Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345095
A. Hafez, C. V. Jawahar
In this paper we present a new integration method for improving the performance of visual servoing. The method integrates image-based visual servoing (IBVS) and position-based visual servoing (PBVS) approaches to satisfy the widely varying requirements of the visual servoing process. We define an integration rule for IBVS and PBVS controllers. Density functions that determine the weighting factor of each controller are defined to satisfy the above constraints. We prove that this integration method provides global stability, and avoids local minima. The new integration method is validated on positioning tasks and compared with other switching methods
{"title":"Probabilistic Integration of 2D and 3D Cues for Visual Servoing","authors":"A. Hafez, C. V. Jawahar","doi":"10.1109/ICARCV.2006.345095","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345095","url":null,"abstract":"In this paper we present a new integration method for improving the performance of visual servoing. The method integrates image-based visual servoing (IBVS) and position-based visual servoing (PBVS) approaches to satisfy the widely varying requirements of the visual servoing process. We define an integration rule for IBVS and PBVS controllers. Density functions that determine the weighting factor of each controller are defined to satisfy the above constraints. We prove that this integration method provides global stability, and avoids local minima. The new integration method is validated on positioning tasks and compared with other switching methods","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"15 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113981734","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345124
Lim Jen Nee Jones, Rini Akmeliawati, Chee Pin Tan
Automatic flight control systems have become increasingly vital ever since the emergence of airplanes. Automatic systems are not subject to fatigue and emotions as compared to the human pilot. As such, the possibility of human errors in flight control is minimized. Current automatic flight control systems are designed based on classical control theories using linear controllers that are complex and inefficient. Since an aircraft is naturally nonlinear in its behavior, it is intuitive to design a nonlinear controller that could cover a wide variety of possible 'extreme' flight conditions. A novel controller utilizing the nonlinear energy method was developed by Akmeliawati for the longitudinal dynamics of an aircraft, and has been proven to provide effective control and better performance when compared to an equivalent linear controller. The novel controller was designed using the passivity-based control (PBC) technique. In this paper, a similar nonlinear controller was designed to direct the roll and yaw motion, which is part of the lateral dynamics of the aircraft. Simulations show that this PBC is able to stabilize both roll and yaw motion of the aircraft.
{"title":"Roll and Yaw Stabilisation using Nonlinear Energy Method","authors":"Lim Jen Nee Jones, Rini Akmeliawati, Chee Pin Tan","doi":"10.1109/ICARCV.2006.345124","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345124","url":null,"abstract":"Automatic flight control systems have become increasingly vital ever since the emergence of airplanes. Automatic systems are not subject to fatigue and emotions as compared to the human pilot. As such, the possibility of human errors in flight control is minimized. Current automatic flight control systems are designed based on classical control theories using linear controllers that are complex and inefficient. Since an aircraft is naturally nonlinear in its behavior, it is intuitive to design a nonlinear controller that could cover a wide variety of possible 'extreme' flight conditions. A novel controller utilizing the nonlinear energy method was developed by Akmeliawati for the longitudinal dynamics of an aircraft, and has been proven to provide effective control and better performance when compared to an equivalent linear controller. The novel controller was designed using the passivity-based control (PBC) technique. In this paper, a similar nonlinear controller was designed to direct the roll and yaw motion, which is part of the lateral dynamics of the aircraft. Simulations show that this PBC is able to stabilize both roll and yaw motion of the aircraft.","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"33 20","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114028252","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345294
Yi Zhang, Wentao Wang, Qingling Zhang
Input-output decoupling for a class of affine nonlinear descriptor control systems is considered in this paper. An algorithm is developed, and a coordinate change is introduced such that the control system can be expressed in a simple form. A feedback control law is constructed in which the control system can be realized input-output decoupling. An example is provided to illustrate the results in this paper
{"title":"Input-Output Decoupling of Affine Nonlinear Descriptor Control Systems","authors":"Yi Zhang, Wentao Wang, Qingling Zhang","doi":"10.1109/ICARCV.2006.345294","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345294","url":null,"abstract":"Input-output decoupling for a class of affine nonlinear descriptor control systems is considered in this paper. An algorithm is developed, and a coordinate change is introduced such that the control system can be expressed in a simple form. A feedback control law is constructed in which the control system can be realized input-output decoupling. An example is provided to illustrate the results in this paper","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122740884","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345200
Nan Xie, G. Tang
This paper concerns the nonfragile guaranteed cost control problem for a class of nonlinear discrete-time dynamic systems with time-varying state delay and controller gain perturbations. The problem is to design a memoryless state feedback control law such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties. Guaranteed cost control law is designed under two classes of perturbations, namely, additive form and multiplicative form. Some delay-dependent conditions for the existence of such controller are derived. A numerical example is given to illustrate the proposed method
