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We present a novel pipeline for augmenting a 3D eye-glass mesh into a person's face. While doing so, we take care about the proper fitment of the glass in terms of pupilary distance computed automatically, which is user-friendly in compare to standard marker based approaches. Our method also performs rigid eye-glass temple correction during augmentation followed by tracking to present realistic rendering...
In this paper, it is shown that the Enhanced Unified Camera Model, which is used to model fisheye cameras, projects straight lines into conic sections. Then a way to find equations of straight line projections is proposed. The method is applied to epipolar curves to adapt the Semi-Global Matching algorithm to fisheye stereo systems to compute a dense direct stereo correspondence without undistortion...
Atomic Force Microscopy (AFM) captures Nano-scale resolution biopolymers with relative ease, and has been used to image many string-like biopolymer samples such as DNA. This research proposes a standard method to calculate the persistence length(s) of DNA samples, imaged by AFM. Both simulated DNA through Worm-Like Chain (WLC) modeling and DNA images scanned from actual AFM systems are used to demonstrate...
Although adaptive control offers a unique way to control dynamical systems without excessive reliance on their mathematical models, it is well known that nonidentical command profiles result in nonidentical closed-loop responses with such controllers, and therefore, it is of practical interest to study theoretical ways to construct predictable closed-loop responses when adaptive controllers are in...
This paper studies the distributed containment control problem of multiple rigid bodies with event-triggered controllers. An event-triggered cooperative strategy is proposed based on combinational measurements. In this framework, each agent is triggered only at its own triggering instants, which reduces the frequency of controller updates in practice. It is shown that the triggering time sequence...
Macroscopic fundamental diagram (MFD) that describes traffic flow in an urban road network can be used to design perimeter control method to regulate the traffic flow from a macroscopic level. Most of the perimeter control algorithms are regarded as a kind of model-based feedback control method, whose performance is hardly to improve in practice due to the model uncertainty. By noticing the repetitive...
In multi-sensor spatial registration process, the ill-posedness of the information matrix is the main factor which affects the quality of the registration result. This paper focuses on this problem and makes some progress. For simplicity and without loss of generality, we firstly revisit the least square registration algorithm and analyze the ill-posedness of the information matrix and its reasons...
The two-stage Kalman filter was proposed with the objective to avoid bias when the system is in presence of input signals. A common technical difficulty in this technique is that the dynamics of input signal is always unknown whereas the optimality of such filter can only be achieved with sufficient priori knowledge (i.e., known dynamics and statistics). Unbiased minimum-variance filter is capable...
In this paper we present a robust controller based on Takagi-Sugeno (T-S) fuzzy model. First, we obtain the nonlinear state equation of the underactuated robot systems by linearization, then, the parallel distributed compensation scheme (PDC) is applied to design the controller. Simulation results show the robustness of the pendubot control system against the disturbance.
In this paper, the output containment control problem of heterogeneous linear multi-agent systems is investigated. The objective of the output containment control problem is to make a group of agents converge to a convex hull spanned by some leaders. A distributed control law based on output regulation framework is proposed, where a distributed observer is designed in the control law for agents estimating...
The model predictive control method can be effective for converter control in distributed power generation but requires a large amount of computation, leading to a considerable time delay in the actuation. If the delay is not reflected, the system performance could get worse. This paper presents a two-step (horizon) prediction algorithm of model predictive control technique for grid-tied inverters...
A fuzzy comprehensive evaluation model based on cloud model which can be applied to evaluate air quality was established in this paper. Firstly, the basic content of the cloud model was introduced. The evaluation set, the weight set and the membership degree matrix based on the cloud model were discussed, and the evaluation model was established, which overcame the shortage of traditional fuzzy mathematics...
This paper introduces and demonstrates a combination scheme for the combination of Wi-Fi based and camera based localization technologies to increase the applicability in indoor environments. The scheme is developed on the basis of an analytical approach by looking for maximizing the probability of appearance and the reliability of the location results provided by underlying technologies. The proposed...
In this paper, high precision motion control of piezo-actuated stage is discussed. In order to cope with the nonlinear characteristic of the piezoelectric actuator (PEA) and get high tracking performance, this paper proposes a new approach to design the discrete time sliding mode control (DSMC) with an ability to maintain the tracking error in a known region described by a performance function. The...
In this paper, we propose an efficient and robust gross outlier removal method, called the Conceptual Space based Gross Outlier Removal (CSGOR) method, to remove gross outliers for geometric model fitting. In the proposed method, each data point is mapped to a conceptual space by computing the preference of "good" model hypotheses. In the conceptual space, the distributions of inliers and...
In order to capture the target more quickly, some seekers of air-to-ground missile were intentionally installed with an angle between the optical axis and the body axis in vertical plane, which is defined as the pitching angle of optical axis. Aiming at solving the problem that the strapdown seeker cannot measure the line-of-sight (LOS) rate directly, a LOS rate estimate method based on Extended Kalman...
The penetration of renewable distributed energy resources such as wind turbine has been dramatically integrated in distribution networks due to clean, sustainable, and economical green energy. Due to intermittent wind speed, the power generation patterns vary which can risk the distribution network operation. So, it is intrinsically required to monitor the wind turbines in a distributed way. This...
Switched reluctance motor (SRM) has the features of large starting torque, wide speed range and high reliability, which are appropriate for electric vehicles (EVs). A three-phase 12/8 pole SRM is designed for EVs application. The dynamic simulation model of SRM is built in Matlab/Simulink based on the flux linkage and torque characteristics. The EV simulation model is built combining SRM dynamic simulation...
An automatic flight path controller, as part of a modular automatic flight guidance and control system, is presented, along with initial flight test results using a DA42 M-NG flying testbed. The basic principle for the flight path control is a reference model based dynamic inversion of the kinematic equations of motions, with pseudo-control hedging to account for inner loop dynamics and plant response...
In this paper, we present a Lagrangian swarm model that shows emergent formations of multiple autonomous unmanned ground vehicles (UGVs). The Direct Method of Lyapunov is used to construct the instantaneous velocity of each individual in the swarm. The velocity controllers ensure the cohesion and therefore the stability of the swarm. Via computer simulations, we illustrate self-organizations such...
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