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The atomic force microscope (AFM) is a powerful imaging tool able to measure surface topology at the nanometer scale that is particularly well-suited to biological applications. Despite advances that have pushed imaging speeds of the fastest instruments to on the order of 10 frames/second, there remains a need for even faster speeds. In addition, there is a large installed base of standard, slower...
In this paper, we propose a novel control structure that can achieve fast, safe and precise landing of a VTOL (vertical takeoff and landing) UAV onto a vertically oscillating landing pad. The control structure consists of three modules to achieve these goals: a motion estimation module, a trajectory generation module and a tracking control module. In the tracking control module, an ARC (Adaptive Robust...
To meet the high-performance motion accuracy requirement in current precision industry, an investigation on the combination of adaptive robust control (ARC) and iterative learning control (ILC) is conducted, which is inspired by our previous research on these two methods. It was theoretically and experimentally illustrated that ARC achieved good tracking performance and guaranteed transient performance...
The aim of this work is the development of time-delay filters that enable tracking of periodic signals with zero phase error. Time-Delay control or input-shaping is a proven technique to reduce motion induced vibrations for systems with lightly damped modes subject to point-to-point movements. An extension is proposed for systems subject to periodic reference signals, for which a closed-form solution...
Mixed reality has been proposed for industrial applications such as AR-assisted manteinance and repair in which real equipment are augmented by visual aids. A possible complementary use of this technology for the same context can be achieved by performing virtual training in a “mixed reality environment” enabling to observe actual-size virtual replicas of real equipment within the physical space,...
Recently, local sparse representation (LSR) has been successfully applied in visual tracking, owing to its discriminative nature and robustness against local noise and occlusions. It is note worthy that local sparse codes computed with a template form a 3-order tensor of their original layout, although most pooling operators convert it to a vector by concatenating or computing statistics on it. As...
In Automatic Sign Language Recognition (ASLR), robust hand tracking and detection is key to good recognition accuracy. We introduce a new dataset of depth data from continuously signed American Sign Language (ASL) sentences. We present analysis showing numerous errors of the Microsoft Kinect Skeleton Tracker (MKST) in cases where hands are close to the body, close to each other, or when the arms cross...
The tracking of moving points in image sequences requires unique features that can be easily distinguished. However, traditional feature descriptors are of high dimension, leading to larger storage requirement and slower computation. In this paper, Principal Component Analysis (PCA) is applied to the 64-Dimension (D) Speeded Up Robust Features (SURF) descriptor to reduce the descriptor dimensionality...
Controller design for magnetic levitation systems is considered to be difficult due to uncertainties and nonlinearities which existed in the system. The plant has inherently strong nonlinearities due to the natural properties of magnetic fields. Also the external disturbances will deteriorate the dynamic performance of the magnetic levitation system, and may give rise to system instability. These...
This paper investigates the performance of input-shaped model reference control on a time-varying double-pendulum using a linear single-pendulum reference model. The single- and double-pendulum crane dynamics are presented. An input-shaped model reference control scheme is then developed. The robustness of the controller is enhanced to handle both parameter variations and the system order difference...
For the purpose of rarefying the effect of interior perturbations and exterior noise on path tracking performance of Unmanned Aerial Vehicles (UAVs), a robust control method is introduced. We earn the dynamic equations of an UAV from Euler-Lagrange formulation and convert it into state space representation. In order to achieve the tracking objective, a mixed H2/H∞ controller is utilized to stabilize...
The main problem in controlling real aircraft is information lack, external disturbances and mathematical model inaccuracy. However, combining both high precision and robustness, standard sliding modes feature high-frequency control switching causing the so-called chattering effect. The controller considered in the present paper is based on 2-sliding modes and produces bounded control continuously...
Studying the behaviour of cells using time-lapse microscopic imaging requires automated processing pipelines that enable quantitative analysis of a large number of cells. We propose a pipeline based on state-of-the-art methods for background motion compensation, cell detection, and tracking which are integrated into a novel semi-automated, learning based analysis tool. Motion compensation is performed...
This paper investigates the reliable tracking problem against helicopter actuator impairment under different trimming points with parameters uncertainty. First, the model of actuator faults is presented. Then a reliable robust tracking controller design methodology is developed. The algorithm is based on the iterative linear matrix inequalities (ILMIs), which has less conservativeness than the standard...
In this study, we developed a system for mobile devices designed to provide a virtual experience of past scenery depicted in old photographs by superimposing them on landscapes in video see-through frames. A user is asked to capture a photograph of a landscape to be used as a keyframe and enter correspondence points between the new and old photos. The old photograph is deformed by projective transform...
This paper presents a Disturbance Observer (DOB) like structure of Internal Model Control (IMC) for Single-Input-Single-Output (SISO) time delay systems. Here, a Conical Tank process which is modeled as a FOPDT (First Order Plus Delay Time) SISO system has been considered. A Modified Disturbance Observer (MDOB) concept has been used for the SISO time delay system. By using DOB like structure of IMC,...
The formation flight has many significant advantages over single vehicle flight. The control and tracking issues of lateral roll dynamics of two UAVs with leader-follower pattern is discussed in this paper. The objectives of this work is to develop the robust control technology using H∞ techniques to withstand the lateral aero-coefficient-perturbed conditions in the control and tracking of two aerodynamically...
Online multi-object tracking with a single moving camera is a challenging problem as the assumptions of 2D conventional motion models (e.g., first or second order models) in the image coordinate no longer hold because of global camera motion. In this paper, we consider motion context from multiple objects which describes the relative movement between objects and construct a Relative Motion Network...
A real-time surveillance system for IP network cameras is presented. Motion, part-body, and whole-body detectors are efficiently combined to generate robust and fast detections, which feed multiple compressive trackers. The generated trajectories are then improved using a re-identification strategy for long term operation.
This work examines the stabilization and output tracking of a class of nonlinear systems in the presence of parametric uncertainty, unobservable dynamics and time delay. The proposed method minimizes the tracking error and guarantees delay independent stabilization by means of a modified input output linearization method, which in turn is modelled using the Mean Value Theorem approach. Also a comparison...
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