The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural...
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The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
In this paper, we present a design of controller for vehicular automation based on mobile agent technology. In this approach, the control goal is conducted by coordinating active or default agents based on sensory fee...
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While manifold learning algorithms can discover intrinsic low-dimensional manifold embedded in the high-dimensional Euclidean space, the discriminant ability of the low-dimensional subspaces obtained by the algorithms...
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In this paper, we propose a novel classification algorithm, called geometrical probability covering (GPC) algorithm, to improve classification ability. On the basis of geometrical properties of data, the proposed algo...
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The purpose of this paper is to study spatiotemporal patterns of neuronal activity in emotional processing by analysis of ERP data. 108 pictures (categorized as positive, negative and neutral) were presented to 24 hea...
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ISBN:
(纸本)0819461865
The purpose of this paper is to study spatiotemporal patterns of neuronal activity in emotional processing by analysis of ERP data. 108 pictures (categorized as positive, negative and neutral) were presented to 24 healthy, right-handed subjects while 128-channel EEG data were recorded. An analysis of two steps was applied to the ERP data. First, principal component analysis was performed to obtain significant ERP components. Then LORETA was applied to each component to localize their brain sources. The first six principal components were extracted, each of which showed different spatiotemporal patterns of neuronal activity. The results agree with other emotional study by fMRI or PET. The combination of PCA and LORETA can be used to analyze spatiotemporal patterns of ERP data in emotional processing.
The difference discrete system of Euler-beam with arbitrary supports was constructed by using the two order central difference formulas. This system is equivalent to the spring-mass-rigidrod model. By using the theory...
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The difference discrete system of Euler-beam with arbitrary supports was constructed by using the two order central difference formulas. This system is equivalent to the spring-mass-rigidrod model. By using the theory of oscillatory matrix, the signoscillatory property of stiffness matrices of this system was proved, and the necessary and sufficient condition for the system to be positive was obtained completely.
Vision-based pedestrian detection techniques for smart vehicles have emerged as a hot research topic in the field of vehicular electronics and driving safety. A vision-based system can recognize pedestrians in front o...
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Vision-based pedestrian detection techniques for smart vehicles have emerged as a hot research topic in the field of vehicular electronics and driving safety. A vision-based system can recognize pedestrians in front of the moving vehicle, then warns the driver of the dangerous situation loudly or slows the vehicle down automatically to protect both drivers and pedestrians. In general, the vision-based pedestrian detection process can be divided into three consecutive steps: pedestrian detection, pedestrian recognition, and pedestrian tracking. In this paper, a great variety of methods associated with these three steps is introduced and compared in detail. In addition, the implementation of vision-based pedestrian detection on vehicles is also presented. In the end, we analyze the difficulties and the research trend in the future.
This paper presents an urban traffic control system using the multi-agent technology, called aDAPTS for agent-based Distributed and Adaptive Platform for Transportation systems. Based on the proposed system architectu...
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This paper presents an urban traffic control system using the multi-agent technology, called aDAPTS for agent-based Distributed and Adaptive Platform for Transportation systems. Based on the proposed system architecture, we divide an urban traffic system into five different functional modules and define five types of agents correspondingly. The composition and structure of each agent is discussed in detail and the correlation among them is addressed. Methods for verification and validation in artificial transportation systems are also studied in this paper.
High-voltage power transmission line inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order ...
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High-voltage power transmission line inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. In most cases, robot fulfills the task by its vision system. However, motion blur due to camera motion caused by wind or other unknown causes can significantly degrade the quality of the image acquired. This is a typical kind of the so called image restoration problem, which is a hard problem since no prior knowledge of the motion is available. For this purpose, a novel approach for image restoration is proposed. The restoration procedure consists of two stages: estimation of blur function parameters and reconstruction of images. Image degradation model is proposed first to identify blur function parameters, then a recurrent neural network is used to restore the blurred image. Experiments on real blurred images on power transmission line prove the feasibility and reliability of this algorithm. Our experiments show that the restoration procedure consumes only small amount of computation time.
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