This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles ...
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This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly, both the constraints and performance functions are incorporated by similar forms in terms of trajectory parameters, which thereby can be considered in a uniform way. A parameter space of adjustable trajectory parameters is constructed to solve the unified optimization problem with constraints and results in more flexible and better optimal performance. The proposed approach is complete and enhances methods of deterministic real-time planning by overcoming typical drawbacks as intermediate configuration, curvature discontinuities, vertical singularities and incomplete optimization. Simulation results verify the validity and superiority of the proposed method.
In view of the current domestic glass production enterprise which is lack of method to detect glass stones, cracks and other important defects. an online detection system for glass defect based on support vector machi...
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In view of the current domestic glass production enterprise which is lack of method to detect glass stones, cracks and other important defects. an online detection system for glass defect based on support vector machine is proposed in the paper. The paper is based on the research of image processing, feature extraction and pattern recognition. By using of object-oriented Visual c + + 6.0 programming tools, and combined with OpenCV computer vision library, this system can realize glass defect on-line detection and classification. The successful rate for the defect inspection of the system can reach over 95%.
The performance of state-of-art image retrieval systems using Bag-of-Words representation and textual retrieval methods degrades quickly when applied to face images because their local features can not suffer variatio...
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Image registration is an important preprocessing step for image processing such as change detection,image mosaicking in remote sensing,however a crucial problem involved feature-based image registration is how to reli...
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Image registration is an important preprocessing step for image processing such as change detection,image mosaicking in remote sensing,however a crucial problem involved feature-based image registration is how to reliably establish correspondent features between sensed image and reference *** paper presents an automatic self-adaptive image registration method based on analytic energy of control points to improve the traditional ***,an multi-scale segment method based on digital curvelet transform is used to evaluate the quality difference of image pairs,and then self-adaptive parameters of SIFT feature-matching algorithm based on multi-scale grey relation of image quality is proposed to increase the feature points and correspondences;At last,to make sure the accuracy of geometrical transform parameters,a method of correspondences selection based on the distribution and matching energy of control points is *** results demonstrate that the proposed method works well in increasing control points and the correspondences of low quality remote sensing images.
This paper is concerned with the stability and stabilizability problems of networked controlsystems (NCSs) with partly quantized information. More precisely, the remote state variables transported from other sub-syst...
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This paper is concerned with the stability and stabilizability problems of networked controlsystems (NCSs) with partly quantized information. More precisely, the remote state variables transported from other sub-systems experience quantization errors, while the local state variables do not. This consideration is much more natural in NCSs due to the distributive nature of subsystems. Quantization errors are represented as convex poly-topic uncertainties. Based on the Lyapunov-Krasovskii (L-K) functional approach, sufficient conditions for the existence of a quantized robust H∞ state feedback controller for NCSs are presented. Such conditions are obtained in terms of bilinear matrix inequalities (BMIs). Furthermore, a cone complementarity algorithm is utilized to convert these BMIs into a convex optimization problem. Finally, a simulation example is provided to demonstrate the efficiency of proposed theorems.
Human Flesh Search is an explosive Web phenomenon these years in China, especially when new media, such as Weibo, appeared. In this research, we present the empirical studies about growing patterns of participated Hum...
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This paper is concerned with controller design of net- worked controlsystems （NCSs） with both network-induced delay and arbitrary packet dropout. By using a packet-loss-dependent Lyapunov function, sufficient condi...
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This paper is concerned with controller design of net- worked controlsystems （NCSs） with both network-induced delay and arbitrary packet dropout. By using a packet-loss-dependent Lyapunov function, sufficient conditions for state/output feedback stabilization and corresponding control laws are derived via a switched system approach. Different from the existing results, the proposed stabilizing controllers design is dependent on the packet loss occurring in the last two transmission intervals due to the network-induced delay. The cone complementary lineara- tion （CCL） methodology is used to solve the non-convex feasibility problem by formulating it into an optimization problem subject to linear matrix inequality （LMI） constraints. Numerical examples and simulations are worked out to demonstrate the effectiveness and validity of the proposed techniques.
It is well-known that there are fundamental performance limitations in the design of linear feedback controlsystems for single-input-single-output (SISO) linear-time-invariant (LTI) plants. These performance limitati...
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ISBN:
(纸本)9781467357159
It is well-known that there are fundamental performance limitations in the design of linear feedback controlsystems for single-input-single-output (SISO) linear-time-invariant (LTI) plants. These performance limitations sometimes include overshoot and rise time. This paper shows that for some examples of SISO LTI systems, it is possible to find suitable reset controllers that can overcome such performance limitations, though there are still some robust and implementable issues that need to be solved. This naturally leads to the formulation of several open research problems that we specify.
In this paper we survey the geometric method in quantum *** presenting a geometric representation of nonlocal two-qubit quantum operation,we show that the control of two-qubit quantum operations can be reduced to a st...
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In this paper we survey the geometric method in quantum *** presenting a geometric representation of nonlocal two-qubit quantum operation,we show that the control of two-qubit quantum operations can be reduced to a steering problem in a *** physical examples are given to illustrate this *** also provide analytic approaches to construct universal quantum circuit from any arbitrary quantum gate.
The wheat kernels were processed by moistened in water. The spontaneous and water-induced luminescence data (photon counts) were noted with an ultra-weak luminescence (UWL) detector. The following was the features of ...
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