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A guidance law of the missile interceptor with passive ranging system (e.g. image IR seeker) based on second-order sliding mode is proposed in this paper. The missile system equipped with the passive ranging system can provide good stealth ability during its course of tracking the trajectory of a maneuvering target, therefore enhancing the probability of successful interception. The passive ranging...
Wafer fabrication is a capital-intensive and highly complex manufacturing process. In the wafer fabrication facility (fab), wafers are grouped as a lot to go through repeated sequences of operations to build circuitry. Lot scheduling is an important task for manufacturers to improve production efficiency and meet customers’ requirements of on-time delivery. In this research we propose a dispatching...
This paper presents a head and hands tracking method with a monocular camera for human machine interaction (HMI). The targets are tracked independently when they are far from each other, however, they are merged with dependent likelihood measurements in higher dimension while they are likely to interrupt each other. When tracking one target in the independent situation, other targets are masked to...
In this paper, the second order sliding mode control strategy is applied on a 6-dof parallel manipulator, so-called Stewart platform. The advantages such as robustness and design simplicity of sliding mode control are the main reason that it was often used on robotic systems. However, the chattering phenomenon of conventional sliding mode control may cause unstability due to the practical implementations...
RGB-D sensor has gained its popularity in the study of object recognition for its low cost as well as its capability to provide synchronized RGB and depth images. Thus, researchers have proposed new methods to extract features from RGB-D data. On the other hand, learning-based feature representation is a promising approach for 2D image classification. By exploiting sparsity in 2D image signals, we...
This paper introduces a context-aware assisted active robotic walker for Parkinson's disease (PD) patients. Most of PD patients suffer from not only loss of balance but also abnormal gaits. These symptoms tend to make PD patients fall down more easily and result in low quality of life. We use Hidden Markov Model (HMM) to analyze the gait of PD patients, and then use our walker to help patients adjust...
In this paper, we present a boosting approach by combining the pose estimation and the upper body tracking to on-line recognize human actions. Instead of using a predefined pose to initialize the human skeleton, we construct a key poses database with depth HOG features as searching indexes. When user enters the camera view, we automatically search the database to get the initial skeleton. Then we...
Human activity is among the critical information for a context-aware smart home since knowing what activities are undertaken is important for providing appropriate services. Most of the prior works primarily focus on recognizing individual activity, thus requiring high cost to track people and performs not well when there are multiple users, which is common in a real home environment. Therefore, we...
Energy overuse has caused many environmental and economic issues, so energy saving for household is challenging and important for a smart home. For home energy saving based on context-awareness, human activity is critical information since knowing what activities are undertaken is important for judging if energy consumed by appliances is well spent by users. Such contextual information is an important...
Service robot has received enormous attention with rapid development of advanced technology in recent years, and it is endowed with the capabilities of performing human-robot interaction (HRI). We construct a sensor fusion based system to integrate the information from both sensors by using a data association approach - Covariance Intersection (CI). It will be used to increase the robustness and reliability...
We propose a nighttime pedestrian detection method for a moving vehicle equipped with a camera and the near-infrared lighting. The objects in the nighttime environment will reflect the infrared projected. In some cases, however, the clothes absorb most of the infrared and make the pedestrian partially invisible in that part. To deal with this, a part-based pedestrian detection method according to...
In ubiquitous computing it is important to recognize a user's activities and provide corresponding services based on the user's preferences. However, learning human preferences and recognizing their activities has traditionally been dealt with separately. Furthermore, most currently available approaches first learn offline and generate static activity models which are later used to recognize activities...
Pedestrian detection is an important part of intelligent transportation systems. In the literature, Histogram of Oriented Gradients (HOG) detector for pedestrian detection is known for its good performance, but there are still some false detections appearing in the cases with flat area or clustered background. To deal with these problems, in this research work we develop a new feature which is based...
In this paper, a sensorless position control for four-switch three-phase (FSTP) inverter-fed interior permanent magnet synchronous motor (IPMSM) drive systems is proposed and studied. Unlike traditional sensorless position controls that are based on zero-voltage switching mode generated by a six-switch three-phase (SSTP) inverter, the proposed method utilizes the nature of the FSTP inverter; that...
An improved predictive current control for interior permanent magnet synchronous motor (IPMSM) drive systems using current difference detection technique is proposed in this paper. First, a conventional model-based predictive current control for IPMSM is introduced, which needs the information of the resistance, q-axis inductance, and extended back-EMF of IPMSM to predict the future current. To remove...
In this study, a model-free predictive current controller (MFPCC) for four-switch three-phase (FSTP) inverter-fed interior permanent magnet synchronous motor (IPMSM) drive systems is proposed. A new method, using the stator current and its difference is proposed to predict the next stator current. The advantages of the proposed MFPCC are low computation, simple to realize, and insensitive to parameter...
In this paper, we propose a model-based predictive current control (MBPCC) scheme for four-switch three-phase (FSTP) inverter-fed interior permanent magnet synchronous motor (IPMSM) drive systems based on a three-phase extended back-EMF estimation method. First, we estimate the three-phase extended back-EMFs of IPMSM using the information of the stator currents, the q-axis inductance, and the stator...
Hyper-heuristics solve problems by manipulating low-level domain-specific heuristics. The aim is to raise the level of generality of the algorithm to solve problems in different domains. In this paper we propose a hyper-heuristic based on Variable Neighborhood Search (VNS), which consists of two main steps: shaking and local search. Shaking disturbs solutions, and then local search seeks for the local...
In this paper, we propose a novel approach based on particle swarm optimization (PSO) for solving the minimum energy broadcast (MEB) problem, which has been proven to be NP-complete. Wireless sensor networks (WSNs) have attracted large intention in recent years due to its powerful ability. One crucial issue in WSN is energy saving because of the limited battery resource. The MEB problem is one of...
In this paper, we propose an online scene reconstruction algorithm with monocular camera since there are many advantages on modeling and visualization of an environment with physical scene reconstruction instead of resorting to sparse 3D points. The goal of this algorithm is to simultaneously track the camera position and map the 3D environment, which is close to the spirit of visual SLAM. There're...
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