high-precision stereo matching, a new method was proposed in this paper. This method can balance the brightness by combining the local information and middle axis cumulative histogram of image-pair and can adjust the brightness difference to be the same between image-pair. Both theoretical analysis and experimental results show that this new method can achieve better result in balancing brightness difference, keeping details and improving matching accuracy of remote sensing stereo image-pair effectively.
The bag of visual words model (BoW) and its variants have demonstrate their effectiveness for visual applications and have been widely used by researchers. The BoW model first extracts local features and generates the...
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Mining comprehensive protector (hereinafter referred to as "MCP") can monitor and protect the mining environment control system, whose working status directly affects the working surface of the environment, ...
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This paper addresses the problem of reducing the number of transmissions and control updates in a distributed control network of interconnected linear systems. Each node in the network decides when to transmit its sta...
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ISBN:
(纸本)9781467357159
This paper addresses the problem of reducing the number of transmissions and control updates in a distributed control network of interconnected linear systems. Each node in the network decides when to transmit its state through the network and when to update the control law. Both decisions are event-driven and based on local information. It is shown that the stability of the system is preserved and the state of the system converges to a small region around the origin, whose size depends on the parameters of the transmission and control update trigger functions. A strictly positive lower bound for the inter-event times is derived. The results are illustrated through simulations showing the effectiveness of the proposed approach.
Compound grey number and its grey degree are of importance for research on grey number and it algorithm rules. This paper proposes definitions of compound grey number and corresponding grey degree based on the "f...
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ISBN:
(纸本)9781467352468
Compound grey number and its grey degree are of importance for research on grey number and it algorithm rules. This paper proposes definitions of compound grey number and corresponding grey degree based on the "field" and axiomatic definition of grey degree, formulizes the grey degree of compound grey number by giving full consideration to the variations of "field" when compound grey number is generated from simple grey numbers, thus enrich the original definition of grey degree. Furthermore, this paper investigates the linear convergence of grey degree of compound grey number. Examples show the plausibility of these definitions and linear convergence, and the validity of Accumulated Generating Operation in terms of excluding outside disturbance.
With growing developments in biomedical research and micro industrial applications, there is a demand for micro-grippers that are reliable and can operate with high precision. This paper presents a MEMS micro-gripper ...
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With growing developments in biomedical research and micro industrial applications, there is a demand for micro-grippers that are reliable and can operate with high precision. This paper presents a MEMS micro-gripper with an integrated electrothermal force sensors. The microgripper is actuated by electrostatic comb-drives. Electrothermal resistive sensors are used to measure the gripping force. In this arrangement, the sensing arms deflection induces a temperature difference between two identical resistive sensors, biased at the same voltage, which results in current variation in the resistors. The currents are then converted to an output voltage using a half Wheat-stone bridge and an instrumentation amplifier. With the sensing displacement information available, the gripping force can be calculated. The device was designed and fabricated in a commercial Silicon-On Insulator MEMS foundry (MEMSCAP). A pick-and-place operation on 85 μm micro-beads on 3-axis micro-positioner is performed to evaluate the performance of the device. The experiment shows that the micro-gripper is able to handle a wide range of micro-sample sizes with biocompatibility and gentle handling forces.
During the practical production process, the soft sensors based on traditional single learning machine can not satisfied the needs of production. In this study, a multiple regression machine system (MRMS) is proposed ...
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