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A universal watermarking protocol for quantum images is designed in this paper. The protocol is developed based on quantum transform (QT) and quantum add operation (QAO). Moreover, a dynamic vector is introduced to control the embedding strength in the embedding process, which is obtained through the constraint that quantum image state should keep normalized in the entire computation process. Therefore,...
A reduced-order delay-dependent H∞ filter design method for singular Markovian jump systems with mode-dependent time delay is studied in this paper. The purpose is to design linear filters with specified order lower than the given system such that the filtering error system is regular, impulse free, mean-square exponentially stable, and satisfied a prescribed H∞ performance index. One major contribution...
A distance based formation control method requires agents which can observe positions of neighborhoods in local frame. Existing similar system is GPS, but this has limit that more than four satellite must be connected to sensor and uses global coordinates. Fortunately, measuring distance between two agents is quite famous. This paper provides method based on Received Signal Strength Indication (RSSI)...
In this paper the schemes to compute robust control invariant sets for linear (uncertain) systems are collected, which are not necessary minimal robust control invariant sets. Firstly, the concept of logarithmic norm is resorted to a simply differential functional inequality. Feedback control laws are obtained for both of the two schemes. In the scheme based on the differential functional inequality,...
The automated tool trajectory planning of painting robot is still a challenging problem, especially for free-form parts. Because the current paint deposition rate function is too complicated, the paint accumulation on a surface is proposed. In order to achieve the new spraying operation standards, the paint thickness function for free-form surfaces is also given. A multi-objective constraint optimization...
In this paper, a new 5-DOF spacecraft simulator which is a frictionless environment simulation platform is described. The simulator has two translational degrees of freedom and three rotational degrees of freedom. It is used for experimental validation of various spacecraft control strategies on the ground. A set of three inertial wheels and a set of sixteen cold-gas thrusters are used as primary...
This paper deals with the robust state estimation problem for a class of discrete-time genetic regulatory networks (GRNs) with a random delay described by a Markovian chain. The norm-bounded uncertainties and random delay described by a Markovian chain are considered in the discrete-time GRNs. Based on the Lyapunov stability theory and matrix inequality technique, sufficient conditions are derived...
In this paper, an improved median filtering algorithm is proposed for the restoration of images that are highly corrupted by salt and pepper noise. The proposed algorithm (PA) replaces the noisy pixel with the median of the already processed pixel values of the selected window, in which all the pixels are noisy, by considering two complementary processing directions. It turns out that PA can efficiently...
This paper considers the problem of stabilization bound of the discrete singularly perturbed system (SPSs), which is subject to actuator saturation. An approach to design a state feedback controller which can stabilize the discrete SPSs is proposed. A method to estimate the basin of attraction is constructed. In order to reduce the conservatism of the estimation of the basin of attraction, a convex...
To obtain the attitude of spacecraft by a large field of view CCD system is not an unachievable task. The principal aim of this paper is to research the accuracy of spacecraft's attitude by shooting stars with the large field of view CCD system on the ground. In this paper, the quadrilateral algorithm model and an algorithm of data fusion from a set of real images, are given. The experimental results...
A smoothing neural network (SNN) can be proposed for solving a kind of constrained convex problems, which has wide applications in image restoration. The optimization model is a nonsmooth convex problem with convex constraint defined by a class of affine equalities. Thanks to the smoothing methods, the SNN can be modeled by a differential equation instead of a differential inclusion and it can be...
This paper studies the stabilization for networked control systems with medium access constraint via controller and protocol co-design. The closed-loop networked control system is modeled as a discrete-time switched system. Sufficient conditions are presented for the exponential stability of the closed-loop networked control system by the average dwell time method. Based on the conditions, stabilizing...
Current-based technique is an economic solution to detect bearing faults in drive-trains. Localized faults produce characteristic vibration frequencies. When an electric motor is supplied by a frequency-converter, the current response includes not only the fundamental and fault related frequencies but also higher harmonics from the inverter. This paper introduces a resonant filter to pick up frequency...
In general, the design of silk products relies on the user's preferences. Conventional design system for silk products utilizes an old-fashioned design method that designers need to design the products manually. However, this task is very complicated and difficult. Therefore, the automation of products' design is very necessary. In this paper, we have innovatively built and verified a fuzzy rule-based...
The automatic identification of the woven fabric structures is usually based on the study of the fabric structure blocks. Generally, in the identification process of a textile fabric image which contains several different woven fabric structures, blocks of different woven fabric structures need to be located and extracted manually. This defect extremely limits the development of the fabric image's...
In this paper, a pitch angle controller is designed based on L1 adaptive control theory to guarantee steady generator power output while reducing the mechanical loads at above rated wind speed. Firstly, a non-affine model of the pitch regulated variable-speed wind turbine is built to formulate complicated aerodynamics. The L1 adaptive pitch angle controller is then introduced to assure uniformly bounded...
The design of a robust adaptive backstepping flight control law for a unmanned aerial vehicle (UAV) is discussed. The lumped uncertainties of the nonlinear UAV model are concerned in this paper. RBF neural networks are used inside the backstepping control law to approximate the lumped uncertainties. Command filters are used to implement the virtual control law and avoid “explosion of complexity”....
The dynamics of flexible air-breathing hypersonic vehicles (FAHVs) are nonlinear non-minimum, so the internal dynamics of FAHVs is unstable. The traditional dynamic inversion method is unsuitable for the control of FAHVs. Stable inversion method proposes an efficient way for the control of nonlinear nonminimum system, so a stable inversion based sliding mode control (SMC) method is proposed for the...
Robustness of output regulation problems for second-order systems with parameter perturbations is studied. Under necessary assumptions, the solvability to robust output regulation problems is given. According to this condition, a feedback regulator is constructed.
Peg-in-Hole actions play an important role in industrial assembly. In this paper, we present a system which performs such actions after learning by human demonstration. Strategies for getting robust human-demonstrated PiH trajectories are investigated, and a number of PiH experiments are conducted to verify the performance of the proposed approach. The results show that our approach leads to a high...
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