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Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle comes from the difficulty to identify/estimate the object's deformation properties. This paper presents a new visually servoed deformation controller for unknown elastic objects. The control law is designed using the passivity-based framework...
Accurate estimation of fingerprint orientation field is an essential module in fingerprint recognition. This paper proposes a novel technique for improving fingerprint orientation field estimation by fingerprint orientation model based on weighted 2D fourier expansion(W-FOMFE). The motivation for the proposed method can be found by: 1)the original FOMFE is sensitive to abrupt changes in orientation...
In order to estimate the state of uncertain models, a robust filter based on risk sensitive estimator is proposed, which could automatically change the state noise covariance according to the magnitude of the risk function. As a result, sample impoverishment could be mitigated. Another contribution of this paper is to take every sensor measurement into account, when large sample sets are needed to...
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