Recently, much more attention has been paid to the development of minimally invasive vascular surgery. Simulating behaviors of a catheter/guide wire in a realistic 3D vascular model for minimally invasive vascular sur...
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Recently, much more attention has been paid to the development of minimally invasive vascular surgery. Simulating behaviors of a catheter/guide wire in a realistic 3D vascular model for minimally invasive vascular surgery is a challenging subject. One of the main problems for an 3D computer-based virtual reality simulator is how to design a software toolkit primarily targeted to medical simulation. In this paper, we describe an 3D interactive virtual reality software toolkit and present an example of application to a virtual minimally invasive vascular surgery procedure. Finally, experimental results are given to show that the 3D interactive virtual reality software toolkit is effective and promising.
Pose variation is a major challenge in face recognition. In this paper, we propose a novel cross-pose face recognition method by learning associate appearance manifolds to model the connection of faces under different...
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ISBN:
(纸本)9781479957521
Pose variation is a major challenge in face recognition. In this paper, we propose a novel cross-pose face recognition method by learning associate appearance manifolds to model the connection of faces under different poses. The associate manifolds are built on an auxiliary set, in which each identity contains cross-pose face images. The basic assumption is that cross-pose face images from two similar identities can be projected onto similar appearance manifolds by pose-specific transforms. We first associate the input faces with alike identities from the auxiliary set. Then the manifolds of cross-pose faces in the training set are confined close to that of the associate identities in the auxiliary set. Thus, the connection of cross-pose faces is well modeled by the associate appearance manifolds on the auxiliary set. Formally, we formulate the assumption as a manifold-based distance minimization problem, so as to learn the optimal transforms. Experiments on the Multi-PIE dataset demonstrate the effectiveness of the proposed method.
Probing nanostructures (e.g., nanoelectronics) requires accurate and precise nanopositioning. Furthermore, since measuring I-V data from DC to GHz typically takes more than a minute, little drift is tolerated during t...
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This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to con...
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ISBN:
(纸本)9781479920747
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.
In the presence of negative weights in communication graph, bipartite consensus is an extension of the traditional consensus problems where the communication weights are all positive. An output-based distributed contr...
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ISBN:
(纸本)9781479944873
In the presence of negative weights in communication graph, bipartite consensus is an extension of the traditional consensus problems where the communication weights are all positive. An output-based distributed control protocol is established to solve the bipartite consensus of the homogeneous multi-agent systems. Bipartite consensus problem is equivalent to a linear stabilizable and detectable problem by introducing a gauge transformation. If the multi-agent systems can reach the bipartite consensus, then the signed digraph should be structurally balanced and contains a spanning tree. Finally, the implementation provides three cases to validate the effectiveness of our developed criteria.
A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometer...
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A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometers or motion models and it is completely based on external environment perceived by a laser sensor. In each of the laser frames, landmark points are first determined and they are then coded into a series of description matrixes. On this basis, by considering the landmarks matching in two neighboring laser frames, the pose change of the robot may be calculated, and the understanding of laser-based landmarks by geometric coding is achieved. The proposed approach is proved to be effective by the experiments of a tracked robot.
Space launch is a complex project with high risk,and failure of space launch may cause a great loss to people’s life,property and important *** a resonable and effective emergency response program is critical and imp...
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Space launch is a complex project with high risk,and failure of space launch may cause a great loss to people’s life,property and important *** a resonable and effective emergency response program is critical and important for space ***,a Decision Network Planning(DNP)method is proposed to describe logic relations of emergency response procedures,based on which the logical reasonability and rigor,coordination of several involved departments,timeliness of emergency measures and sufficiency of resources guarantee are ***,the critical path and resource guaranteed rate are calculated to analyze the degree of control in the emergency process of space launch ***,a case of filling leakage is used to show the helpfulness of the proposed method.
This paper presents a novel observer-critic architecture for solving the near-optimal control problem of uncertain nonlinear continuous-time systems. Two neural networks (NNs) are employed in the architecture: an obse...
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This paper presents a novel observer-critic architecture for solving the near-optimal control problem of uncertain nonlinear continuous-time systems. Two neural networks (NNs) are employed in the architecture: an observer NN is constructed to get the knowledge of uncertain system dynamics and a critic NN is utilized to derive the optimal control. The observer NN and the critic NN are tuned simultaneously. By using the recorded and instantaneous data together, the optimal control can be derived without the persistence of excitation condition. Meanwhile, the closed-loop system is guaranteed to be stable in the sense of uniform ultimate boundedness. No initial stabilizing control is required in the developed algorithm. An illustrated example is provided to demonstrate the effectiveness of the present approach.
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enable...
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ISBN:
(纸本)9781479973989
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported by four serial chains with three degree of freedoms (DOFs). The kinematics analysis of the parallel mechanism with four serial chains is provided. To solve the coplanar problem of four screws, a control method based on linear interpolation with parabola transition is introduced. Surface fitting algorithm based on geometric relations is used to simulate the land surface. Experiment results demonstrate the effectiveness of the system and the methods proposed.
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keep...
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ISBN:
(纸本)9781479947249
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.
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