{"title":"Nonfragile Guaranteed Cost Control for Nonlinear Discrete-Time Systems with Time-Varying State Delay","authors":"Nan Xie, G. Tang","doi":"10.1109/ICARCV.2006.345200","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345200","url":null,"abstract":"This paper concerns the nonfragile guaranteed cost control problem for a class of nonlinear discrete-time dynamic systems with time-varying state delay and controller gain perturbations. The problem is to design a memoryless state feedback control law such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties. Guaranteed cost control law is designed under two classes of perturbations, namely, additive form and multiplicative form. Some delay-dependent conditions for the existence of such controller are derived. A numerical example is given to illustrate the proposed method","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131752075","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345453
H. Yoshida, Masaya Morino, N. Ogawa, H. Noborio
In this paper, we precisely discuss two necessary methods to manipulate artificially a rheology object by another rigid object via force feedback (haptics) devise. The rheology object is quite popular material in our living life, e.g., food materials such as several kinds of noodles, human bodies such as organs and muscles, and an article of clothing. For this reason, it is very important for us to manipulate a rheology object by another rigid object. In our previous works, we finish modeling and calibrating MSD rheology model. Therefore, in this paper, we define some collision model to make and calibrate a set of external forces based on the swept volume of rheology object by rigid body. Also, we revisit some force transformation method between encountered surfaces of rheology object and rigid body. In this research, we successively regard both methods as penalty method and bilinear approximation method
{"title":"A Force/Displacement Transformation Method for Digitalized Virtual Deformable Object","authors":"H. Yoshida, Masaya Morino, N. Ogawa, H. Noborio","doi":"10.1109/ICARCV.2006.345453","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345453","url":null,"abstract":"In this paper, we precisely discuss two necessary methods to manipulate artificially a rheology object by another rigid object via force feedback (haptics) devise. The rheology object is quite popular material in our living life, e.g., food materials such as several kinds of noodles, human bodies such as organs and muscles, and an article of clothing. For this reason, it is very important for us to manipulate a rheology object by another rigid object. In our previous works, we finish modeling and calibrating MSD rheology model. Therefore, in this paper, we define some collision model to make and calibrate a set of external forces based on the swept volume of rheology object by rigid body. Also, we revisit some force transformation method between encountered surfaces of rheology object and rigid body. In this research, we successively regard both methods as penalty method and bilinear approximation method","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121767594","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345180
Haibin Cai, Daoqing Sun, Qiying Cao, Fang Pu
The standard back-propagation(BP) algorithm converges slowly and is easy to trap into local minimum, which are the main reasons why it cannot be used widely in real-time applications. Therefore, a novel BP algorithm based on three-term method consisting of a learning rate (LR), a momentum factor (MF) and a proportional factor (PF), called the TTMBP algorithm, was put forward in this paper. The convergence speed and stability were enhanced by adding PF. The self-adapting learning and self-adjusting-architecture methods are adopted in order that a moderate size networks model can be obtained according to environmental requirements. The novel BP algorithm is proposed to solve the problem of service selection in ubiquitous computing. We have fulfilled simulation in an actual power supply system for communication devices and the results of simulation show that the proposed control scheme is not only scalable but also efficient. The control scheme based on novel BP algorithm superior to the traditional service selection method based on trust mechanism. It can exactly choose a most suitable service from many target services and give the most perfect service performance to users
{"title":"A Novel BP Algorithm Based on Three-term and Application in Service Selection of Ubiquitous Computing","authors":"Haibin Cai, Daoqing Sun, Qiying Cao, Fang Pu","doi":"10.1109/ICARCV.2006.345180","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345180","url":null,"abstract":"The standard back-propagation(BP) algorithm converges slowly and is easy to trap into local minimum, which are the main reasons why it cannot be used widely in real-time applications. Therefore, a novel BP algorithm based on three-term method consisting of a learning rate (LR), a momentum factor (MF) and a proportional factor (PF), called the TTMBP algorithm, was put forward in this paper. The convergence speed and stability were enhanced by adding PF. The self-adapting learning and self-adjusting-architecture methods are adopted in order that a moderate size networks model can be obtained according to environmental requirements. The novel BP algorithm is proposed to solve the problem of service selection in ubiquitous computing. We have fulfilled simulation in an actual power supply system for communication devices and the results of simulation show that the proposed control scheme is not only scalable but also efficient. The control scheme based on novel BP algorithm superior to the traditional service selection method based on trust mechanism. It can exactly choose a most suitable service from many target services and give the most perfect service performance to users","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127698184","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345302
P. Osmera, O. Popelka, P. Pivoñka
This paper describes parallel grammatical evolution (PGE) that can evolve complete programs using a variable length linear genome to govern the mapping of a Backus Naur form grammar definition. To increase the efficiency of grammatical evolution (GE) the influence of backward processing was tested. The significance of backward coding (BC) and the comparison with standard coding of GEs is presented. BC can speed up grammatical evolution with high quality features. The adaptive significance of parallel grammatical evolution with "male" and "female" populations has been studied
