Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345237
C. Migliaccio, B. D. Nguyen, C. Pichot, N. Yonemoto, K. Yamamoto, K. Yamada, H. Nasui, W. Mayer, A. Gronau, W. Menzel
A collision avoidance and warning system for civil helicopters in Japan has been developed. A real-time warning method was applied using an image fused from a coloured video, an IR sensor data and mm-wave radar measurements. This paper focuses on the FM-CW mm-wave radar sensor and the associated antennas, working at 94 GHz. Flight tests were conducted in order to detect power lines. Thanks to two different antennas, power line response was measured in vertical and horizontal polarizations. Maximum detection ranges are of 800 and 600m respectively. This variation comes from the antenna gain difference. Radar resolution is limited by the allocated bandwidth at 94 GHz which is 200 MHz. Comparisons were conducted on the ground with an integrated FM-CW radar working at 77 GHz and achieving 500 MHz bandwidth
{"title":"Millimeter-Wave Radar for Rescue Helicopters","authors":"C. Migliaccio, B. D. Nguyen, C. Pichot, N. Yonemoto, K. Yamamoto, K. Yamada, H. Nasui, W. Mayer, A. Gronau, W. Menzel","doi":"10.1109/ICARCV.2006.345237","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345237","url":null,"abstract":"A collision avoidance and warning system for civil helicopters in Japan has been developed. A real-time warning method was applied using an image fused from a coloured video, an IR sensor data and mm-wave radar measurements. This paper focuses on the FM-CW mm-wave radar sensor and the associated antennas, working at 94 GHz. Flight tests were conducted in order to detect power lines. Thanks to two different antennas, power line response was measured in vertical and horizontal polarizations. Maximum detection ranges are of 800 and 600m respectively. This variation comes from the antenna gain difference. Radar resolution is limited by the allocated bandwidth at 94 GHz which is 200 MHz. Comparisons were conducted on the ground with an integrated FM-CW radar working at 77 GHz and achieving 500 MHz bandwidth","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"19 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":"127904699","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.2006.345290
Guoyang Cheng, K. Peng, Ben M. Chen, Tong-heng Lee
This paper presents a discrete-time robust nonlinear control method to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The idea here is to use a combination of composite nonlinear feedback (CNF) control and disturbance estimation cum compensation. The CNF control is responsible for superior transient performance, i.e., to guarantee a fast response with low overshoot, while the disturbance estimator/compensator is used to remove the steady state bias that would otherwise be existent due to disturbances. Practical application in a micro hard disk drive servo system will be given to demonstrate the effectiveness of this control method
{"title":"Discrete-time Robust Nonlinear Feedback Control for an HDD Servo System Design","authors":"Guoyang Cheng, K. Peng, Ben M. Chen, Tong-heng Lee","doi":"10.1109/ICARCV.2006.345290","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345290","url":null,"abstract":"This paper presents a discrete-time robust nonlinear control method to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The idea here is to use a combination of composite nonlinear feedback (CNF) control and disturbance estimation cum compensation. The CNF control is responsible for superior transient performance, i.e., to guarantee a fast response with low overshoot, while the disturbance estimator/compensator is used to remove the steady state bias that would otherwise be existent due to disturbances. Practical application in a micro hard disk drive servo system will be given to demonstrate the effectiveness of this control method","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 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":"129971760","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.2006.345289
M. Rios-Bolivar, Vivian Acosta, A. Morillo
In this work, we consider the application of the interconnection and damping assignment (IDA) control design method to the asymptotic output feedback position regulation problem of a brushed DC motor driving a mechanical load. The applied approach is based on the asymptotic reconstruction of a stabilizing IDA control law through the design of a dynamic output feedback regulating control. Asymptotic stability of the mechanical position is verified by digital simulations
{"title":"Output Feedback Regulation of a Brushed DC Motor: An IDA-PBC Approach","authors":"M. Rios-Bolivar, Vivian Acosta, A. Morillo","doi":"10.1109/ICARCV.2006.345289","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345289","url":null,"abstract":"In this work, we consider the application of the interconnection and damping assignment (IDA) control design method to the asymptotic output feedback position regulation problem of a brushed DC motor driving a mechanical load. The applied approach is based on the asymptotic reconstruction of a stabilizing IDA control law through the design of a dynamic output feedback regulating control. Asymptotic stability of the mechanical position is verified by digital simulations","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 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":"129976096","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.2006.345327
