Pub Date : 2006-12-01DOI: 10.1109/ICARCV.2006.345300
H. Wakamatsu, Tatsuya Yamasaki, S. Hirai, A. Tsumaya, E. Arai
This paper describes the dynamic modeling of linear object deformation considering geometrical constraints and contact with obstacles. Deformable linear objects such as cables and strings are widely used in our daily life, some industries, and medical operations. Modeling, control, and manipulation of deformable linear objects are keys to many applications. We have formulated the static deformation of a linear object using the differential geometry coordinates. In this paper, we apply differential geometry coordinates to the dynamic modeling of linear objects. First, we formulate dynamic 2D deformation of an inextensible linear object based on a differential geometry coordinate system. Second, we consider dynamic deformation of the linear object when forces/moments and geometrical constraints are imposed on the object. Third, we model contact of a linear object with a circular obstacle. It can be applied to self-contact of the linear object. Finally, we show simulation results using the proposed modeling technique
{"title":"Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles","authors":"H. Wakamatsu, Tatsuya Yamasaki, S. Hirai, A. Tsumaya, E. Arai","doi":"10.1109/ICARCV.2006.345300","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345300","url":null,"abstract":"This paper describes the dynamic modeling of linear object deformation considering geometrical constraints and contact with obstacles. Deformable linear objects such as cables and strings are widely used in our daily life, some industries, and medical operations. Modeling, control, and manipulation of deformable linear objects are keys to many applications. We have formulated the static deformation of a linear object using the differential geometry coordinates. In this paper, we apply differential geometry coordinates to the dynamic modeling of linear objects. First, we formulate dynamic 2D deformation of an inextensible linear object based on a differential geometry coordinate system. Second, we consider dynamic deformation of the linear object when forces/moments and geometrical constraints are imposed on the object. Third, we model contact of a linear object with a circular obstacle. It can be applied to self-contact of the linear object. Finally, we show simulation results using the proposed modeling technique","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"104 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":"131421855","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.2006.345428
Lingli Cui, Jianyu Zhang, Lixin Gao, Feiyue Wang
This paper addresses the issues related to the design of robust controller using genetic algorithms (GA) for lightweight, one-link flexible manipulators working under dynamic environments and other uncertain influences. By selecting sensitivity weight functions properly using the GA method, a mixed sensitivity Hinfin controller is developed to ensure robustness of manipulator control systems for varying payloads and other modeling uncertainties. Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method
{"title":"A Robust Controller of a Flexible Manipulator Using Genetic Algorithm","authors":"Lingli Cui, Jianyu Zhang, Lixin Gao, Feiyue Wang","doi":"10.1109/ICARCV.2006.345428","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345428","url":null,"abstract":"This paper addresses the issues related to the design of robust controller using genetic algorithms (GA) for lightweight, one-link flexible manipulators working under dynamic environments and other uncertain influences. By selecting sensitivity weight functions properly using the GA method, a mixed sensitivity Hinfin controller is developed to ensure robustness of manipulator control systems for varying payloads and other modeling uncertainties. Numeric simulation has been conducted and the results have demonstrated the effectiveness of the proposed method","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"36 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":"127391806","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.2006.345250
J. Horgan, D. Toal
This paper presents a review of recent research efforts in the field of the application of machine vision in the control of unmanned underwater vehicles (UUV). The paper focuses on five particular applications for machine vision underwater. Each application is discussed and its evolution into its present state is analysed by looking at different projects. Projects are categorised for each application and an assessment regarding the performance of the strategies is given. Their advantages and disadvantages are discussed. Based on the authors' observations, possible future trends are identified for each application
