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This paper is concerned with the consensus problem for general first-order multi-agent systems over undirected topology. Under the assumption that the topology is connected and every agent receives neighbors information with time-varying communication delay, allowable delay bound depending on the agent dynamics, topology structure and the control gain is obtained. In particular, in case of first-order...
This paper proposes a robust fault detection observer based on zonotopes for discrete-time uncertain systems with sensor faults and unknown but bounded uncertainties. The main advantage of this method is that the observer gain of the robust zonotopic observer is designed to be robust against bounded uncertainties while being sensitive to faults. In order to detect sensor faults with low magnitudes,...
An increasing number of unknown islands, an important resource for human development, is identified based on segmentation of remote sensing image. Different from traditional digital image, remote sensing image has significant characteristics, such as multi-band, multi-source, and multi-granularity. Thus, the segmentation theory based on traditional digital image is not suitable for remote sensing...
The performance of local descriptors such as SIFT drops under severe illumination changes. In this paper, we propose a Discriminative and Contrast Invertible (DCI) local feature descriptor. In order to increase the discriminative ability of the descriptor under illumination changes, a Laplace gradient based histogram is proposed. Moreover, a robust contrast flipping estimate is proposed based on the...
Human 3D pose estimation from a single image is a challenging task with numerous applications. Convolutional Neural Networks (CNNs) have recently achieved superior performance on the task of 2D pose estimation from a single image, by training on images with 2D annotations collected by crowd sourcing. This suggests that similar success could be achieved for direct estimation of 3D poses. However, 3D...
This paper proposes a novel self-healing control method for satellite attitude tracking based on simultaneous fault estimation and control design. The proposed method integrates the fault estimation and fault-tolerant control units in a dynamic system, which is less complex and more reliable than the separately designed self-healing architectures. In this paper, the model reference approach is used...
The inertial stick-slip platforms driven by piezoelectric ceramics have comprehensively application in the field of nanomanipulation and nanoassemblies field. In this paper, our investigation is mainly focused on designing and manufacturing a novel structure of inertial stick-slip platform. There are some advantages that higher integration and consistency of every step, more easily changing the friction...
In order to resolve issues such as excessive rigidity in polishing process with industrial robot, this paper proposed a solving method by installing a force feedback device at the robot end, designed an integrated pneumatic drive, servo control, mechanical drive force control flange device, built its control system platform, and proved in experiments that the dynamic performance of this device meets...
Based on the requirement of complicated surface polishing from manufacturing automation, aiming at solving the complex and inefficient online teaching of robotic polishing system, this paper proposes a force-controlled polishing system and implements off-line programming on process path of blade polishing by robot through analyzing the deformation of the contact part between blade and buffing wheel...
Nowadays autonomous welding robots are gaining importance. Weld seam detection is a key technology in robotic welding which is usually performed using a visual system. In most existing vision-based approaches, traditional image processings are used to obtain weld seams. Generally, these approaches are sensitive to their surrounding environment, especially illumination. Therefore, we address the problem...
In this paper, we consider the consensus problems for first-order multi-agent systems with communication delay. Under the assumption that the delay is time-varying and unknown, allowable delay bound depending on agent dynamic, control gain and the eigenvalues of the Laplacian matrix are obtained over undirected network topology. Especially, if the agent dynamics are first-order integrator systems,...
In this paper, a data-driven method is proposed to detect and isolate the intermittent fault in gyroscopes. A mathematical description for the intermittent fault is first proposed in a probabilistic framework. Based on this probabilistic model, we present a random generation algorithm to emulate the occurrence of the intermittent fault. Considering the cross-correlation and autocorrelation between...
This paper proposes a new fault detection and isolation method for the spacecraft attitude sensors by integrating the dedicated observer scheme (DOS) and extended Kalman filter (EKF). In this paper, the attitude sensors are arranged into several groups and then a bank of EKFs are designed to estimate the attitude. Using the attitude estimates provided by the EKFs, a fault detection and isolation strategy...
In this paper, an active fault-tolerant scheme with performance degradation is proposed in the presence of actuator saturation and fault. Firstly, the loss of control effectiveness fault is transformed into an virtual additive fault and then the effectiveness factors are estimated by a two-stage Kalman filter algorithm with a set of forgetting factors. In order to satisfy the output tracking performance,...
This paper develops distribute fault estimation observer (DFEO) for attitude synchronization of multiple satellites with disturbances. The intermittent fault is mainly considered. More specifically, identical satellite attitude dynamics are built and the global attitude synchronization systems are obtained with undirected graph communication topology firstly. For each satellites, robust H∞ DFEO is...
The problem of asynchronous fault detection filter design for time-varying delays switched system is considered in the framework of mixed H−/H∞. H− performance represents the sensitivity index of residual to fault and H∞ performance is the robustness indicator of residual to disturbance. First of all, multiple Lyapunov-Krasovskii functions and average dwell time approach are used for deriving the...
Convolutional-deconvolution networks can be adopted to perform end-to-end saliency detection. But, they do not work well with objects of multiple scales. To overcome such a limitation, in this work, we propose a recurrent attentional convolutional-deconvolution network (RACDNN). Using spatial transformer and recurrent network units, RACDNN is able to iteratively attend to selected image sub-regions...
Many computer vision tasks, such as video surveillance, motion analysis and object recognition, need accurate object segmentation results. Nevertheless, good segmentation is difficult to be obtained by most state-of-the-art algorithms in non-uniform degraded images. In this paper, we present an efficient object segmentation method to deal with such problem. First, superpixel-based pairwise fuzzy connectedness...
Battery systems are crucial components for mission-critical data centers. Without secure energy backup, existing under-provisioned data centers are largely unguarded targets for cyber criminals. Particularly for today's scale-out servers, power oversubscription unavoidably taxes a data center's backup energy resources, leaving very little room for dealing with emergency. Besides, the emerging trend...
MnTe films were prepared by pulsed laser deposition. The influences of the components and the surface topography on the transport properties of the films were investigated. A nonlinear current-voltage characteristic and diode like behavior near the transformation temperature was observed for the films grown with islands incompletely connected. These phenomena may be attributed to the rough surface...
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