Weihai Zhang, Huanshui Zhang, Bor‐Sen Chen
In this paper, the finite horizon mixed H2/H∞ control problem is studied for the systems governed by Ito-type nonlinear stochastic differential equations with state, control and external disturbance-dependent noise. It is shown that the mixed H2/H∞ control under consideration is associated with the four cross-coupled Hamilton-Jacobi equations in nonlinear case. Some necessary and/or sufficient conditions for the existence of finite horizon stochastic H2/H∞ controllers are derived. In particular, some previous results on deterministic and stochastic H∞ (H2/H∞) can be viewed as simple corollaries of our main theorems
{"title":"Stochastic H2/H∞ control with (x, u, v)-dependent noise: Finite horizon case","authors":"Weihai Zhang, Huanshui Zhang, Bor‐Sen Chen","doi":"10.1109/ICARCV.2006.345327","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345327","url":null,"abstract":"In this paper, the finite horizon mixed H<sub>2</sub>/H<sub>∞</sub> control problem is studied for the systems governed by Ito-type nonlinear stochastic differential equations with state, control and external disturbance-dependent noise. It is shown that the mixed H<sub>2</sub>/H<sub>∞</sub> control under consideration is associated with the four cross-coupled Hamilton-Jacobi equations in nonlinear case. Some necessary and/or sufficient conditions for the existence of finite horizon stochastic H<sub>2</sub>/H<sub>∞</sub> controllers are derived. In particular, some previous results on deterministic and stochastic H<sub>∞</sub> (H<sub>2</sub>/H<sub>∞</sub>) can be viewed as simple corollaries of our main theorems","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"1 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":"130021728","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.2006.345308
Christian A. Schneider, Natascha Esau, L. Kleinjohann, B. Kleinjohann
Due to increasing miniaturization and decreasing prizes of cameras more and more mobile devices like PDAs or smartphones are equipped with a camera. Due to this fact, mobile face recognition will gain popularity in identifying persons e.g. in order to prevent unauthorized use or access to data and equipment. In this paper, the feature based face localization and recognition system FaceScry is presented. In spite of the limited resources available on mobile devices, FaceScry is able to localize an arbitrary number of faces with different sizes in images taken under varying illumination conditions in real-time. Also face recognition is size invariant due to the selected set of features, which mainly consists of angles and cross ratios. Since it stores reference face data for recognition as feature vectors and not as huge image data, FaceScry also allows for keeping a reasonable personal face data base for recognizing a set of persons on the smartphone
{"title":"Feature based Face Localization and Recognition on Mobile Devices","authors":"Christian A. Schneider, Natascha Esau, L. Kleinjohann, B. Kleinjohann","doi":"10.1109/ICARCV.2006.345308","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345308","url":null,"abstract":"Due to increasing miniaturization and decreasing prizes of cameras more and more mobile devices like PDAs or smartphones are equipped with a camera. Due to this fact, mobile face recognition will gain popularity in identifying persons e.g. in order to prevent unauthorized use or access to data and equipment. In this paper, the feature based face localization and recognition system FaceScry is presented. In spite of the limited resources available on mobile devices, FaceScry is able to localize an arbitrary number of faces with different sizes in images taken under varying illumination conditions in real-time. Also face recognition is size invariant due to the selected set of features, which mainly consists of angles and cross ratios. Since it stores reference face data for recognition as feature vectors and not as huge image data, FaceScry also allows for keeping a reasonable personal face data base for recognizing a set of persons on the smartphone","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"50 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":"130278754","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.2006.345136
I. Mizumoto, S. Ohdaira, M. Kumon, Z. Iwai
In adaptive output feedback control based on almost strictly positive real (ASPR) conditions, a technical difficulty arises when the controlled multi-input multi-output (MIMO) system is non-square. To overcome this, the idea of multirate sampled-data control has been proposed. That is, through careful choice of faster input sampling rates create a lifted discrete-time system which has the same number of inputs and outputs and does not give rise to the causality constraint. The output feedback based adaptive control strategy can then be applied to this lifted system under certain conditions. In this report, we propose a robust adaptive controller design scheme for non-square MIMO systems using the multirate sampling strategy without the causality problem
