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We consider here the problem of finding a controller for a system such that when interconnected to the plant, we get a system which is bisimilar to the desired system. We give necessary and sufficient conditions for the existence of such a controller. The systems we consider are ordinary linear time invariant dynamical systems described by state space equations. We briefly compare our results with...
A suboptimality theorem, i.e. an ε-maximum principle for generalized control systems is proven which also applies in cases if there is no optimal trajectory. We apply the result to obtain a suboptimality theorem for differential inclusion problems.
Decomposition relationships for nonlinear dynamic system operators into state-space based on vector-matrix series are proposed. The representation for a shift operator on trajectories of nonlinear dynamic system through shift operators on trajectories of multidimensional linear dynamic systems was obtained.
Automatic stroke recognition of badminton video footages plays an important role in the process of analyzing players and building up statistics. Yet recognizing activities from broadcast videos is a challenging task due to person dependant body postures and blurring of the fast moving body parts. We propose a robust and an accurate approach for badminton stroke recognition using dense trajectories...
Microsoft Kinect which has been primarily aimed at the computer gaming industry has been used in bio-kinematic research related implementations. A multi-Kinect system can be useful in exploiting spatial diversity to increase measurement accuracy. One of the main problems in deploying multi-Kinect systems is to estimate the pose, including the position and orientation of each Kinect. In this paper,...
Large-scale power system dynamic analysis usually bears large storage and massive calculation burdens. Equivalence of complex excitation systems is an effective approach to decrease computational complexity with due accuracy. In this paper, we propose a two-stage Trust-Tech based method for deriving excitation system equivalence which aims to provide an optimal equivalent model which satisfies users'...
The whole dance of Likok Pulo are modeled by hidden Markov model. Dance gestures are cast as hidden discrete states and phrase as a sequence of gestures. For robustness under noisy input of Kinect sensor, an angular representation of the skeleton is designed. A pose of dance is defined by this angular skeleton representation which has been quantified based on range of movement. One unique gesture...
This paper investigates the problem of practical finite-time trajectory tracking and practical finite-time stabilization of two important classes of dynamical systems by means of C(∞) feedbacks. It is shown that Hamiltonian mechanical systems and systems in strict feedback form can be made globally finite-time stable by smooth parameterized feedbacks. We show that we could bring all the trajectories...
We address the problem of multi-people tracking in unconstrained and semi-crowded scenes. People typically walk in groups that split and merge over time. The evolving or dynamic social group property embodies pedestrians' connections and interactions during walking which we attempt to identify and exploit in this paper. To this end, instead of seeking more robust appearance or motion models to track...
Recent advances in pedestrian navigation, a branch of wearable body area networks (WBAN), facilitate people's lives to help them get access to location-based services (LBS) at anywhere easily. This paper proposes a pedestrian dead-reckoning (PDR) algorithm to track the trajectory of the person using foot-mounted inertial measurement unit (IMU) and the estimation of the foot orientation with extended...
This paper addresses an over-smoothing effect in Gaussian Mixture Model (GMM)-based Voice Conversion (VC). The flexible use of the statistical approach is one of the major reason why this approach is widely applied to the speech-based systems. However, quality degradation by over-smoothed speech parameter converted is unavoidable problem of statistical modeling. One of common approaches to this over-smoothness...
This paper presents an approach towards using Space Vector Modulation for multi-level converter based on precalculation of switching time for each voltage configuration in the converter using weighted time assignment to sectors. This algorithm minimizes runtime calculation of switching time and its simulation results are presented to validate the effectiveness of the proposed scheme. The concept of...
This paper proposes a new learning architecture for the redundant mobile manipulator using Self-Organized Map (SOM), while traversing on an uneven terrain with 3D workspace. The mobile platform considered here is a 10-DOF rover and the manipulator mounted on it has 4 DOR The inverse kinematic map for the 14-DOF redundant mobile manipulator is one-to-many relationship problem. In the proposed approach,...
In this paper, a repetitive assembling task is considered for industrial manipulator, where vision-based precise trajectory tracking is necessary. Conventional visual servoing methods suffer from their poor dynamic performance, while the proposed open-plus-closed loop framework solved this problem by iterative learning. System error is defined by the directly measurable homography matrix and feature...
Using a technique of sampled-data transformation for differentiation and integration, a sampled-data adaptive iterative learning control is presented for a class of nonlinear systems. The main control structure is designed by a fuzzy system used as a function approximator to compensate for an unknown certainty equivalent controller. The robustness problem due to function approximation error and input...
In this paper, an algorithm to plan a continuous wind-optimal path is proposed, and simulations are made for aircraft trajectories. We consider a mobile which can move in a two dimensional space. The mobile is controlled only by the heading direction, the speed of the mobile is assumed to be constant. The objective is to plan the optimal path avoiding obstacles and taking into account wind currents...
Currently in robotics field, various new forms of robots are emerged that are different from existing robots. One of them is the mobile robot having a tensegrity structure. In this paper, the tensegrity is employed for a design of a mobile robot that can be used in irregular environment. But the tensegrity structure is highly nonlinear; so it is very difficult to control. In order to deal with this...
This paper presents a new control algorithm for the coordinated path following problem of car like vehicles. The vehicles are represented by an extended kinematic bicycle model which includes sideslip angles. A nonlinear control law has been designed using Lyapunov approach, and the controller implementation requires knowledge of sideslip angles. A Raghavan observer is introduced in order to observe...
Acoustic source localization has a variety of applications, from speech signal enhancement to mobile object tracking. Localization procedures applying lightweight algorithms are appealing for implementation in distributed embedded systems. This paper builds on our previous research of simplifying acoustic localization based on the Steered Response Power with Phase Transform (SRP-PHAT) algorithm and...
Online and robust localization in a large scale outdoor environment is an essential component for self-driving vehicles. This paper addresses the theoretical and experimental development of a 6DOF localization approach with an online Unscented Rauch-Tung-Striebel (RTS) Smoother. This work focuses on the performance evaluation of the Unscented RTS smoother from a low-cost inertial sensor and consumer-grade...
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