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In order to transfer complex human behavior to a robot, segmentation methods are needed which are able to detect central movement patterns that can be combined to generate a wide range of behaviors. We propose an algorithm that segments human movements into behavior building blocks in a fully automatic way, called velocity-based Multiple Change-point Inference (vMCI). Based on characteristic bell-shaped...
This paper presents a state-space (subspace) method for identification of parallel-cascade joint stiffness from short segments of data. It provides unbiased estimates of stiffness by accounting for the contributions of initial conditions of each segment. The method is important in situations where it is not possible to acquire a long stationary data due to switching or time-varying behavior. The power...
Clinical evaluation during walker-assisted gait is the first step to assess the evolution of a patient during rehabilitation and to identify his needs and difficulties. Advances in robotics made it possible to integrate a gait analysis tool on a walker to enrich the existing rehabilitation tests with new sets of objective gait parameters. This paper focuses on the legs detection method to estimate...
The effect of terminal ship-to-air missile intercepting maneuvering target at high speed is studied through the method of three-dimensional trajectory simulation based on vector operation. The three-dimensional vector equation of command acceleration is elicited according to TPN at first considering the seeker's noises and the rudder's overload limit. An algorithm of calculating miss distance caused...
Waveform decomposition is a necessary step for the exploitation of full waveform LiDAR data. Much effort has been focused on designing algorithms to decompose the waveform into a fixed number of components. However, the determination of the appropriate number of components in a waveform, though crucial, is rarely studied. This paper introduces an order identification method, Minimum Description Length...
This paper proposes a new approach for non-rigid structure from motion with occlusion, based on sparse representation. We introduce sparse transform to the joint estimation of 3D shapes and motions. 3D shape trajectory space is fit by wavelet basis to achieve better modeling of complex motion. We address the occlusion problem based on the latest developments on sparse representation: matrix completion,...
This paper is concerned with the sliding mode control (SMC) problem for a class of T-S fuzzy stochastic systems with Markovian switching. The purpose of the problem addressed is to integrate the SMC method such that, for all admissible parameter uncertainty, external disturbance and state-dependent noise, the closed-loop system is globally asymptotically stable. Especially, it is not required that...
The versatility of nanodevices dynamics may allow original architectures for computation but care should be taken to handle fluctuations arising at this scale. In the network of oscillatory units which we propose, bistability with down-quiescent and up-oscillatory states enable tolerance to noise in storage and retrieval dynamics for patterns or sequences. We illustrate this by simulations of the...
Detecting stationary crowd groups and analyzing their behaviors have important applications in crowd video surveillance, but have rarely been studied. The contributions of this paper are in two aspects. First, a stationary crowd detection algorithm is proposed to estimate the stationary time of foreground pixels. It employs spatial-temporal filtering and motion filtering in order to be robust to noise...
In this paper, we will explore whether the efficiency of the Interval Type-2 Fuzzy PID (IT2-FPID) lies in its ability to handle the high level of uncertainties rather than only having an extra degree of freedom provided by the Footprint of Uncertainty (FOU) on a highly nonlinear pH neutralization process. In order to illustrate the effect of the FOU on the control performance, the control performance...
As has been frequently observed, single-joint movements are characterized by single-peaked, bell-shaped speed profiles. This findings and the tendency of natural movements to be characteristically smooth and graceful led to suggest that motor coordination can be mathematically modeled by postulating that voluntary movements are made, at least in the absence of any other overriding concerns, to be...
Nocturnally migratory birds and bats are at higher risk of colliding with wind turbines. It is important to gather scientific data in an area which have potential of wind farm development. An IR camera recording and its analysis can provide necessary information to wildlife biologists involve with interaction of birds/bats with wind turbines. An efficient IR video processing algorithm has been developed...
It is well known that it is necessary to store the system input and output of previous trial for generating the input at the current trial in the design of iterative learning controllers. In order to apply the iterative learning controller for a real application and reduce the memory size for implementation, a current error based sampled-data iterative learning controller is presented in this paper...
In Visible Light Communication (VLC) each LED's on-off status can be recovered only after its projected position in each measurement frame is determined. Finding the LED projection is not straightforward since: 1) Clutter and noise corrupt the measurements; 2) When the LED is turned off, its position cannot be extracted by evaluating the intensity value of each pixel. Herein, a new method based on...
This paper investigates the problem of distributed formation control for perturbed and delayed MASs (Multi-Agent Systems) with multiple dynamic leaders in directed topologies. Based on the established stable theory of stochastic delay differential equations, some sufficient conditions are obtained that allow the required formations to be gained at exponentially converging speeds with probability one...
In this paper, robust attitude coordination control for satellite formation is addressed in the presence of matched perturbations and measurement noise based on the development of reference model. The reference model generates a smooth and coordinated attitude reference trajectory (ART) for each satellite, which is favorable for the design of attitude tracking and formation keeping control law. The...
In this paper, the problem of verifying integral input-to-state stability (iISS) and input-to-state stability (ISS) of interconnected stochastic systems is addressed. The aim is at extending the deterministic iISS small-gain framework to stochastic systems by including ISS as a special case. This paper highlights fundamental differences between the stochastic and deterministic cases. Dealing with...
This paper presents a novel sampling-based planner which guarantees robustness for linear systems subject to bounded process noise, localization error, and/or uncertain environmental constraints. The proposed algorithm extends RRT*, efficiently generating and optimizing robust, dynamically feasible trajectories. During planning, state constraints are individually tightened for robustness against future...
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions corresponding to known landmarks, the goal is to guide the robot toward a desired “home” location. We propose a control law based on the gradient field of a Lyapunov function, and give sufficient conditions for global convergence. We show that the well-known Average Landmark Vector method...
This paper studies the synchronization problem of multi-agent systems with nonlinear dynamics in mean square. It is supposed that the measurement of relative-state is disturbed. For the nonlinear multi-agent systems, we show that the conventional consensus protocols are robust against the measurement noises which are dependent to the relative-state. Simulations are provided to demonstrate the theoretical...
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