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The retrieval of visual cultural symbols is an important research field of inheriting and carrying forward Chinese traditional culture in digital way. Generally visual cultural symbols are foregrounds of natural images, so using shape features in image retrieval that needs image segmentation in advance has great advantages. At present, image segmentation is mostly interactive, which is quite subjective,...
Considering the requirement for a more objective result of image retrieval, the features of image itself attract more and more attentions of researchers. Recently, the shape context of images is widely applied in image matching for its good invariance of translation and scale, as well as its good robust for small geometric distortion. Thus, the features of shape context are introduced in this paper...
In this paper, CPDP350 using pulsed MIG welding machine, in the two pulse mode, respectively welding current, Arc voltage welding parameters and acquisition welding current and voltage waveforms. Through the current and voltage waveform analysis of different pulse mode parameters on welding and seam welding process of forming, help in the application process to choose a suitable model pulse welding...
Although multi-robot formation is studied by many researchers, formation process in dynamic environment is still a tough problem. Compared with nature systems, cellular automaton is used in formation problem and has been tested in some situations. In this paper, we proposed a new flexible formation method using two kinds of cellular automaton, the robot cellular and the environment cellular are both...
Leader-following formation is one of the common used formation strategies, but when using this method, behavior of the leader will certainly influence behavior of other team members. In obstacle environment, a fixed leader may experience maneuver and this will destroy formation shape and increase energy consumption while not necessary. In this paper, some evaluation factors are discussed to judge...
Rigid formation of Multi-robot system has been studied in many papers. But the fixed shape is not suitable in many cases. We believe the goal of formation is to accomplish a given task better. So whether the shape is rigid or precise is not the most important thing in many cases. Here the concept of flexible formation is given. Such formation is virtual and the shape is varying. It could adapt to...
A unified formation control policy is presented. From the trajectory and shape aspects, the group formation control problem is decoupled into the desired trajectory tracking problem of each individual, and the consistency of stability and optimality between these two problems are proved. The overall criterion and decomposed criterions to evaluate the formation performance are designed. The decomposed...
Formation control in uncertain environment is studied, including the control process noise and measurement noise. The decoupled Kalman filter based on discrete model is established. And the control performances based on absolute positioning sensor, relative positioning sensor or fusion of these two kinds of sensor are studied. Simulations show that absolute positioning sensor could assure the formation...
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