Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720389
Lei Wang, Ying Zhang, Rui Zhang
The energy-to-peak filtering problem of Markov jump systems with interval time-varying delay is investigated in this note. The proposed method in dealing with time-delay incorporates a mode-dependent Lyapunov functional and a precise upper estimation for a combination of positive-definite matrices with reciprocal coefficients. A novel sufficient condition for the solvability of the desired mode-dependent filter can be constructed by solving a set of standard LMIs, which guarantees stochastic stability and a prescribed l2-l∞ disturbance attenuation level of the resulting filtering error system. An illustrative example is provided to demonstrate the effectiveness of the proposed method.
{"title":"Robust energy-to-peak filtering for Markov systems with interval time-delay","authors":"Lei Wang, Ying Zhang, Rui Zhang","doi":"10.1109/ICINFA.2013.6720389","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720389","url":null,"abstract":"The energy-to-peak filtering problem of Markov jump systems with interval time-varying delay is investigated in this note. The proposed method in dealing with time-delay incorporates a mode-dependent Lyapunov functional and a precise upper estimation for a combination of positive-definite matrices with reciprocal coefficients. A novel sufficient condition for the solvability of the desired mode-dependent filter can be constructed by solving a set of standard LMIs, which guarantees stochastic stability and a prescribed l2-l∞ disturbance attenuation level of the resulting filtering error system. An illustrative example is provided to demonstrate the effectiveness of the proposed method.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130743672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720322
A. Ming, K. Ogura, M. Shimojo
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize safe assist by real time feedback control based on the fused information from a high speed tactile sensor and a 3D range camera. The algorithm for posture estimation of human using a 3D range camera and initial experimental results have been reported in our previous paper. This paper describes the improvement on the estimation method to realize stable and accurate detection. The experimental results show the effectiveness of the improved method for posture estimation for standing-up motion.
{"title":"Performance improvement for posture estimation using a 3D range camera for standing-up motion assist robot","authors":"A. Ming, K. Ogura, M. Shimojo","doi":"10.1109/ICINFA.2013.6720322","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720322","url":null,"abstract":"As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize safe assist by real time feedback control based on the fused information from a high speed tactile sensor and a 3D range camera. The algorithm for posture estimation of human using a 3D range camera and initial experimental results have been reported in our previous paper. This paper describes the improvement on the estimation method to realize stable and accurate detection. The experimental results show the effectiveness of the improved method for posture estimation for standing-up motion.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133003422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720386
Quan Qiu, W. Zheng
A novel pixel-line based clustering algorithm for Kinect depth image data is proposed in this paper. The algorithm first clusters the three-dimensional points belonging to the same pixel row. Then the single row clusters coming from adjacent rows are compared and matched to fulfill the three-dimensional cluster growth. Experiments are carried out with both office scene and greenhouse scene. The clustering results show that the algorithm is good at highlighting small objects but is sensitive to uneven surfaces.
{"title":"Pixel-line based clustering for the 3D point cloud generated by Kinect depth map","authors":"Quan Qiu, W. Zheng","doi":"10.1109/ICINFA.2013.6720386","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720386","url":null,"abstract":"A novel pixel-line based clustering algorithm for Kinect depth image data is proposed in this paper. The algorithm first clusters the three-dimensional points belonging to the same pixel row. Then the single row clusters coming from adjacent rows are compared and matched to fulfill the three-dimensional cluster growth. Experiments are carried out with both office scene and greenhouse scene. The clustering results show that the algorithm is good at highlighting small objects but is sensitive to uneven surfaces.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133157636","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720477
Bo Pan, Yili Fu, Guojun Niu, Dianguo Xu
Laparoscopic robot is used to grasp endoscope to output image of focal area for surgeons in minimally invasive surgery (MIS), so it is necessary to set relative position between laparoscopic robot base and patient's focal area to make all focal points locate into robot workspace. For the reasons of surgeons needing to do much work in preoperative process and many surgical instruments occupying much space in operating room, it is impossible to realize position set by repeated trial and error process in operating room. Therefore, the method of off line simulation is a suitable ways to set laparoscopic robot' position in preoperative process. Through the concepts of service sphere and service region, dexterity distribution of laparoscopic robot is illustrated in workspace, then a robot's position planning method using gradient projection for distance search is recommended. By combining with dexterity distribution of laparoscopic robot and gradient projection method for distance search, a preoperative position planning strategy for laparoscopic robot is given. In the end, simulation and experiment are carried out to validate the effectiveness of planning strategy.