{"title":"Parallel Grammatical Evolution with Backward Processing","authors":"P. Osmera, O. Popelka, P. Pivoñka","doi":"10.1109/ICARCV.2006.345302","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345302","url":null,"abstract":"This paper describes parallel grammatical evolution (PGE) that can evolve complete programs using a variable length linear genome to govern the mapping of a Backus Naur form grammar definition. To increase the efficiency of grammatical evolution (GE) the influence of backward processing was tested. The significance of backward coding (BC) and the comparison with standard coding of GEs is presented. BC can speed up grammatical evolution with high quality features. The adaptive significance of parallel grammatical evolution with \"male\" and \"female\" populations has been studied","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133661802","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345370
Wei Zhang, Rui Yang, X. Xue, Hong Lu, Yue-Fei Guo
In this paper we propose a patch-wise coarse-to-fine algorithm for image restoration using the manifold way of visual perception. All undistorted image patches are supposed to lie on a quotient set-based nonlinear manifold, and restoration of each degraded image patch can be implemented by projecting it to a locally linear region of such nonlinear manifold. The details of the original image can be learned from the undistorted training samples. Moreover, there is no need for us to assume that the degradation function is linear or to estimate some parameters of the blurs and noises beforehand. Experimental results demonstrate the effectiveness of the proposed method
{"title":"Quotient Set-based Nonlinear Manifold for Image Restoration","authors":"Wei Zhang, Rui Yang, X. Xue, Hong Lu, Yue-Fei Guo","doi":"10.1109/ICARCV.2006.345370","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345370","url":null,"abstract":"In this paper we propose a patch-wise coarse-to-fine algorithm for image restoration using the manifold way of visual perception. All undistorted image patches are supposed to lie on a quotient set-based nonlinear manifold, and restoration of each degraded image patch can be implemented by projecting it to a locally linear region of such nonlinear manifold. The details of the original image can be learned from the undistorted training samples. Moreover, there is no need for us to assume that the degradation function is linear or to estimate some parameters of the blurs and noises beforehand. Experimental results demonstrate the effectiveness of the proposed method","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134291760","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345129
M. Rakotondrabe, Y. Haddab, P. Lutz
First, we present a survey on modeling and control of bending piezoelectric microactuators. Second, a simple model for nonlinear piezoelectric actuators (hysteresis and creep) is presented. It is based on the multilinear approximation. This model requires low computing power and is well adapted for embedded systems. Finally, a μ-synthesis controller is implemented. Experiments show that the obtained performances are compatible with the requirements of micromanipulation tasks
{"title":"Plurilinear Modeling and discrete μ-Synthesis Control of a Hysteretic and Creeped Unimorph Piezoelectric Cantilever","authors":"M. Rakotondrabe, Y. Haddab, P. Lutz","doi":"10.1109/ICARCV.2006.345129","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345129","url":null,"abstract":"First, we present a survey on modeling and control of bending piezoelectric microactuators. Second, a simple model for nonlinear piezoelectric actuators (hysteresis and creep) is presented. It is based on the multilinear approximation. This model requires low computing power and is well adapted for embedded systems. Finally, a μ-synthesis controller is implemented. Experiments show that the obtained performances are compatible with the requirements of micromanipulation tasks","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134513403","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 : 2006-12-01DOI: 10.1109/ICARCV.2006.345142
A. Transeth, K. Pettersen
Snake robots may one day play a crucial role in search and rescue operations and fire-fighting where it may either be too narrow or to dangerous for personnel to operate. Properties such as high terrainability, redundancy, and the possibility of complete sealing of the body of the robot, make snake robots very interesting for practical applications and hence as a research topic. During the last ten to fifteen years, the published literature on snake robots has increased vastly. However, no thorough review of the theory presented in this period regarding mathematical modeling techniques and locomotion of snake robots has been found. The purpose of this paper is to give such a review. Both purely kinematic models and models including dynamics are investigated. The choice of modeling method is linked to snake robot design characteristics and locomotion approach. Different approaches to biologically inspired locomotion are also discussed
{"title":"Developments in Snake Robot Modeling and Locomotion","authors":"A. Transeth, K. Pettersen","doi":"10.1109/ICARCV.2006.345142","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345142","url":null,"abstract":"Snake robots may one day play a crucial role in search and rescue operations and fire-fighting where it may either be too narrow or to dangerous for personnel to operate. Properties such as high terrainability, redundancy, and the possibility of complete sealing of the body of the robot, make snake robots very interesting for practical applications and hence as a research topic. During the last ten to fifteen years, the published literature on snake robots has increased vastly. However, no thorough review of the theory presented in this period regarding mathematical modeling techniques and locomotion of snake robots has been found. The purpose of this paper is to give such a review. Both purely kinematic models and models including dynamics are investigated. The choice of modeling method is linked to snake robot design characteristics and locomotion approach. Different approaches to biologically inspired locomotion are also discussed","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133405494","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}
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