This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish *** order to acquire the stable image from the came...
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ISBN:
(纸本)9781509009107
This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish *** order to acquire the stable image from the camera located inside of the fish head,a camera stabilizer for the visual system is ***,an Inertial Measurement Unit(IMU) with nine degrees-of-freedom(DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial *** accurately describe the stabilizer system characteristics,a simple and effective system model is ***,a feedbackfeedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is ***,the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizer and the corresponding feedback-feedforward control approach for enhancing the stability of images.
The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem...
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ISBN:
(纸本)9781479947249
The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem.A proportional-integral-derivative(PID)tracking protocol is then rst proposed to solve the tracking problem of Euler-Lagrange systems where the leader has a quadratic *** properly choosing parameters,it is proved that all followers can asymptotically track the leader’s quadratic trajectory if the communication topology graph has a spanning ***,a so-called PImD tracking protocol is derived by adding some high-order integral *** is shown that this PImD tracking protocol can solve the tracking problem of networked Euler-Lagrange systems with a leader having the higher-order polynomial ***,two simulation examples are presented to demonstrate the effectiveness of the proposed protocol.
In this paper,a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle(BUV)propelled by undulatory ***,the system design and the model of the BUV are *** with traditional autono...
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ISBN:
(纸本)9781509009107
In this paper,a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle(BUV)propelled by undulatory ***,the system design and the model of the BUV are *** with traditional autonomous underwater vehicles(AUVs) propelled by screw propellers,the concept design enhances the maneuverability and stability of AUVs at low *** the way-point tracking problem of the BUV is ***,a way-point tracking control scheme combining a guidance system of low complexity with backstepping technique is proposed to achieve fast and effective convergence to the desired path composed of a series of given way-points for this *** the end,simulations demonstrate the performance of the proposed way-point tracking controller.
With the development of urbanization, vehicle violations bring lots of problems for urban traffic. In this paper, we implement an electronic police system based on multiple salient vehicle parts for traffic surveillan...
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ISBN:
(纸本)9781479905300;9781479905294
With the development of urbanization, vehicle violations bring lots of problems for urban traffic. In this paper, we implement an electronic police system based on multiple salient vehicle parts for traffic surveillance. Vehicle is represented by its salient parts and its trajectory is obtained by tracking based on Kalman filter. First of all, multiple salient vehicle parts including the license plate and rear-lamps are localized using their distinctive features. Then vehicle tracking is performed using these parts with a Kalman filter to get vehicle motion trajectories. At last, traffic violations are detected by analyzing the vehicle trajectories and configuring various detection regions. Experiments show that our system is effective and it can achieve real-time performance for real traffic applications.
Underwater cave exploration has always been a tough problem for autonomous underwater *** a primary step towards this problem,we explore the underwater cave search and entry with a free-swimming robotic fish character...
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ISBN:
(纸本)9781479947249
Underwater cave exploration has always been a tough problem for autonomous underwater *** a primary step towards this problem,we explore the underwater cave search and entry with a free-swimming robotic fish characterized by flexible control and embedded *** particular,we use a colored ring instead of the cave and acquire its contour by its binary *** we propose an algorithm combining the Meanshift algorithm with the bump characteristic of the ring contour to eliminate the mirror image effects and background *** a bio-inspired Central Pattern Generator control method is adopted to smoothly drive the robotic fish to swim towards the *** proposed algorithms are implemented in real time with a hybrid control system consisting of two embedded microprocessors(TI DM3730 and STMicroelectronics STM32F407).Preliminary aquatic experiments demonstrate that a fairly good exploration effect is resulted and the interference caused by mirror image effect and background is largely *** proposed robotic fish-based scheme offers an alternative to cave exploration in complex aquatic environments.
This paper presents a novel adaptive/approximate dynamic programming algorithm to solve the H∞ control problem of constrained-input continuous-time nonlinear systems. The developed algorithm employs a single critic n...
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ISBN:
(纸本)9781467374439
This paper presents a novel adaptive/approximate dynamic programming algorithm to solve the H∞ control problem of constrained-input continuous-time nonlinear systems. The developed algorithm employs a single critic neural network(NN)to derive the approximate solution of the Hamilton-Jacobi-Isaacs equation. With two additional terms introduced, namely, the stabilizing term and the robustifying term to update the critic NN, no initial stabilizing control is required. Meanwhile, the developed critic tuning rule not only ensures that the optimal saddle point can be obtained but also guarantees stability of the closed-loop system. In addition, all signals in the closed-loop system are proved to be uniformly ultimately bounded via Lyapunov's direct method. Finally, an illustrate example is provided to verify the effectiveness of the developed approach.
This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input...
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ISBN:
(纸本)9781479900305
This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input is nonzero and not available to any followers. A set of sliding mode surfaces are defined and then fast sliding mode controllers are designed for both reduced order and non-reduced order cases. It is shown that all the trajectories exponentially converge to the sliding mode surfaces in a finite time if the leader has a directed path to at least one of the followers in a strongly connected and detailed balanced directed interaction graph and the leader’s control input is bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove the reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.
In fighting the coronary heart diseases,percutaneous coronary intervention is proved to be a powerful and reliable clinical procedure in the modern catheterization labs all over the *** to its minimally invasive chara...
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ISBN:
(纸本)9781479947249
In fighting the coronary heart diseases,percutaneous coronary intervention is proved to be a powerful and reliable clinical procedure in the modern catheterization labs all over the *** to its minimally invasive characteristics,the procedure must be performed in the image-guided way,which makes this important skill very difficult to *** make the learning more accessible,a computer-aided surgical simulator is planned to be implemented in our *** now,the prototyping model is completed and the further validation is being *** implementing the virtual anatomic environment,we aim to provide the trainee an intuitive visual effect so that the models of the organs bear resemblance to their counterpart of the human'*** the blood vessels per se,the surrounding organs seen in the real surgery also need to be visualized during the *** heart is undoubtedly the most critical one among *** segmentation of the heart is a challenging task because of the noisy and indistinct boundaries of the heart in the images due to the natural heart beating during the image *** this paper,an approach based on the active contours method is developed to fulfill this *** experimental results demonstrate the effectiveness of our approach.
In this paper,the containment control problem of continuous-time double-integrator multi-agent systems is *** aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-var...
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ISBN:
(纸本)9781479947249
In this paper,the containment control problem of continuous-time double-integrator multi-agent systems is *** aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-varying sampling *** the obtained protocol and properties of Laplacian matrix,the containment control problem of continuoustime multi-agent systems is equivalently transformed into a stability problem of discrete-time *** fixing a sampling length in the given range,a time-invariant discrete-time system is *** the systems with variation of sampling intervals can be considered as uncertain systems of the time-invariant discrete-time *** using small-gain theorem,sufficient conditions are obtained to guarantee stability of uncertain discrete-time *** theoretical results are illustrated by some simulations.
To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detectin...
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ISBN:
(纸本)9781467374439
To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detecting the mark on the racket in real-time, the racket pose could be obtained. The experimental results show that the proposed method has a great advantage on the robustness of corner extraction of the rectangle on the racket.
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