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In this study, an attitude control method for multi-rotor aircraft with output constraints and various disturbances is presented. To prevent output constraints violation, a Barrier Lyapunov Function (BLF) is introduced and the controller is designed based on backstepping algorithm. To enhance the robustness of the system, a linear extended state observer (LESO) from linear active disturbance rejection...
This paper proposes a super twisting sliding mode control technique for linear induction motors (LIMs) with unknown load torque, taking into consideration the dynamic end effects. First, LIM's dynamic end effects are presented by Ducan's T-model, then following this model is controlled by a designed super twisting controller (STC) for flux tracking and speed tracking purpose. Simultaneously, an open...
A signal separation and parameter estimation method based on dual particle filtering for fMRI signal is put forward. In order to simultaneous estimate the hidden physiological states and the system parameters, the beta distribution which makes good use of prior knowledge as well as avoids tail draws for the parameter is used to fit the parametric posteriori probability density function, and the sufficient...
A novel background dictionary learning and structured sparse representation based anomaly detection method is proposed for hyperspectral imagery. First, a robust PCA spectrum dictionary is learned from the plausible background area detected by the local RX detector. With the learned dictionary, the reweighted Laplace prior based structured sparse representation model is then employed to reconstruct...
In this paper, we propose a l2,1-norm based discriminative robust transfer learning (DKTL) method for domain adaptation tasks. The key idea is to simultaneously learn discriminative subspaces by using the proposed domain-class-consistency (DCC) metric, and the representation based robust transfer model between source domain and target domain via l21-norm minimization. The DCC metric includes two parts:...
A field limiting ring termination, designed for 3.3 kV high voltage fast and soft recovery diode, is analyzed by using 2-dimensional numerical simulation in this paper. The results show that the lower leakage current and the improved robustness of the field limiting ring termination can be obtained by introducing a p type corrugated resistance region. During the reverse recovery, the corrugated resistance...
In this paper, we address problems that can occur during load transport using Unmanned aerial vehicles (UAVs). To begin with, a detailed model of a quadrotor carrying a fixed load with the Center of Gravity (CoG) changes of the transportation system is derived. Then, this problem is solved using robust adaptive attitude control for dynamical uncertaintites in the center of gravity of the quadrotor...
An object recognition method based on Gabor wavelet and SVM is proposed in this paper. First features of the object are extracted by using Gabor wavelet, and then the dimensions of the Gabor features are reduced with Principal Component Analysis, and finally classification is performed with Support Vector Machine. And this method is applied to the Columbia image library COIL-20 for experiments. Compared...
Ultracapacitors (UCs) are an important energy storage technology in automotive and grid applications. They have several advantages, including high power density and extraordinarily long lifespan. Accurate State-of-Charge (SOC) tracking of UCs is critical for the reliability, resilience, and safety in system operation. This paper presents a novel robust H infinity observer in order to realize the SOC...
Unstructured detectors such as KGLRT, ACE and AMF are widely applied for target detection in hyperspectral imagery (HSI). However, conventional global and local approaches construct background model without considering the contamination caused by anomalies and suspected targets. This paper proposes a local ACE algorithm based on the minimum covariance determinant (MCD) estimator. In the proposed algo-rithm,...
Real-time, robust and precise estimation of a robot's ego-motion is a crucial requirement for higher level tasks like autonomous navigation. In this paper, a real-time and robust odometry estimation system for indoor micro aerial vehicle (MAV) is developed by only using the point cloud generated from the depth camera. First, local surface normal features are used to select points with most constraints...
This paper addresses the problem of robust Tomlinson-Harashima precoding (THP) for multiple-input multiple-output (MIMO) relay systems. The robust nonlinear transceiver design consists of a TH precoder at the source along with a linear precoder at the relay and an minimum-mean-squared-error (MMSE) receiver at the destination. The imperfect channel state information (CSI) is considered. By taking the...
In this paper, an aluminum plate with a Peltier devices are used as a model. For the Peltier actuated thermal process is a nonlinear control affine system and the real system is usually contains fault owing to various factors, it is difficult to achieve excellent control consequent. In this paper, robust right coprime factorization is applied to analyse the thermal process. Then the derivation of...
In this paper, we study the problem of landmark recognition and propose to leverage 3D visual phrases to improve the performance. A 3D visual phrase is a triangular facet on the surface of a reconstructed 3D landmark model. In contrast to existing 2D visual phrases which are mainly based on co-occurrence statistics in 2D image planes, such 3D visual phrases explicitly characterize the spatial structure...
Regularized linear representation learning has led to interesting results in image classification, while how the object should be represented is a critical issue to be investigated. Considering the fact that the different features in a sample should contribute differently to the pattern representation and classification, in this paper we present a novel relaxed collaborative representation (RCR) model...
Important structures in photographic images such as edges and textures are jointly characterized by local variation and nonlocal invariance (similarity). Both of them provide valuable heuristics to the regularization of image restoration process. In this paper, we propose to explore two sets of complementary ideas: 1) locally learn PCA-based dictionaries and estimate the sparsity regularization parameters...
In this paper, a novel variant of the ICP algorithm is proposed for registration of partially overlapping range images. Biunique correspondence is introduced to enhance the performance of ICP by searching multiple closest points. A new kind of outlier is defined, called No-Correspondence (NC) Outlier, which is the point that is not assigned to a biunique correspondence. In order to maintain efficiency,...
Specific images refer to images one has a certain episodic memory about, e.g. a picture one has ever seen before. Specific image retrieval is a frequent daily information need and the episodic memory is the key to find a specific image. In this paper, we propose a novel semantic sketch-based interface to incorporate the episodic memory for specific image retrieval. The interface allows a user to specify...
In this paper, a video watermarking scheme is proposed, which has high capacity and is robust against transcoding between MPEG2, MPEG4 and H.264. In the proposed scheme, the watermark is embedded into the DCT blocks and the frames in the same GOP are watermarked with the same watermark. During the embedding, the spatial relationship of DCT coefficient between an 8*8 block and its four 4*4 sub-blocks...
Palmprint verification is a relatively new but promising personal authentication technique for its high accuracy and fast matching speed. Two dimensional (2D) palmprint recognition has been well studied in the past decade, and recently three dimensional (3D) palmprint recognition techniques were also proposed. The 2D and 3D palmprint data can be captured simultaneously and they provide different and...
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