{"title":"Review of Machine Vision Applications in Unmanned Underwater Vehicles","authors":"J. Horgan, D. Toal","doi":"10.1109/ICARCV.2006.345250","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345250","url":null,"abstract":"This paper presents a review of recent research efforts in the field of the application of machine vision in the control of unmanned underwater vehicles (UUV). The paper focuses on five particular applications for machine vision underwater. Each application is discussed and its evolution into its present state is analysed by looking at different projects. Projects are categorised for each application and an assessment regarding the performance of the strategies is given. Their advantages and disadvantages are discussed. Based on the authors' observations, possible future trends are identified for each application","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"14 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":"124160931","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.2006.345187
Jing Zhou, M. Er, Yi Zhou
In this paper, we present a new scheme to design adaptive controller for uncertain nonlinear systems in the presence of input saturation. The control design is achieved by using backstepping technique and neural network. Unlike some existing control schemes for systems with input saturation, the developed controller does not require uncertain parameters within a known compact set. Besides showing stability, transient performance is also established and can be adjusted by tuning certain design parameters
{"title":"Adaptive Neural Network Control of Uncertain Nonlinear Systems in the Presence of Input Saturation","authors":"Jing Zhou, M. Er, Yi Zhou","doi":"10.1109/ICARCV.2006.345187","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345187","url":null,"abstract":"In this paper, we present a new scheme to design adaptive controller for uncertain nonlinear systems in the presence of input saturation. The control design is achieved by using backstepping technique and neural network. Unlike some existing control schemes for systems with input saturation, the developed controller does not require uncertain parameters within a known compact set. Besides showing stability, transient performance is also established and can be adjusted by tuning certain design parameters","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"193 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":"124289254","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.2006.345366
M. Corradini, L. Jetto, Giuseppe Orlando, V. Orsini
The stabilization problem of a class of linear, discrete-time, time-varying, uncertain systems is considered. The elements of the dynamical matrix A(middot) of a given time-varying system are modelled as unknown time functions taking values inside known compact sets. The elements of A(middot) are varying inside a fixed set for a sufficiently long time interval, and, at some unknown time instants, they suddenly switch from the actual set to another one. The measure and the control matrices of the system are assumed to be known and time-invariant. It is required to find a dynamic output controller yielding an asymptotically internally stable closed-loop system. The solution proposed is given by the connection of a family of linear controllers with a supervised switching scheme
{"title":"A Supervised Switching Technique for the Robust Stabilization of a Class of Linear Discrete-Time Time-Varying Systems","authors":"M. Corradini, L. Jetto, Giuseppe Orlando, V. Orsini","doi":"10.1109/ICARCV.2006.345366","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345366","url":null,"abstract":"The stabilization problem of a class of linear, discrete-time, time-varying, uncertain systems is considered. The elements of the dynamical matrix A(middot) of a given time-varying system are modelled as unknown time functions taking values inside known compact sets. The elements of A(middot) are varying inside a fixed set for a sufficiently long time interval, and, at some unknown time instants, they suddenly switch from the actual set to another one. The measure and the control matrices of the system are assumed to be known and time-invariant. It is required to find a dynamic output controller yielding an asymptotically internally stable closed-loop system. The solution proposed is given by the connection of a family of linear controllers with a supervised switching scheme","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":"124322946","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.2006.345233
Xuejie Zhang, A. Tay
CogniVision is a neurologically inspired vergence control model that uses the optimization of the disparity error between interlaced, log-polar transformed, cortical maps incident on the visual cortex (VC) [13]. This paper presents results that illustrate a biologically inspired vergence control of a pair of 2 DOF pan-tilt cameras. This work illustrates the ability of the cortical model to perform binocular vergence with baseline independence and absence of object registration. It was inspired by a collection of discoveries in the area of neuroscience. See Schwartz (1977) [1], Tootell et al (1982) [2] and Nobel Prize Winner Hubel et al (1974) [4]. We briefly explain how the log- polar image incident on the VC can be used successfully to determine the pan angle (saccade) to perform binocular vergence on points of in the scene. A discussion at the end of the paper highlights the significant differences between this system and the conventional object correspondence systems that require matching of specific object shapes. In this model, the cortically magnified VC image is used to match the entire image.
