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The infrared camera array devices, which are important components of the air robot automatic optical navigation system, need to be calibrated for keeping the effectiveness and precision of tracking and location. We propose a brand new method for automatic calibration of infrared camera array, we focus on the rotation matrices and translation matrices between the cameras and the world coordinate. We...
For recognizing human actions in video sequences, it is necessary to extract sufficient information which can represent motion features. In recent years, dense trajectories based action recognition algorithms attract more attention for containing rich spatio-temporal information. However, these algorithms are always faced with cluttered background. To solve this problem, we involve object tracking...
We consider two synchronization problems, namely, state synchronization for networks of identical linear agents, and regulated output synchronization for networks of non-identical linear agents, under a time-varying topology. Agents are assumed to be multiple-input multiple-output (MIMO), minimum-phase, right invertible and non-introspective (i.e., they only receive relative output information from...
This paper studies output synchronization problem for a heterogenous network of discrete-time introspective right-invertible agents. We propose a decentralized control scheme to solve the output synchronization problem for a set of communication topologies. Moreover, if the synchronization trajectories are assumed to be bounded, a universal controller can be constructed for all communication topologies...
It is known that for single-input neutrally stable planar systems, there exists a class of saturated globally stabilizing linear state feedback control laws. The goal of this paper is to characterize the dynamic behavior for such a system under arbitrary locally stabilizing linear state feedback control laws. On the one hand, for the continuous-time case, we show that all locally stabilizing linear...
In this paper, we consider the semi-global regulation of output synchronization problem for heterogeneous networks of invertible linear agents subject to actuator saturation. That is, we regulate the output of each agent according to an a priori specified reference model. The network communication infrastructure provides each agent with a linear combination of its own output relative to that of neighboring...
In this paper, we consider three problems, namely, the output consensus problem, the model-reference output consensus problem, and the regulation of output consensus problem, for a network of non-identical right-invertible linear agents. The network provides each agent with a linear combination of multiple agents' outputs. We assume that all the agents are introspective, meaning that they have access...
Laparoscopic surgery requires rigorous training in order to overcome physical, spatial and visual constraints. We are developing a laparoscopic robot trainer. The robot trainer can learn the motion of the master surgeon when he is performing a virtual surgery, and drive the surgical tool by mimicking the learnt trajectory during training. This paper reports our investigation on robot learning using...
Laparoscopic Surgery poses significant complexity in hand-eye coordination to the surgeon. In order to improve their proficiency beyond the limited exposure in the operating theatre, surgeons need to practice on laparoscopic trainers. We have constructed a robotic laparoscopic trainer with identical degrees of freedom and range of motion as a conventional laparoscopic instrument. We hypothesize that...
Sensor networks are a sensing, computing and communication infrastructure that are able to observe and respond to phenomena in the natural environment and in our physical and cyber infrastructure. In this paper, we investigate how the sensor network performs in the case when three events move with special movement path. We compare the simulation results for three cases: stationary, random and simple...
In this paper, we consider three problems, namely, the consensus (synchronization) problem, the model-reference consensus problem, and the regulation of consensus problem, for a network of identical linear time-invariant (LTI) multi-input and multi-output (MIMO) agents. For each problem, we propose a distributed LTI protocol to solve such a problem for a broad class of time-invariant network topologies...
In this paper, we investigate how the sensor network performs in the case when the event moves with special movement path. We compare the simulation results for four scenarios: when the event is stationary, moving randomly, moving with simple 4 path and boids path. The simulation results have shown that for the case when event is moving randomly the performance is the worst in the four scenarios....
A strategy for trajectory design, motion camouflage, is introduced within the context of orbital relative motion. At first the equations of orbital motion for this approach are developed. The control strategy is then implemented using both an impulsive and continuous approach. A number of parameters are then optimized to minimize the fuel mass. The simulation results reveal that the predator successfully...
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