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The simultaneous localization and mapping (SLAM) problem has been a research focus for many years and have reached a mature state. However, more robust solutions to the SLAM problem are still required, especially in large noise level scenarios. Because of the strong non-linearity of the SLAM problem, it is vital to start from a good initial value to avoid being trapped in local minima. In this paper,...
This paper presents a complete framework for image-based navigation from an image memory that exploits mutual information and does not need any feature extraction, matching or any 3D information. The navigation path is represented by a set of automatically selected key images obtained during a prior learning phase. The shared information (entropy) between the current acquired image and nearby key...
Power allocation in small cell networks has mostly been investigated using ideal communication links, where it is generally assumed that information can be relayed perfectly between base stations. In this paper, we propose a model with non-ideal links and a power adjustment algorithm for heterogeneous networks. Contrary to the power allocation approaches in the literature, channel state information...
In this paper, we propose a discriminative and robust appearance model based on features extracted from a random partition image hashing algorithm to account for severe occlusion and disappearance. We divide the original image into multiple sub-blocks with random positions and scales. Hash functions are used to map blocks into compact binary codes, with which more effective target matching can be...
The tracking performance of the industrial servo systems are highly affected by the inherent unstructured uncertainties (external disturbances, and/or unmodeled dynamics), which degrades the reliability of the drive. This paper presents a higher-order terminal sliding mode controller to achieve high-accuracy motion-tracking control of DC motor drives. Fractional integral terminal sliding mode (ITSM)...
The main inconvenience of time-delay systems is that the plant output is delayed with respect to the plant input. So, in order to monitor, control or evaluate its behavior current information is not available. Dead-time compensators, mainly designed to control delayed plants, are aimed to provide undelayed data from the plant. Obviously, there is always an error between the estimated data and the...
This paper presents an autonomous control method for rescue robots climbing up stairs using LRF. In disaster areas caused by earthquakes, rescue robots are needed to find injured people from under broken buildings instead of rescue workers. Then, the robots require high skills to be controlled, because the robots are operated by remote controls with wireless cameras. Especially, in case of climbing...
The recent emergence of unmanned aerial vehicles asked for both well-performing auto-flight systems and fly-by-wire architectures. Towards this end, the trajectory control module of an integrated auto-flight control system is introduced in this paper, which utilizes nonlinear second-order error dynamics of the position error and uses nonlinear dynamic inversion as a control methodology. Flight test...
This paper is made up of a series of performance evaluations of computer vision algorithms, namely detectors and descriptors. The OpenCV 3.1 implementations of these algorithms were used for these evaluations. The main purpose behind these evaluations was to determine the best algorithms to use for a UAV guidance system.
The Desert Fireball Network is a sensor network on a continental scale, with the objective of recovering fresh meteorite falls and calculating associated heliocentric orbits. The network was first established in 2005 as a trial network of three (and later four) film camera observatories, which had immediate success with the successful recovery of meteorites in 2008 and 2010. The network was re-established...
This paper proposes a new event-triggered scheme, in which each agent has various mechanisms to respectively determine when to exchange information with each of its different neighbors. This kind of event-triggered mechanism avoids two constraints in previous mechanisms: (1) simultaneous event detection; (2) synchronous information transmission to all of neighbors. Thus our proposed scheme can be...
This paper studies state-based optimal supervisors for non-terminating discrete event systems (DESs) modeled by weighted automata. An optimal supervisor controls the DES to avoid system halts and maximizes the worst-case limit-average weight of the generated infinite sequences. A state-based supervisor controls the DES depending only on its current state, and required only polynomial space of memory...
In this paper, stability of linearly coupled dynamical systems with feedback pinning is studied. Event-triggered rules are employed on both diffusion coupling and feedback pinning to reduce the updating load of the coupled system. Here, both the coupling matrix and the set of pinned-nodes vary with time are induced by a homogeneous Markov chain. For each node, the diffusion coupling is set up from...
This paper proposes a new method of finding reduced-order model of a commensurate fractional-order (FO) system. The FO system is first converted to integer-order (IO) and then a mixed method of model-order reduction (MOR) scheme is applied. In this scheme, the denominator is obtained using time-moment matching method and the numerator is determined using the recently developed big bang-big crunch...
Depth cameras have gained much popularity in robotics in recent years. The Microsoft Kinect camera enables a mobile robot to do essential tasks like localization and navigation. Unfortunately, such structured light cameras also suffer from limitations. Exposing them to direct sunlight renders them blind, and transparent objects like glass windows can not be detected. This is a problem for the task...
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design...
This paper introduces a new robust 3D ultrasound needle detection approach integrated in a 3D needle steering system associated to a real-time path planning. The robustness of an existing algorithm is improved by limiting the needle detection to a curvilinear region of interest (ROI) using a novel mechanical-based prediction model. This linear model is also used in a Kalman filter to reduce detection...
This paper investigates the antagonistic consensus problem of a class of second-order multi-agent systems with fixed topology. A distributed consensus control algorithm is proposed for each agent to realize the four-group antagonistic consensus. A sufficient condition is derived to ensure that all agents make a four-group antagonistic motion in a distributed manner. It is shown that all agents can...
Parturient paresis(milk fever) is a common disease associated with the onset of parturition in dairy cows. The disease is considered due to a large increased demand for calcium. Several work has mathematically and biologically modelled this process. Based on the existing models on calcium dynamics in diary cows, an optimal impulse treatment is proposed in this paper. The treatment is executed at a...
In this paper, we propose a novel distributed orientation estimation method of rigid bodies in n-dimensional space using only relative orientation information. For the orientation estimation, n auxiliary variables for each agent are required. A rotation matrix which identifies orientation of local frame with respect to the common frame is obtained by transforming auxiliary variables with the Gram-Schmidt...
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