{"title":"Robust Adaptive Output Feedback Control of MIMO Systems Using Multirate Sampling","authors":"I. Mizumoto, S. Ohdaira, M. Kumon, Z. Iwai","doi":"10.1109/ICARCV.2006.345136","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345136","url":null,"abstract":"In adaptive output feedback control based on almost strictly positive real (ASPR) conditions, a technical difficulty arises when the controlled multi-input multi-output (MIMO) system is non-square. To overcome this, the idea of multirate sampled-data control has been proposed. That is, through careful choice of faster input sampling rates create a lifted discrete-time system which has the same number of inputs and outputs and does not give rise to the causality constraint. The output feedback based adaptive control strategy can then be applied to this lifted system under certain conditions. In this report, we propose a robust adaptive controller design scheme for non-square MIMO systems using the multirate sampling strategy without the causality problem","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"27 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":"134015409","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.2006.345111
Guangming Wang, Lincheng Shen, Tianjiang Hu
Within median and/or paired fin (MPF) propulsion, many fish routinely use the long-based undulatory fins as the sole means of locomotion. In this paper, the long-based undulatory fin of an Amiiform fish "G. niloticus" was investigated. A simplified physical model was brought forward, which makes up of N equal thin rods and a rectangular elasticmembrane connecting them together. With light mass, small stiffness and low natural vibration frequency, the long-based fin undulating and fluid loading may induce large flexible distortion of their long-based fins when swimming. We established a kinematic model of the long-based undulatory fin on the basis of analyzing the long-based dorsal fin locomotion and considering the fluid-structure interaction. Further, the equilibrium equations of the undulatory fin were obtained by applying the membrane theory of thin shells in which the geometrical non-linearity of the structure is taken into account. Last, we apply the derived the kinematic model and equilibrium equations of the undulatory fin to analyze the thrust and propulsive efficiency varying with the aspect ratio of the fin and the maximum swing amplitude
{"title":"Kinematic Modeling and Dynamic Analysis of the Long-based Undulation Fin","authors":"Guangming Wang, Lincheng Shen, Tianjiang Hu","doi":"10.1109/ICARCV.2006.345111","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345111","url":null,"abstract":"Within median and/or paired fin (MPF) propulsion, many fish routinely use the long-based undulatory fins as the sole means of locomotion. In this paper, the long-based undulatory fin of an Amiiform fish \"G. niloticus\" was investigated. A simplified physical model was brought forward, which makes up of N equal thin rods and a rectangular elasticmembrane connecting them together. With light mass, small stiffness and low natural vibration frequency, the long-based fin undulating and fluid loading may induce large flexible distortion of their long-based fins when swimming. We established a kinematic model of the long-based undulatory fin on the basis of analyzing the long-based dorsal fin locomotion and considering the fluid-structure interaction. Further, the equilibrium equations of the undulatory fin were obtained by applying the membrane theory of thin shells in which the geometrical non-linearity of the structure is taken into account. Last, we apply the derived the kinematic model and equilibrium equations of the undulatory fin to analyze the thrust and propulsive efficiency varying with the aspect ratio of the fin and the maximum swing amplitude","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"23 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":"134274092","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.2006.345407
Lihong Zheng, Xiangjian He, Qiang Wu, T. Hintz
In this paper, a number recognition algorithm is proposed on spiral architecture, a hexagonal image structure. This algorithm employs RULES-3 inductive learning method to recognize numbers. The algorithm starts from a collection of samples of numbers from number plates. Edge maps of the samples are then detected based on spiral architecture. A set of rules are extracted using these samples by RULES-3. The rules describe the frequencies of 9 different edge masks appearing in the samples. Each mask is a cluster of 7 hexagonal pixels. In order to recognize a number plate, all numbers are tested one by one using the extracted rules. The number recognition is achieved by counting the frequencies of the 9 masks. In this paper, a comparison between results based on rectangular structure and the results based on spiral architecture is given. From the experimental results, we can make the conclusion that Spiral Architecture is better than rectangular structure for inductive learning-based number recognition
