In this paper, we develop data-based methods to analyze the characteristics of linear discrete-time systems, which have unknown parameter matrices. These characteristics include output controllability, asymptotic stab...
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In this paper, we develop data-based methods to analyze the characteristics of linear discrete-time systems, which have unknown parameter matrices. These characteristics include output controllability, asymptotic stability of the equilibrium point, bounded-input bounded- state stability, and bounded-input bounded-output stability. Our methods only use measured state and output data to verify the system properties. They are direct analysis methods and do not need to identify the unknown parameter matrices. These data-based methods not only can avoid identification errors, but also have lower computational complexity than traditional model-based analysis approaches.
This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, tw...
This paper is devoted to the exploration of three-dimensional (3-D) maneuvers using a free-swimming fishlike robot. For the sake of a better maneuverability, an Esox lucius robotic fish consisting of a yawing head, two degrees of freedom pectoral mechanism and multilink body joints together with a caudal fin is developed. With full consideration of both mechanical configuration and propulsive principles of the robotic fish, detailed analysis and viable approaches to perform serval high maneuvers involving rotational maneuvers and translational maneuvers are presented. Based on the feedback of turning angles measured by an onboard six-axis gyroscope, the robotic fish achieves various agile and swift motions. Specifically, according to the C-start of Esox lucius , a flexible and wide-range yaw turn up to 360° is attained. Under the propulsive forces and moments from pectoral fins with symmetric or asymmetric pitching and heaving attack angles, the robotic fish can agilely flip in a pitch style and roll a 360° rotation around the swimming direction. Moreover, two types of backward swimming separately employing pectoral fins and body undulation are also accomplished. The experimental results verify the remarkable maneuverability of the developed robotic fish and the effectiveness of approaches presented for the maneuver control.
In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some com...
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In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some computations including morphological operations,various filters,different contours and validations are sequentially performed to extract some image regions as candidate license ***,accurate character segmentation is achieved through a proper selection of *** the character recognition step,the HOG(histogram of oriented gradients) feature vector in each character region is extracted,and then the characters are recognized using an offline trained pattern classifier of Sa *** results show that our approach works quite well in complex traffic environments.
This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a unif...
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This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a uniform probabilistic framework by using the CRF *** this work,the CRF model integrates spatial and temporal contextual information of vehicle motion,and the appearance information of the *** approximate inference algorithm,loopy belief propagation,is used to recursively estimate the vehicle region from the history of observed ***,the background model is updated adaptively to cope with non-stationary background *** results show that the proposed approach is able to accurately track moving vehicles in monocular image ***,region-level tracking realizes precise localization of vehicles.
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and ...
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ISBN:
(纸本)9781479936519
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.
Welcome to the first issue of IEEE/CAA Journal of Automatica Sinica. The Chinese version of IEEE/CAA Journal of Automatica Sinica, the first academic journal on automation in China, called Acta Automatica Sinica, was ...
Welcome to the first issue of IEEE/CAA Journal of Automatica Sinica. The Chinese version of IEEE/CAA Journal of Automatica Sinica, the first academic journal on automation in China, called Acta Automatica Sinica, was founded in 1963. It is now well established and well run with an outstanding reputation. This new journal, IEEE/CAA Journal of Automatica Sinica, is sponsored by Chinese Association of Automation (CAA), Institute of Automation of the Chinese Academy of Sciences (CASIA), and IEEE. The journal publishes high-quality papers on original theoretical and experiment research and development in the area of automation science and engineering. The coverage of IEEE/CAA Journal of Automatica Sinica includes but is not limited to: Automatic control; Artificial intelligence and intelligentcontrol; systems theory and engineering; Pattern recognition and intelligentsystems; Automation engineering and applications; Information processing and information systems; Network based automation; Robotics; Computer-aided technologies for automation systems; Sensing and measurement; and Navigation, guidance, and control.
Minimally invasive vascular surgery is an important surgical procedure which requires specialized skills to manipulate surgical instruments. However, the insufficient conventional training paradigm of “see one, do on...
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Minimally invasive vascular surgery is an important surgical procedure which requires specialized skills to manipulate surgical instruments. However, the insufficient conventional training paradigm of “see one, do one, teach one” cannot meet the urgent need for training surgeons. In this paper we present a novel computer-based training system which aims at helping the trainees with acquiring manipulation skills and gaining simulated surgical experience. This system integrates a physics model of guide wire, a 3D vasculature segmented from real patients and a self-designed haptic device. We use the finite element method (FEM) to model the guide wire based on its specific physical parameters. Trainees can advance and rotate the simulated instrument by the haptic device to interact with the human vasculature. The experimental results of delivering the guide wire to the entrance of the coronary in real time validated that the guide wire simulation is effective.
Text information contained in scene images is very useful for image understanding. In this paper, we propose a high-level representation named stroke bank for scene character recognition. Inspired by the work of objec...
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ISBN:
(纸本)9781479952106
Text information contained in scene images is very useful for image understanding. In this paper, we propose a high-level representation named stroke bank for scene character recognition. Inspired by the work of object bank, we train stroke detectors and use detectors' maximal output as features. Specifically, we collect training samples for stroke detectors based on labeled key points. We also propose to restrict classification areas of each stroke detector to particular local regions, which alleviates computation burden and retains discrimination power at the same time. Experiments on benchmark datasets demonstrate the effectiveness of our method and the results outperform state-of-the-art algorithms.
This paper proposes an autonomous grasp method for the embedded mobile manipulator with an eye-in-hand CMOS camera. A three-stage scheme including object searching, approaching and grasping operation is adopted. With ...
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This paper proposes an autonomous grasp method for the embedded mobile manipulator with an eye-in-hand CMOS camera. A three-stage scheme including object searching, approaching and grasping operation is adopted. With the help of visual information, the Bezier curve based approaching as well as vision-based approaching adjustment is applied, where an optimal Bezier path is obtained based on the evaluation of its length and curvature with constraints from the velocity, tangential acceleration and the minimum turning radius. When the mobile manipulator thinks that the object is within its grasping range, it executes the grasping operation according to image information and inverse kinematics. During the move-to-grasp process, the posture of the manipulator is adjusted in real time to endeavor to make the object be targeted. The validity of the proposed method is verified by experiments.
In recent years, rapid development of minimally invasive surgery has taken place. Virtual reality simulator enables the trainees to obtain the core catheter/guide wire handling skills and to decrease the error rate of...
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ISBN:
(纸本)9781479937097
In recent years, rapid development of minimally invasive surgery has taken place. Virtual reality simulator enables the trainees to obtain the core catheter/guide wire handling skills and to decrease the error rate of operation prior to performing them on a real patient. In this paper, we present and evaluate a collision response algorithm and a force feedback computing method for simulating a catheter/guide wire in the interactive 3D virtual realty simulator based on a robotic catheter/guide wire operating system. In order to provide a real-time virtual environment, a multi-threading technology is used to accelerate the medical simulation procedure. Finally, we test the virtual catheter/guide wire with a complex and realistic 3D vascular model, which is generated from computed tomography angiography(CTA) series in DICOM datasets captured in a actual patient. The results show that the collision response algorithm in the system is effective and promising.
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