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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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C4ISR architectures: I. Developing a process for C4ISR architecture design

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systems engineering 2000年第4期3卷 225-247页

作者： Levis, Alexander H. Wagenhals, Lee W. System Architectures Laboratory C3I Center MSN 4D2 George Mason University Fairfax VA 22030 United States Department of Electrical Computer and Systems Engineering C3I Center System Architectures Laboratory United States Institute of Electrical and Electronic Engineers (IEEE) Advancement of Science (AAAS) United States Center of Excellence Command Control Communications and Intelligence George Mason University Fairfax VA United States System Architectures Laboratory United States

The C4ISR Architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to serve as the basis for C4ISR system development and acquisition. The Framework does not provide a process for architecture design. In this paper, information architectures are described in the context of Structured Analysis, and then the architecture views of the Framework and the related products are interpreted in that context. A methodology for architecture design is developed that is then implemented using Structured Analysis and object orientation in two companion papers. © 2000 John Wiley & Sons, Inc.

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Constrained feedback control of discrete-time systems decribed by ARMA models

Constrained feedback control of discrete-time systems decrib...

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1999 European control Conference, ECC 1999

作者： Vassilaki, M. Bitsoris, G. Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras Patras26 500 Greece

ISBN: (纸本)9783952417355

In this paper the problem of determination of bounded output-feedback control laws which stabilize multivariable discrete-time systems described by ARMA models is investigated. The proposed approach is based upon the properties of polyhedral positively invariant sets with respect to this class of systems. In the first part of the paper, necessary and sufficient conditions for the positive invariance of polyhedral sets are established. Then, conditions guaranteeing the existence of a solution to the constrained control problem are developed. Finally, it is shown that a solution to this problem can been obtained by solving a linear programming problem. © 1999 EUCA.

关键词： Feedback control

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Design of a neural network observer to control a FED-batch bioprocess

Design of a neural network observer to control a FED-batch b...

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1999 European control Conference, ECC 1999

作者： Boutalis, Y.S. Kosmidou, O.I. Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-67100 Greece

ISBN: (纸本)9783952417355

The present paper deals with the production of Saccharomyces cerevisiae, described by a sixth order nonlinear state space model. The control objective is to ensure the process stability and desirable specifications in the presence of disturbances and lack of reliable state measurements. First, the model of the process and its properties are presented. Next the ability of multi-layer Neural Networks to act as reliable emulators of the system dynamics is tested by simulation results and a training strategy is proposed to improve their performance. Finally, a non-linear adaptive observer is designed by means of artificial neural networks. © 1999 EUCA.

关键词： Neural networks

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Symbolic verification of executable control specifications

Symbolic verification of executable control specifications

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： C. Banphawatthanarak B.H. Krogh K. Butts Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Powertrain Control Systems Department Ford Research Laboratory Dearborn MI USA

Stateflow/sup TM/ is a MATLAB/Simulink toolbox that supports the development of executable specifications for discrete-state functions. It also supports general flowcharting of program functions. This paper describes a MATLAB program, sf2smv 2.0, that generates input for a symbolic model checking program, SMV, to verify properties of Stateflow/sup TM/ diagrams in Simulink. The SMV modules are constructed to reflect precisely the execution semantics in the simulation of Stateflow/sup TM/ diagrams. This extends previous work that created verification files that reflected an idealized version of the Stateflow/sup TM/ semantics. This paper describes how the principal Stateflow/sup TM/ execution rules are translated into SMV modules. Examples are used to illustrate the transformation procedures and their application to verify properties of executable specifications for control features in automotive powertrain control applications.

关键词： Mathematical model Power system modeling computer languages Mechanical power transmission Vehicle dynamics Trademarks control systems Automotive engineering MATLAB control system synthesis

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On regularized numerical observers

On regularized numerical observers

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IEEE Conference on Decision and control

作者： S. Diop J.W. Grizzle S. Ibrir Supelec Laboratoire des Signaux and Systemes Gif-Sur-Yvette France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

ISBN: (纸本)0780352513

Diop et al. previously (1994) proposed a general observer design methodology based upon numerical differentiation and the interpretation of observability of a system as the solvability of the system's dynamical equations for the state vector in terms of a finite number of derivatives of the output and input. Numerical differentiation-base observers are alternatives to asymptotic observers for nonlinear systems. Various techniques are known to be efficient for the estimation of the few first derivatives from data with low frequency content, such as polynomial- and spline-based least squares, and averaged central differences. The main advantages of such observers are intuitiveness, flexibility and speed. However, as is the case of many inverse problems, differentiation is an ill-posed operator. This communication proposes the use of regularization to partially overcome the noise sensitivity that is inherent in the standard numerical differentiation. Regularization of numerical derivatives from experimental data consists of two operations: filtering and differentiation. Mollification is a method of filter design that is fairly well amenable to a mathematical analysis, including computation of estimation error bounds. In this method experimental data is projected onto Sobolev spaces of signals with less high frequency content, which may then be differentiated stably. The filters in question are infinite dimensional. They can be implemented approximately by means of digital Fourier transformation on finite moving windows of the data.

关键词： Design methodology Observers Frequency estimation Least squares approximation Filters Observability Differential equations Nonlinear equations Nonlinear systems Polynomials

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Poincare's method for systems with impulse effects: application to mechanical biped locomotion

Poincare's method for systems with impulse effects: applicat...

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IEEE Conference on Decision and control

作者： J.W. Grizzle F. Plestan G. Abba Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA GRAVIR-LSIIT ENSPS Universite Louis Pasteur CNRS Illkirch-Graffenstaden France

The existence and stability properties of periodic orbits are studied for nonlinear systems with impulse effects. This is achieved with an extension of the well-known method of Poincare. The main result is then applied to a model of an under actuated, five degree of freedom biped robot with a torso in order to prove, for the first time, the existence of an asymptotically stable walking cycle.

关键词： Legged locomotion Differential equations Stability Orbits Nonlinear systems Torso Mechanical factors Orbital robotics Limit-cycles Clocks

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