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This paper presents a novel direct adaptive controller design via decomposed fuzzy Petri net to solve the control tracking problem. The controller combines decomposed fuzzy system (DFS) and Petri net to achieve good performance with less computation time. In the DFS structure, fuzzy variables are decomposed into several layers. DFS has been shown to have fast learning capability but with a complicated...
This paper proposes an image-based parallel lines distance measurement system (IBPLDMS), which is capable of executing an obstacle-detection and obstacle-avoidance path planning in a dynamic environment. The proposed IBPLDMS contains an image processing unit and an obstacle-avoidance unit. The image processing unit preprocesses captured images for an obstacle-avoidance task, in which the images are...
In this paper, a two-loop PID (proportional integral derivative) controller is presented for a class of solar water-source heat pump systems (SWSHPS), which provide warm water with desired temperature for a semiconductor factory. A combination of the well-known particle swarm optimization (PSO) and real-coded genetic algorithm (RGA) is proposed to off-line optimally find the controller parameters...
This paper studies the terminal sliding mode control (TSMC) issue considering the fault-tolerant design. In the proposed scheme, TSMC can keep the merits of conventional sliding mode control (SMC), including robustness to uncertainties and/or disturbances, fast response, and easy implementation. Moreover, by using TSMC, the system states of TSMC will converge in finite time to the control objective...
Rudder roll stabilization (RRS) for ship steering is to only use the rudder as the actuator for maintaining the autopilot heading and reducing the roll angle. In this study, a nonlinear control scheme for RRS was proposed based on Fuzzy Gain Scheduling (FGS)-PID. The proposed method was applied to a nonlinear multirole naval vessel model. The proposed method is compared with traditional PID and LQR...
Stabilization problems for nonlinear systems are difficult, especially when not all the state are available. This study proposed a combination of constrained H∞ and loop transfer recovery (LTR) to control nonlinear systems via Takagi-Sugeno fuzzy model. First, the Takagi-Sugeno fuzzy model is employed to represent a nonlinear system. Next, based on the fuzzy model, a Kalman filter is developed. The...
Recently, Intelligent Video Surveillance (IVS) mainly use color image to detect people who are entering, leaving and loitering at a fixed area. When detected event is happening, Intelligent Video Surveillance can turn passive into active to notify security guard immediately, and it makes security guard reduce response time. Actually, the color image may be influenced by light and shadow change condition...
Recently, APPs (applications for intelligent mobile devices) about car recorder systems have been proposed for various mobile OS. Due to the numbers of APPs in the iOS is more than that of others OS, our car video recorder system is built on iOS. In addition, the objective-c programming language is employed to code APPs in the Xcode. Usually, the iOS mobile devices (e.g. iPhone) are equipped with...
In this paper, the study on feature matching for container images in custom areas is reported. The idea is to use computer image processing instead of manual operations in the container transportation processing system to cope with some problems in current customs operations. Our research focus on defining features for containers so that whether the containers have been opened or exchanged can be...
This paper presents a new robust adaptive control method for multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Particularly, the situations involving partial loss of actuator effectiveness are addressed. Distributed controllers are derived based on dynamic surface control techniques over networked multiple robots. In addition, adaptive mechanisms...
In this paper, we proposed a machine-vision based obstacle avoidance system for robot system by using single camera, it could accomplished an obstacle avoidance and path planning. The structure of this system is using a camera and two laser projectors fixed on same base. When robot get into a unknown environment, it will stop and capture an image, the system use several simple image process steps...
This paper proposes an image detection method which is applied to obstacle-detecting and path-planning system of a wheeled mobile robot. The positions of obstacles can be recognized by using medium filter, morphologic processing, canny edge detection, and connected component labeling. And this paper utilizes Parallel Lines Distance Measurement (PLDM) to detect the real world coordinates of obstacles...
In this paper, based on least trimmed squares-support vector regression (LTS-SVR), a robust radial basis function network (RRBFN) is proposed in the modeling problem to deal with training data sets that may contain outliers and noises. There are two stages in the proposed RRBFN approach. In stage I, outliers and large noises will be trimmed via the LTS-SVR procedure so that the influences of outliers...
The LANDMARC system is a radio frequency identification (RFID) based location system and has attracted great attention recently. In our implementation of the LANDMARC system, we have observed that some unusual large errors occur in the traditional LANDMARC. Thus, in this study, we proposed ways of resolving these problems. There are two major ideas proposed in this study. The first one is to forsake...
Rough sets approach of attributes reduction can be used as a purely structural method for reducing dimensionality using information contained within the dataset and preserving the meaning of the features. In this paper, the weighted interval-value fuzzy-rough attribute reduction algorithm is proposed for interval-value data. It will introduce IT2 into hybrid fuzzy-rough QuickReduct algorithm to deal...
It is well-known that Self-constructing neural fuzzy inference network (SONFIN) is a nice fuzzy inference system that has been equipped with structure learning capability. For the learning mechanisms, SONFIN can either be employed with the adaptive learning algorithm from neural network, which is often called backpropagation (BP) learning algorithm or use the Recursive Least Squares (RLS) algorithm...
The previous step CMAC for online tuning robust fuzzy controllers is proposed in this paper. There are two processes in the proposed schemes: one is the robust fuzzy controller and the other is the previous step CMAC learning algorithm. The robust fuzzy controller can achieve a certain goal without concern for instability of the controlled system in the presence of significant plant uncertainties,...
The paper proposed a way of dealing with optical image stabilization in solving blurring images caused by hand shake. The idea is to determine the hand-shake situation and then to correct blurring image through position compensation. This method directly detects motion signals to distinguish the hand shake situations from normal camera movement. In the process, fuzzy rule mechanism is employed to...
In this study, we continue our analysis on the use of RLS in neural fuzzy systems. The recursive least square (RLS) algorithms can have great learning performance for neural fuzzy networks. From our previous work, it can be observed that the advantages of using RLS instead of using BP are not so obvious. For the use of forgetting factor in RLS, the idea is to account for the effects of the change...
In the paper, an adaptive Fourier compensator is proposed to compensate the sliding decoupling control law for a class of uncertain coupling systems. Generally, on the hierarchical sliding mode, the sliding decoupling control law, which consists of an equivalent control law and a hitting control law, can be derived to stabilize the coupling system. When the system functions are subject to uncertainties,...
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