CogniVision是一种受神经学启发的收敛控制模型，它利用交错的、对数极变换的、皮层映射在视觉皮层(VC)上的视差误差进行优化[13]。本文提出的结果，说明了一个生物学启发的收敛控制一对2 DOF泛倾斜相机。这项工作说明了皮质模型在基线独立和缺乏目标配准的情况下进行双目收敛的能力。它的灵感来自于神经科学领域的一系列发现。参见Schwartz (1977) [1]， Tootell et al(1982)[2]和诺贝尔奖得主Hubel et al(1974)[4]。我们简要地解释了如何成功地使用VC上的对数极图像来确定平移角(视差)，从而对场景中的点进行双目收敛。本文最后的讨论强调了该系统与需要匹配特定物体形状的传统物体对应系统之间的显着差异。在该模型中，使用皮质放大的VC图像来匹配整个图像。
{"title":"Baseline Independent Binocular Vergence Control of 2 DOF Pan-Tilt Cameras using a Visual cortical Model","authors":"Xuejie Zhang, A. Tay","doi":"10.1109/ICARCV.2006.345233","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345233","url":null,"abstract":"CogniVision is a neurologically inspired vergence control model that uses the optimization of the disparity error between interlaced, log-polar transformed, cortical maps incident on the visual cortex (VC) [13]. This paper presents results that illustrate a biologically inspired vergence control of a pair of 2 DOF pan-tilt cameras. This work illustrates the ability of the cortical model to perform binocular vergence with baseline independence and absence of object registration. It was inspired by a collection of discoveries in the area of neuroscience. See Schwartz (1977) [1], Tootell et al (1982) [2] and Nobel Prize Winner Hubel et al (1974) [4]. We briefly explain how the log- polar image incident on the VC can be used successfully to determine the pan angle (saccade) to perform binocular vergence on points of in the scene. A discussion at the end of the paper highlights the significant differences between this system and the conventional object correspondence systems that require matching of specific object shapes. In this model, the cortically magnified VC image is used to match the entire image.","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":"124340156","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.2006.345425
Yan Li, Zhongmin Li, Z. Xue
Segmenting medical images into different tissues is an important task in medical image analysis, e.g., classifying every voxel of input image into different tissue types: CSF, gray matter and white matter. This paper investigates the fully-tuned radial basis function (RBF) and compares it with the traditional fuzzy c-mean (FCM) clustering algorithm in MR image segmentation. It turns out that FCM is not only biased by the number of voxels in different groups, but also by the intensity differences between different tissue groups, while the fully-tuned RBF captures the multi-Gaussian distribution of the image intensities very well and thus it can be used to segment image intensities accurately. Moreover, in order to generate spatially smooth segmentation results, a Markov random field model is applied to the segmentation results of the fully-tuned RBF algorithm. Experimental results show that fully-tuned RBF method can capture the tissue intensity distribution more accurately than the FCM algorithm
{"title":"Segmenting MR Images Using Fully-Tuned Radial Basis Functions (RBF)","authors":"Yan Li, Zhongmin Li, Z. Xue","doi":"10.1109/ICARCV.2006.345425","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345425","url":null,"abstract":"Segmenting medical images into different tissues is an important task in medical image analysis, e.g., classifying every voxel of input image into different tissue types: CSF, gray matter and white matter. This paper investigates the fully-tuned radial basis function (RBF) and compares it with the traditional fuzzy c-mean (FCM) clustering algorithm in MR image segmentation. It turns out that FCM is not only biased by the number of voxels in different groups, but also by the intensity differences between different tissue groups, while the fully-tuned RBF captures the multi-Gaussian distribution of the image intensities very well and thus it can be used to segment image intensities accurately. Moreover, in order to generate spatially smooth segmentation results, a Markov random field model is applied to the segmentation results of the fully-tuned RBF algorithm. Experimental results show that fully-tuned RBF method can capture the tissue intensity distribution more accurately than the FCM algorithm","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"40 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":"114956917","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.2006.345236
Fanglue Lin, Shixiong Zheng
This paper discusses the optimum efficiency of a U-shaped flexible production line (U-FPL) and the relationship between the efficiency and cycle time of a U-FPL. In the literature, few researches have been done in this area. However, designing a U-FPL scheme, many designers decrease the cycle time of a U-FPL to increase its productivity and overlook the efficiency of a U-FPL. Thus it causes the increasing of equipment costs. This paper describes a model of the U-FPL that can present most U-FPLs and deduces an equation to calculate the efficiency of a U-FPL. From analyzing the equation, the optimum efficiency of a U-FPL and several rules for guiding the design of a U-FPL scheme are obtained