{"title":"Preoperative position planning strategy for laparoscopic robot","authors":"Bo Pan, Yili Fu, Guojun Niu, Dianguo Xu","doi":"10.1109/ICINFA.2013.6720477","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720477","url":null,"abstract":"Laparoscopic robot is used to grasp endoscope to output image of focal area for surgeons in minimally invasive surgery (MIS), so it is necessary to set relative position between laparoscopic robot base and patient's focal area to make all focal points locate into robot workspace. For the reasons of surgeons needing to do much work in preoperative process and many surgical instruments occupying much space in operating room, it is impossible to realize position set by repeated trial and error process in operating room. Therefore, the method of off line simulation is a suitable ways to set laparoscopic robot' position in preoperative process. Through the concepts of service sphere and service region, dexterity distribution of laparoscopic robot is illustrated in workspace, then a robot's position planning method using gradient projection for distance search is recommended. By combining with dexterity distribution of laparoscopic robot and gradient projection method for distance search, a preoperative position planning strategy for laparoscopic robot is given. In the end, simulation and experiment are carried out to validate the effectiveness of planning strategy.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127856969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720426
Gwang Tae Kim, Hyun-Wook Jo, Jong-Tae Lim
There have been literatures to reduce the effect of sensor noise. By introducing new gain scaling factor, one of them makes it possible to arbitrarily reduce the effect of sensor noise composed of zero-mean random signal, whereas the others cannot reduce the effect of sensor noise under the magnitude of noise. In order to utilize the controller using gain scaling factor, the controller has to be directly connected to plant. However, in practical system, many systems are classified into cascade system since there is actuator between plant and controller. In this paper, we propose an output feedback controller applied to the cascade system by retaining the advantage of the previous controller. More specifically, the controller is composed of two part; in first part, the controller transforms the cascade system to a singularly perturbed system, and then the second part makes the effect of sensor noise be arbitrarily small in the singularly perturbed system.
{"title":"Output feedback controller using the singular perturbation method in the presence of sensor noise","authors":"Gwang Tae Kim, Hyun-Wook Jo, Jong-Tae Lim","doi":"10.1109/ICINFA.2013.6720426","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720426","url":null,"abstract":"There have been literatures to reduce the effect of sensor noise. By introducing new gain scaling factor, one of them makes it possible to arbitrarily reduce the effect of sensor noise composed of zero-mean random signal, whereas the others cannot reduce the effect of sensor noise under the magnitude of noise. In order to utilize the controller using gain scaling factor, the controller has to be directly connected to plant. However, in practical system, many systems are classified into cascade system since there is actuator between plant and controller. In this paper, we propose an output feedback controller applied to the cascade system by retaining the advantage of the previous controller. More specifically, the controller is composed of two part; in first part, the controller transforms the cascade system to a singularly perturbed system, and then the second part makes the effect of sensor noise be arbitrarily small in the singularly perturbed system.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131675929","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720396
Haibin Wang, Bin Leng, Y. Hu, Qing He, Wenkai Wu, Guan Guan, Hehui Zou
Moving shadow detection and removal are key steps for motion detection algorithm. But by far most of the traditional methods, relying solely on single information, can not eliminate shadow effectively. This paper describes a mixed approach to deal with the shadow of the foreground objects from video surveillance. Firstly, a new description of local texture operator-LMTO (Local Match Texture Operator) is adopted; it can be an excellent capability in describing the local texture information. Secondly, we propose a new determination mechanism which combines the luminance, texture information and color-ratio of the pixels. Experimental results show that the proposed algorithm is efficient and robust.
运动阴影的检测和去除是运动检测算法的关键步骤。但目前大多数的传统方法，仅仅依靠单一的信息，不能有效地消除阴影。本文介绍了一种处理视频监控中前景物体阴影的混合方法。首先，采用了一种新的局部纹理算子描述——lmto (local Match texture Operator);它可以很好地描述局部纹理信息。其次，我们提出了一种结合像素亮度、纹理信息和颜色比的确定机制。实验结果表明，该算法具有较好的鲁棒性和有效性。
{"title":"Shadow removal based on the luminance, texture and color-ratio of the pix","authors":"Haibin Wang, Bin Leng, Y. Hu, Qing He, Wenkai Wu, Guan Guan, Hehui Zou","doi":"10.1109/ICINFA.2013.6720396","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720396","url":null,"abstract":"Moving shadow detection and removal are key steps for motion detection algorithm. But by far most of the traditional methods, relying solely on single information, can not eliminate shadow effectively. This paper describes a mixed approach to deal with the shadow of the foreground objects from video surveillance. Firstly, a new description of local texture operator-LMTO (Local Match Texture Operator) is adopted; it can be an excellent capability in describing the local texture information. Secondly, we propose a new determination mechanism which combines the luminance, texture information and color-ratio of the pixels. Experimental results show that the proposed algorithm is efficient and robust.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131867401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720507
Dihong Gong, Kai Zhu, Zhifeng Li, Y. Qiao
Video-based face recognition has attracted a great deal of attention in recent years due to its wide applications. The challenge of video-based face recognition comes from several aspects. First, video data involves many frames, which increases data size and processing complexity. Second, key frames extracted from videos are usually of high intra-personal discrepancy due to variations in expressions, poses, and illuminations. In order to address these problems, we propose a novel semantic based subspace model to improve the performance of video based face recognition. The basic idea is to construct an appropriate low-dimensional subspace for each person, upon which a semantic model is built to classify the key frames of the person into specific class. After the semantic classification, the key frames belonging to the same classes, i.e. the same semantics, are used to train the linear classifiers for recognition. Extensive experiments on a large face video database (XM2VTS) clearly show that our approach obtains a significant performance improvement over the traditional approaches.
