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We address the problem of incrementally modeling and forecasting long-term goals of a first-person camera wearer: what the user will do, where they will go, and what goal they seek. In contrast to prior work in trajectory forecasting, our algorithm, DARKO, goes further to reason about semantic states (will I pick up an object?), and future goal states that are far in terms of both space and time....
This paper investigates the finite-time consensus tracking problem for a group of quadrotor aircraft with a leader-follower structure. Based on finite-time algorithms, the finitetime position controller and attitude controller are designed respectively in this note. Based on homogenous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given and it is shown...
We introduce a novel semi-supervised video segmentation approach based on an efficient video representation, called as “super-trajectory”. Each super-trajectory corresponds to a group of compact trajectories that exhibit consistent motion patterns, similar appearance and close spatiotemporal relationships. We generate trajectories using a probabilistic model, which handles occlusions and drifts in...
Many state-of-the-art approaches to multi-object tracking rely on detecting them in each frame independently, grouping detections into short but reliable trajectory segments, and then further grouping them into full trajectories. This grouping typically relies on imposing local smoothness constraints but almost never on enforcing more global ones on the trajectories.,,In this paper, we propose a non-Markovian...
This study investigates the effect of the tuning conditions and losses of a radiofrequency birdcage coil on the incident field generated in a phantom. Several numerical implementations of a birdcage body coil model with variable coil losses were studied. The results showed that magnetic field at the coil isocenter (||H||iso), normalized to the square root of the whole body specific absorption rate,...
The multi-tracking problem of second-order multi-agent system with communication delay is investigated in this paper. An intermittent control protocol is proposed on the basis of only relative position measurement, where the information of agent is quantized before transmission using stochastic quantization scheme. On the basis of algebraic graph theory, stochastic quantization and stability theory,...
The distributed synchronization control problem of multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on the method of backstepping design, a novel distributed consensus control algorithm is proposed. Firstly, for the position control subsystem, by Proportional-Differential control and the theory of communication topology graph, a consensus control...
The junction temperature fluctuation of an Insulated Gate Bipolar Transistor (IGBT) is the most important factor of its aging failure, and smoothing the fluctuation is an effective way to improve the life of an IGBT. The existing method of smoothing the fluctuation is not yet ready wide application, and exploring the different approaches to active junction temperature control is a hot topic. This...
The high penetration of Wind Turbine (WT) in the grid is a promising solution to increase the electricity production with renewable energies. In this work, we propose a data-driven methodology for dip voltage fault detection and diagnosis. From experimental measurements the current vector trajectory deformation in the (αβ) reference frame is derived and a statistical-based analysis (first four statistical...
Due to the current constraint of linear induction machine (LIM) and voltage constraint of inverter, the output thrust of LIM is limited. So, in order to make LIM output thrust as large as possible within current and voltage limit, firstly, the maximum thrust per ampere (MTPA) is used to achieve maximum thrust with limited current in low speed. Secondly, with the speed of LIM increasing, the voltage...
The article gives consideration to the problem of the open dynamic systems' modeling. We propose its solution with the help of stochastic systems of differential equations. We provide the methodology of modeling and analyze the certain example.
Inventory regulation and control to a desired time-varying inventory level is accomplished via an accurate on line observer-based demand rate estimation, followed by a demand rate satisfaction effort incorporated on the production rate decision rule. An extended demand rate observer is shown to efficiently allow for production rate to accurately match highly fluctuating uncertain demand rates, with...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
A Lyapunov-based construction of a predefined-time stabilizing function (a function that stabilizes a system in fixed-time with settling time as function of the controller parameters) for scalar systems is considered in this paper. The constructed function involves the inverse incomplete gamma function, causing this function to be semi-global, i.e., the domain of definition of the function can be...
New software applications for linear multivariable system identification are presented. The incorporated algorithms use subspace-based techniques (MOESP, N4SID, or their combination) to find a standard discrete-time state-space description, and optionally the covariance matrices and Kalman predictor gain, using input and output (I/O) trajectories. For flexibility, separate applications are offered...
This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. The focus is placed on scenarios which involve reaching a target while remaining in communication with the network. Both isotropic (concentric communication area) and anisotropic (directed communication area) antenna are considered...
The paper presents a software system created to allow to use a user-friendly interface in order to describe complex surfaces which a robot system will follow, with applications in robot milling or engraving. The experimental system used for testing is composed by a 6 degree of freedom IRB 140 ABB robot with tools for engraving of milling, having the PC Interface option for communication and a PC which...
The use of GPS-equipped devices has allowed generating and storing data related to massive amounts of moving objects, promoting many solutions to movement prediction problems. Movement prediction became essential to perform tasks in several areas ranging from analysis of the popularity of geographic regions; and management of traffic and transportation; to recommendations in location-based social...
In automotive testing systems, effective and efficient control strategies are required to control the induction motor drives so that fast torque response and low torque ripple can be obtained. The fast torque response can be obtained by using predictive current control (PCC) due to its high bandwidth over a wide speed range; and the torque ripple can be reduced by using open-end winding induction...
This work investigates maximum efficiency control strategies of permanent magnet (PM) traction machine drives that are adopted in General Motors (GM) hybrid and electric vehicles. First, three different current vector control techniques, Maximum Torque Per Ampere (MTPA), Maximum Torque Per Motor Loss (MTPML), and Maximum Torque Per System Loss (MTPSL), are presented to identify the most attractive...
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