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The characteristics like density of objects, their contrast with respect to surrounding background, their occlusion level and many more describe the context of the scene. The variation of the context represents ambiguous task to be solved by tracker. In this paper we present a new long term tracking framework boosted by context around each tracklet. The framework works by first learning the database...
Multiple agents — sometimes referred to as swarm of agents — and their control have been seeking interest significantly over the course of recent years. Their ability to move in desired formations and perform synchronized tasks have been the key arena in their development. In this research work, design of the continuous sliding mode controller for the output regulation of a multi agent system is studied...
Even the best performing object tracking algorithm on well known datasets, commits several errors that prevent a concrete adoption in real case scenarios unless you do not accept some compromise about tracking quality and reliability. The aim of this paper is to demonstrate that adding to a traditional object tracking solution a knowledge based reasoner build on top of semantic web technologies, it...
The research works on maneuver detection and tracking tech-nology for the hypersonic boost-glide (HBG) aircraft. Firstly, its motion models are presented by the earlier research. Then, a maneuver detection method is proposed applying interactive multi-mode (IMM) algorithm based on the switch time of model probability for the hypersonic target. Finally the effective and continuous tracking is realized...
This paper presents the development of a methodology for laser interferometry based pose measurement of a three degree of freedom (DOF) planar nanopositioning stage, and its use for tracking control over a large workspace. The proposed methodology employs a miniature pure rotation scanner mounted atop the stage's end effector to provide compensation for any sensor misalignment introduced through motion...
The recognition of group activities using computer vision and pattern recognition methods has been, and still remains, a challenging problem. Most of the research on human behaviour has been focused on recognizing individual issues from actions to behaviours. However, the analysis and recognition of group activities, the relationships of different groups in the scene and the interaction of the individuals...
A cross-coupled architecture incorporating adaptive fuzzy moving sliding mode control (AFMSMC) is proposed to improve the effects of the mechanical coupling over synchronous and tracking errors in a three-axis gantry stage. We utilize the indirect and direct adaptive fuzzy sliding mode control schemes with the time-varying surface to approximate the each unknown servo-motor system of gantry stage...
Object detection from still images has been among the most active and challenging area in computer vision recently. In contrast, fully supervised object detection from video has rarely been investigated. In this paper, we propose an algorithm to improve the performance of object detection from video. Our proposed method is based on an empirical property that the trajectory of an object is important...
Extracting the motion patterns from videos is a basic task in video surveillance and has become an active research area. In this paper, we propose a novel approach for discovering motion patterns in a scene observed by one or two cameras. The chaos theory is employed to compute the chaotic invariant features (CIFs) after obtaining all the trajectories. The CIFs and other features are combined to a...
In this paper; Fuzzy control and Adaptive Network based Fuzzy Interference System (ANFIS) techniques have been investigated for decentralised joint position control of an four DOF robotic arm for desired motion. Four different types of membership functions like Triangular; Pi; Gaussian; Dsigmf are implemented in the fuzzy PD and ANFIS controller. The performance of controller is evaluated and compared...
Mobile Robots are robots that can move from one place to another autonomously, ie. without external human assistance. Proper control methods are to be used for autonomously controlling the motion of these robots. As these robots are to be utilized in real-world situations, the controller used should be promising and robust in nature. In this paper, the tracking control of a Non-holonomous Differential...
An existing attitude tracking control method developed for a FlyGen airborne wind energy (AWE) system is extended to control a GroundGen AWE system. The GroundGen system produces energy through kite-generated aerodynamic forces that tension a flexible tether attached between the kite center of gravity and a ground generator system. The kite is modelled using a six degree of freedom aircraft dynamics...
A novel control technique is proposed by combining P-type Iterative learning control (ILC) and model predictive control (MPC) with updating-reference for point-to-point tracking problem of batch process. In this paper, a batch-to-batch updating-reference, which passes through the desired points, is designed as the tracking trajectory within batch. The update law consists of two parts: P-type ILC and...
This paper addresses distributed average tracking of physical second-order agents with nonlinear dynamics, where the interaction among the agents is described by an undirected graph. In both agents' and reference inputs' dynamics, there is a nonlinear term that satisfying the Lipschitz-type condition. To achieve the distributed average tracking problem in the presence of nonlinear term, a non-smooth...
The regulation controller is designed for the underactuated crane system in 2-dimensional (2D) space by using a differential-flatness-based approach. The elegantly designed controller can simultaneously suppress the payload swing and regulate the trolley to the desired destination for the 2D bridge crane system in the case of constant cable length. Considering cable length variation, the flatness-based...
This paper presents a position tracking system for real-time position estimation of a passive rehabilitation robot. The table-top robot shall be used for upper limb rehabilitation by stroke patients. Accurate estimates of the robot's position are determined by fusing data from two sensors: a laser optical sensor and a webcam. The laser optical sensor is mounted underneath the robot and tracks the...
A fine velocity planning model can make robots move efficiently and stably. The smoothness of the velocity, the acceleration and the jerk can protect the robots arm from moving problems, such as motion vibration and transient overshoot. In order to have a fine movement for multiple degrees of freedom (DOF) robots, people generally optimize the track on the connection point of two tracks. If the tracks...
This paper proposes a method for learning pedestrian dynamics with kriging, which is a spatial interpolation method in geosciences. Pedestrian dynamics is generally restricted by other pedestrians and its restriction is caused by social interaction between them. In the proposed method, the social interaction is represented by spatio-temporal correlation of pedestrian dynamics and the correlation is...
In video surveillance to count the number of people walking through a corridor or door people counting is used. Counting persons passing through supervised area is important issue of this domain. System of people counting is important for security application (such as in the situation of an evacuation, it is vital to know how many people are present inside the surveillance area at any given time),...
In this paper, the tracking problem for a rigid spacecraft with input saturation is investigated. Due to the complexity of the dynamic of a rigid spacecraft, a hierarchical control scheme, dividing the model of a rigid spacecraft into translational level and attitude level, is designed. The controllers for translational dynamic and attitude dynamic of the six-freedom-degrees spacecraft are successively...
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