{"title":"A semantic model for video based face recognition","authors":"Dihong Gong, Kai Zhu, Zhifeng Li, Y. Qiao","doi":"10.1109/ICINFA.2013.6720507","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720507","url":null,"abstract":"Video-based face recognition has attracted a great deal of attention in recent years due to its wide applications. The challenge of video-based face recognition comes from several aspects. First, video data involves many frames, which increases data size and processing complexity. Second, key frames extracted from videos are usually of high intra-personal discrepancy due to variations in expressions, poses, and illuminations. In order to address these problems, we propose a novel semantic based subspace model to improve the performance of video based face recognition. The basic idea is to construct an appropriate low-dimensional subspace for each person, upon which a semantic model is built to classify the key frames of the person into specific class. After the semantic classification, the key frames belonging to the same classes, i.e. the same semantics, are used to train the linear classifiers for recognition. Extensive experiments on a large face video database (XM2VTS) clearly show that our approach obtains a significant performance improvement over the traditional approaches.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115765696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720298
Quan Li, Di Zhou
An interceptor missile with tail fins and pulse thrusters has two different control inputs: one is continuous and the other one is discontinuous. This brings some challenges to the autopilot design and stability analysis. Indirect robust control strategy is applied to handle this problem. Based on the nonlinear dynamics of the interceptor, a nonlinear system for tracking acceleration commands is presented. Treating the error between the actual inputs and the computed inputs as input uncertainty, a robust control problem is formed. It is equivalent to an optimal control problem of the nominal system with a modified cost functional. The state-dependent Riccati equation approach is applied to solve the nonlinear optimal control to obtain a solution to the robust control problem. Numerical results show the effectiveness of the proposed strategy.
{"title":"Indirect robust control of interceptors with tail fins and pulse thrusters","authors":"Quan Li, Di Zhou","doi":"10.1109/ICINFA.2013.6720298","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720298","url":null,"abstract":"An interceptor missile with tail fins and pulse thrusters has two different control inputs: one is continuous and the other one is discontinuous. This brings some challenges to the autopilot design and stability analysis. Indirect robust control strategy is applied to handle this problem. Based on the nonlinear dynamics of the interceptor, a nonlinear system for tracking acceleration commands is presented. Treating the error between the actual inputs and the computed inputs as input uncertainty, a robust control problem is formed. It is equivalent to an optimal control problem of the nominal system with a modified cost functional. The state-dependent Riccati equation approach is applied to solve the nonlinear optimal control to obtain a solution to the robust control problem. Numerical results show the effectiveness of the proposed strategy.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124083927","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720500
He Cai, Jie Huang
Recently, we developed a distributed observer approach to study the leader-following consensus problem for multiple rigid spacecraft systems [3]. In this paper, we will further develop a reduced-order distributed observer approach to study the same problem. The proposed approach significantly reduces the orders of the control law and improves the transient response of the closed-loop system.
{"title":"A reduced-order distributed observer approach to attitude consensus of multiple rigid spacecraft systems","authors":"He Cai, Jie Huang","doi":"10.1109/ICINFA.2013.6720500","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720500","url":null,"abstract":"Recently, we developed a distributed observer approach to study the leader-following consensus problem for multiple rigid spacecraft systems [3]. In this paper, we will further develop a reduced-order distributed observer approach to study the same problem. The proposed approach significantly reduces the orders of the control law and improves the transient response of the closed-loop system.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126135262","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720372
Shuang Song, Hongliang Ren, Wei Liu, Chao Hu
An electromagnetic based tracking method is proposed in this paper, which can provide 6D position and orientation information. This method is based on triaxial transmitting coils and triaxial sensing coils, which are based on the electromagnetic field. Transmitting coils fed with different frequency alternating current (AC) signals comprise the magnetic field source, which can be seen as three orthogonal magnetic dipoles. By extracting the amplitude and phase information from the triaxial sensing coils, 3D position and 3D orientation information of the sensing coils in the pre-defined localization coordinate system can be estimated using an appropriate algorithm. In this paper, an analytic method is proposed to realize the calculation, which can estimate the position and orientation of the sensing coils easily and fast. Simulation results indicate that this method has a good performance.
{"title":"An analytic algorithm based electromagnetic localization method","authors":"Shuang Song, Hongliang Ren, Wei Liu, Chao Hu","doi":"10.1109/ICINFA.2013.6720372","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720372","url":null,"abstract":"An electromagnetic based tracking method is proposed in this paper, which can provide 6D position and orientation information. This method is based on triaxial transmitting coils and triaxial sensing coils, which are based on the electromagnetic field. Transmitting coils fed with different frequency alternating current (AC) signals comprise the magnetic field source, which can be seen as three orthogonal magnetic dipoles. By extracting the amplitude and phase information from the triaxial sensing coils, 3D position and 3D orientation information of the sensing coils in the pre-defined localization coordinate system can be estimated using an appropriate algorithm. In this paper, an analytic method is proposed to realize the calculation, which can estimate the position and orientation of the sensing coils easily and fast. Simulation results indicate that this method has a good performance.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127272573","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：