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Understanding activities of people in a monitored environment is a topic of active research, motivated by applications requiring context-awareness. Inferring future agent motion is useful not only for improving tracking accuracy, but also for planning in an interactive motion task. Despite rapid advances in the area of activity forecasting, many state-of-the-art methods are still cumbersome for use...
It is challenging to get access to datasets related to the physical performance of soccer players. The teams consider such information highly confidential, especially if it covers in-game performance. Hence, most analysis and evaluation of the players' performance do not contain much information on the physical aspect of the game. We propose a novel method to solve this issue by deriving individual...
In this study, an S-curved speed trajectory and a two-loop cascade controller have been proposed and applied in order to obtain smooth performance of elevator driven by LIM and to let its mover tracks simultaneously a pre-specified speed and position trajectories. The cascade controller has been designed as a standard Proportional plus Integral (PI) controller to be applied to the outer control loop...
3D motion data of fish school is more valuable than 2D data for behavior and other researches. This paper proposes to use a master view tracking first strategy based on a novel master-slave camera setup. On this basis, fish are firstly tracked in master view in 2D after being extracted via an eye-focused Gaussian Mixture Model (E-GMM) detector. Then 3D trajectories are reconstructed by associating...
Automated video analysis in fishery has drawn increasing attention since it is more scalable and deployable in conducting survey, such as fish catch tracking and size measurement, than traditional human observers. However, there are challenges from the wild sea environment, such as the rapid motion of the tide and the white water foam on the surface, which can create large noise in video data. In...
In this article we provide experimental results and evaluation of a compensation method which improves the tracking performance of a nominal feedback controller by means of reinforcement learning (RL). The compensator is based on the actor-critic scheme and it adds a correction signal to the nominal control input with the goal to improve the tracking performance using on-line learning. The algorithm...
Action recognition is actually considered as one of the most challenging areas in computer vision domain. In this paper, we propose a new approach based on utilization of motion boundaries to generate Motion Stable Shape (MSS) features to describe human actions in videos. In fact, we have considered actions as a set of human poses. Temporal evolution of each human pose is modeled by a set of new MSS...
Human action recognition is a way of retrieving videos emerged from Content Based Video Retrieval (CBVR).It is a growing area of research in the field of computer vision nowadays. Human action recognition has gained popularity because of its wide applicability in automatic retrieval of videos of particular action using visual features. The most common stages for action recognition includes: object...
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)...
Mobile robotics is a notable case of high evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements on the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, an increasing number of degrees-of-freedom. This contribution proposes a controller for motion of the...
This paper discusses the practical implementation of a flatness based control for a flexible joint robot arm. Using differential flatness theory, reference trajectories are generated for a flexible joint robot and then a tracking controller is implemented. The vibrations experienced by the robot arm are sufficiently damped and nonminimum phase behaviour is eliminated. The control shows fast transcient...
In this paper, a robust tracking control design for a bio-inspired robot arm with human-like motion mechanism based on human multi-joint viscoelastic properties is investigated by using robust right co-prime factorization approach. The motion mechanism and the measurement uncertainties of human multi-joint arm viscoelasticity are considered in designing operator bio-inspired controllers, and the time-varying...
This work proposes a robust model to analyse the structure of horse races based on 2D velocity vector information. This model is capable of detecting scene breaks, classifying the view of the contenders and extracting the trajectory of the contenders throughout the race. The performance of the system is tested over six video clips from two different broadcast sources. The performance analysis shows...
In this paper, a coordinated motion of two types of heterogeneous robots, namely unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) is considered. The UGV plays the role of a leader for the UAV. While UGV tracks a predefined geometric path, the UAV is supposed to track the UGV. A robust controller based on integral sliding mode is designed to solve the tracking problem in the presence...
This paper proposes a novel ball tracking approach for coping with difficult situations as occlusion and fast object movement, in the context of collective sports. In particular, in the context of soccer, the ball cannot be represented by the features which are commonly utilised in the state of the art, because of the high distortion of the ball in case of fast movement, and considering the small...
We present an approach to generate rapid and fluid drawing movements on a compliant Baxter robot, by taking advantage of the kinematic redundancy and torque control capabilities of the robot. We concentrate on the task of reproducing graffiti-stylised letter-forms with a marker. For this purpose, we exploit a compact lognormal-stroke based representation of movement to generate natural drawing trajectories...
In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment. The proposed control has a multi-level architecture, in detail the outer loop is composed by a trajectory generator and an impedance filter that modifies the trajectory to achieve a complaint behaviour in the end-effector space;...
In recent years, bowden-cable transmissions have been developed and utilized widely in many robotic applications due to advantages in durability, lightweight, safety, and flexibility. Especially, over the last decade, a substantial number of soft wearable exoskeletons using bowden cables for motion transmission have been designed for human assistance, empowerment and rehabilitation. The major advantage...
To operate in human environments, robots must be able to withstand external disturbances. Small disturbances can be stabilized through momentum regulation, but larger ones require steps to prevent falling. This work presents two new techniques for disturbance rejection. The first is an extension of divergent component of motion (DCM) and capture point tracking controllers that augments a PI feedback...
The aim of this paper is to analyze the performance through the ISE index between the two techniques SMC and PD control for quadcopters formation based on a virtual structure by establishing geometrical relationships between the virtual leader (centroid) and quadcopters located in each vertex. The controllers are used for stabilization and trajectory tracking. To analyze the stability, the direct...
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