{"title":"Learning-Based Number Recognition on Spiral Architecture","authors":"Lihong Zheng, Xiangjian He, Qiang Wu, T. Hintz","doi":"10.1109/ICARCV.2006.345407","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345407","url":null,"abstract":"In this paper, a number recognition algorithm is proposed on spiral architecture, a hexagonal image structure. This algorithm employs RULES-3 inductive learning method to recognize numbers. The algorithm starts from a collection of samples of numbers from number plates. Edge maps of the samples are then detected based on spiral architecture. A set of rules are extracted using these samples by RULES-3. The rules describe the frequencies of 9 different edge masks appearing in the samples. Each mask is a cluster of 7 hexagonal pixels. In order to recognize a number plate, all numbers are tested one by one using the extracted rules. The number recognition is achieved by counting the frequencies of the 9 masks. In this paper, a comparison between results based on rectangular structure and the results based on spiral architecture is given. From the experimental results, we can make the conclusion that Spiral Architecture is better than rectangular structure for inductive learning-based number recognition","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"102 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":"131761404","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.2006.345360
S. X. Wu, Sifeng Liu, M. Q. Li
In this paper, a method of data pre-processing in grey information systems was proposed to deal with grey information. The binning technique was introduced to smooth noisy data used for grey relative analysis. It constructed the function of grey relative coefficient for each null value and filled up the null value with the solution of the function. It also can be used to detect noisy data. This method is an application of grey system theory in data pre-processing. It has great significance in filling up null values and detecting noisy data in the "poor" information database
{"title":"The Method of Data Pre-processing in Grey Information Systems","authors":"S. X. Wu, Sifeng Liu, M. Q. Li","doi":"10.1109/ICARCV.2006.345360","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345360","url":null,"abstract":"In this paper, a method of data pre-processing in grey information systems was proposed to deal with grey information. The binning technique was introduced to smooth noisy data used for grey relative analysis. It constructed the function of grey relative coefficient for each null value and filled up the null value with the solution of the function. It also can be used to detect noisy data. This method is an application of grey system theory in data pre-processing. It has great significance in filling up null values and detecting noisy data in the \"poor\" information database","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"9 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":"131811201","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.2006.345192
Hyoungchul Shin, K. Sohn
This paper describes a pose invariant three-dimensional (3D) face recognition method using distinctive facial features. A face has its structural components like the eyes, nose and mouth. The positions and the shapes of the facial components are very important characteristics of a face. We extract invariant facial feature points on those components using the facial geometry from a normalized face data and calculate relative features using these feature points. We also calculate a shape index on each area of facial feature point to represent curvature characteristics of facial components. We perform recognition by using weighted distance matching, support vector machine (SVM) and independent component analysis (ICA)
{"title":"3D Face Recognition with Geometrically Localized Surface Shape Indexes","authors":"Hyoungchul Shin, K. Sohn","doi":"10.1109/ICARCV.2006.345192","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345192","url":null,"abstract":"This paper describes a pose invariant three-dimensional (3D) face recognition method using distinctive facial features. A face has its structural components like the eyes, nose and mouth. The positions and the shapes of the facial components are very important characteristics of a face. We extract invariant facial feature points on those components using the facial geometry from a normalized face data and calculate relative features using these feature points. We also calculate a shape index on each area of facial feature point to represent curvature characteristics of facial components. We perform recognition by using weighted distance matching, support vector machine (SVM) and independent component analysis (ICA)","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"96 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":"131069453","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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