This paper studies distributed estimation of linear dynamical target in homogeneous sensor networks. Just some sensors can get observations of the target. A distributed estimator composing of Luenberger observers and ...
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This paper studies distributed estimation of linear dynamical target in homogeneous sensor networks. Just some sensors can get observations of the target. A distributed estimator composing of Luenberger observers and consensus strategy is applied. Based on spectral radius analysis and algebraic graph theory, necessary conditions of distributed detectability are given for time-invariant and randomly switching networks, respectively. By applying Lyapunov functional analysis and solving a special LQR problem, sufficient detectability conditions are proposed for both networks. The sufficient conditions are composed of an explicit inequality concerning weights, topology switching probabilities and the eigenvalues of the target's system matrix. Simulation examples are given to illustrate the results.
In this paper, short periodic solutions of a discretized second-order sliding-mode control system are investigated. Specifically, the existence and stability of short periodic solutions are analyzed. Moreover, the exp...
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In this paper, short periodic solutions of a discretized second-order sliding-mode control system are investigated. Specifically, the existence and stability of short periodic solutions are analyzed. Moreover, the explicit descriptions of short periodic solutions are also presented.
In order to get a better dynamic response for actuator in condition of low-speed, a permanent magnet synchronous motor (PMSM) in direct-drive application with the characteristics of high-bandwidth, low-speed and high-...
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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 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.
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 intelligent control; systems theory and engineering; Pattern recognition and intelligent systems; 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.
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.
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.
In this paper a high-speed vision system for table tennis robot is designed. The system architecture is designed firstly. Then a ball detection algorithm is proposed to improve the image processing speed up to 200 fra...
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In this paper a high-speed vision system for table tennis robot is designed. The system architecture is designed firstly. Then a ball detection algorithm is proposed to improve the image processing speed up to 200 frames per second. Besides, a novel ball trajectory reconstruction algorithm is established, in which the cameras in the stereo vision system needn't be synchronized. Experimental results verify the effectiveness and accuracy of the proposed method.
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