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Due to the sparse distribution of road video surveillance cameras, precise trajectory tracking for hit-and-run vehicles remains a challenging task. Previous research on vehicle trajectory recovery mostly focuses on recovering trajectory with low-sampling-rate GPS coordinates by retrieving road traffic flow patterns from collected GPS information. However, to the best of our knowledge, none of them...
In this paper, we are concerned with the performance output reference signal tracking for a heat equation with matched boundary disturbance. Firstly, we construct a state reference trajectory system based on the reference signal, and prove this observer system is bounded. Secondly, we design a performance output tracking controller, which can make the performance output is tracking the reference signal...
Due to the sparse distribution of road video surveillance cameras, precise trajectory tracking for vehicles remains a challenging task. To the best of our knowledge, none of the previous research considered using on-road taxicabs as mobile video surveillance cameras and road traffic flow patterns, therefore not suitable for recovering trajectories of vehicles. With this insight, we model the travel...
When a biped robot moves about in a physical environment, it may encounter inclined ground. Biped walking on inclined ground still remains challenging for biped robots. Previous studies have discussed biped walking on inclined ground along specific directions. However, omnidirectional walk on inclined ground has rarely been investigated. In this paper, we propose a gait pattern generation method for...
Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across...
Fast and stable walking is one of the important prerequisite for humanoid robots to serve the people. Pelvic rotations play a significant role when one walks fast. This paper proposes a method to generate human-like walking patterns with pelvic rotation in the transverse plane for a humanoid robot to effectively improve its quickness and stability. First, the regularities of pelvic rotation in the...
For humanoid robots, there exist a class of challenging tasks, e.g. playing table tennis, which are non-repeatedly, triggered randomly by sensor events, and compelling the robots to produce reactive operations in very short time. Additionally, some key poses of the robot are partially constrained to accomplish the operations, and are usually adjusted during the operation execution. In this paper,...
This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization...
In order to overcome the defect of physic-chemical monitoring system and enhance the intelligence of biological monitoring technology, an online monitoring system of fish behavior is proposed in this paper. The main contributions of this system are as follows: 1) adaptive background updating algorithm (ABU); 2) automatic camshift tracking algorithm (ACT) with twice searching; 3) particle filter tracking...
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