{"title":"Optimum Efficiency of U-shaped Flexible Production Line","authors":"Fanglue Lin, Shixiong Zheng","doi":"10.1109/ICARCV.2006.345236","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345236","url":null,"abstract":"This paper discusses the optimum efficiency of a U-shaped flexible production line (U-FPL) and the relationship between the efficiency and cycle time of a U-FPL. In the literature, few researches have been done in this area. However, designing a U-FPL scheme, many designers decrease the cycle time of a U-FPL to increase its productivity and overlook the efficiency of a U-FPL. Thus it causes the increasing of equipment costs. This paper describes a model of the U-FPL that can present most U-FPLs and deduces an equation to calculate the efficiency of a U-FPL. From analyzing the equation, the optimum efficiency of a U-FPL and several rules for guiding the design of a U-FPL scheme are obtained","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"101 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120865464","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.2006.345388
P. Rusmin, C. Machbub, A. Harsoyo
Congestion occurs when resource demands exceeds the capacity. At this moment, congestion are solved by the involvement of two controlling mechanism, they are flow control in the TCP source and active queue management (AQM) in the link. AQM will provide feedback to the source a kind of indication for the occurrence of the congestion in the link, whereas the source will adapt the sending rate appropriate with the feedback. The indication of the feedback congestion is influenced by the number of the sources, time delay, and its sending rate. Consequently, adaptation of the sending rate based on the feedback indirectly observes behavior of other sources. This control system structure is much known with distributed control system, because the control mechanism is distributed in each source. On this structure, the source mechanism is more important than the link. This paper will explain a new algorithm, which focus more on the link as an allocation capacity controller. Then the source will adapt the sending rate based on set point the link provides
{"title":"White : Controlling The Internet Congestion With Integral Controller","authors":"P. Rusmin, C. Machbub, A. Harsoyo","doi":"10.1109/ICARCV.2006.345388","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345388","url":null,"abstract":"Congestion occurs when resource demands exceeds the capacity. At this moment, congestion are solved by the involvement of two controlling mechanism, they are flow control in the TCP source and active queue management (AQM) in the link. AQM will provide feedback to the source a kind of indication for the occurrence of the congestion in the link, whereas the source will adapt the sending rate appropriate with the feedback. The indication of the feedback congestion is influenced by the number of the sources, time delay, and its sending rate. Consequently, adaptation of the sending rate based on the feedback indirectly observes behavior of other sources. This control system structure is much known with distributed control system, because the control mechanism is distributed in each source. On this structure, the source mechanism is more important than the link. This paper will explain a new algorithm, which focus more on the link as an allocation capacity controller. Then the source will adapt the sending rate based on set point the link provides","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"68 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":"121932801","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.2006.345325
Keigo Watanabe, K. Izumi, Kei Shibayama, K. Kamohara
When an intelligent robot works together with human in a living space, we may often encounter a scene that the robot supports the human behaviors. Understanding of the human behavior is required for the robot to judge what kind of action serves as assistance to the human in such a scene. The present research aims at constructing a system that can understand the human behavior using the time series images for the movement of the human, which can be obtained from an active vision head. The first process estimates the human posture in each frame. The next process divides the basic human action into a posture and a position. The final process estimates the human behavior by examining the action and the target, under the assumption that the human behavior consists of the combination of an action and a behavioral target
{"title":"An Approach to Estimating Human Behaviors by Using an Active Vision Head","authors":"Keigo Watanabe, K. Izumi, Kei Shibayama, K. Kamohara","doi":"10.1109/ICARCV.2006.345325","DOIUrl":"https://doi.org/10.1109/ICARCV.2006.345325","url":null,"abstract":"When an intelligent robot works together with human in a living space, we may often encounter a scene that the robot supports the human behaviors. Understanding of the human behavior is required for the robot to judge what kind of action serves as assistance to the human in such a scene. The present research aims at constructing a system that can understand the human behavior using the time series images for the movement of the human, which can be obtained from an active vision head. The first process estimates the human posture in each frame. The next process divides the basic human action into a posture and a position. The final process estimates the human behavior by examining the action and the target, under the assumption that the human behavior consists of the combination of an action and a behavioral target","PeriodicalId":415827,"journal":{"name":"2006 9th International Conference on Control, Automation, Robotics and Vision","volume":"6 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":"116827964","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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