Pub Date : 2012-12-01DOI: 10.1109/ICARCV.2012.6485147
Dae-Sung Jang, Han-Lim Choi
In this paper, interception of border crossers along a border strip bounded by a border line and a military boundary line is considered. Performance measure of interception strategy of a guard is mission failure rate: pass rate of border crossers through the border strip. A defenceable area and a lateral defense length of sequential two-target interception are introduced to derive an expression of an upper bound of pass rate. Numerical simulations of border defense validate the upper bound.
{"title":"Pass rate analysis of interception heuristic against border crossers along a linear border","authors":"Dae-Sung Jang, Han-Lim Choi","doi":"10.1109/ICARCV.2012.6485147","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485147","url":null,"abstract":"In this paper, interception of border crossers along a border strip bounded by a border line and a military boundary line is considered. Performance measure of interception strategy of a guard is mission failure rate: pass rate of border crossers through the border strip. A defenceable area and a lateral defense length of sequential two-target interception are introduced to derive an expression of an upper bound of pass rate. Numerical simulations of border defense validate the upper bound.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125857948","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485313
A. Boeing, T. Bräunl
We propose a novel approach for transferring evolved control systems from a simulated environment to a real robot. Multiple dynamic simulation systems are simultaneously employed to provide a valid range of simulation variance that can be exploited to generate robust controllers in a purely virtual environment. These controllers can then be directly transferred to a physical robot.
{"title":"Leveraging multiple simulators for crossing the reality gap","authors":"A. Boeing, T. Bräunl","doi":"10.1109/ICARCV.2012.6485313","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485313","url":null,"abstract":"We propose a novel approach for transferring evolved control systems from a simulated environment to a real robot. Multiple dynamic simulation systems are simultaneously employed to provide a valid range of simulation variance that can be exploited to generate robust controllers in a purely virtual environment. These controllers can then be directly transferred to a physical robot.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123720134","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485289
Minghang Li, Weiyao Lan, M. Wu, Jiajia Cao, L. Huang
Considering the limitation of off-line simulation and the high cost of many real-time simulation equipments used in aeronautical and astronautical fields, a low-cost embedded real-time simulation system has been developed for the research of satellite attitude control. By using the mature ARM/DSP chip as the processor and the embedded Linux operating system in the target machine, and the monitoring and management interface based on the graphical programming language LabVIEW in the host computer, this system has successfully addressed key technical issues of real-time simulation. It has optimized the four essential components of the satellite attitude control closed-loop system. Initial application of the system has validated its effectiveness, and therefore proved that it will be significant in the engineering applications.
{"title":"Real-time simulation of satellite attitude control based on low cost embedded system","authors":"Minghang Li, Weiyao Lan, M. Wu, Jiajia Cao, L. Huang","doi":"10.1109/ICARCV.2012.6485289","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485289","url":null,"abstract":"Considering the limitation of off-line simulation and the high cost of many real-time simulation equipments used in aeronautical and astronautical fields, a low-cost embedded real-time simulation system has been developed for the research of satellite attitude control. By using the mature ARM/DSP chip as the processor and the embedded Linux operating system in the target machine, and the monitoring and management interface based on the graphical programming language LabVIEW in the host computer, this system has successfully addressed key technical issues of real-time simulation. It has optimized the four essential components of the satellite attitude control closed-loop system. Initial application of the system has validated its effectiveness, and therefore proved that it will be significant in the engineering applications.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"205 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125370924","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485191
H. Maheshwari, M. Y. Siyal
A non-invasive functional MRI (fMRI) has emerged effective in the investigation of the functionality of human brain. However, detection of functional activation is often complicated by the presence of noise. In this paper, we propose an approach based on correntropy, a recently introduced measure which incorporates both amplitude and temporal structure characteristics of time series in single functional measure. Using correntropy coefficient as the test statistic, nonparametric approach is carried out via pre-whitening resampling transform to calculate the statistical p-values. Experimental results suggest that proposed method enables more effective brain activation detection compared with mutual information.
{"title":"Correntropy coefficient analysis of fMRI using reference model","authors":"H. Maheshwari, M. Y. Siyal","doi":"10.1109/ICARCV.2012.6485191","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485191","url":null,"abstract":"A non-invasive functional MRI (fMRI) has emerged effective in the investigation of the functionality of human brain. However, detection of functional activation is often complicated by the presence of noise. In this paper, we propose an approach based on correntropy, a recently introduced measure which incorporates both amplitude and temporal structure characteristics of time series in single functional measure. Using correntropy coefficient as the test statistic, nonparametric approach is carried out via pre-whitening resampling transform to calculate the statistical p-values. Experimental results suggest that proposed method enables more effective brain activation detection compared with mutual information.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116037734","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485153
Je-Hyoung Jeon, B. Oh, K. Toh
In this paper, we propose a user authentication system based on hand-gesture signature without the need of any handheld device. The system uses a depth image sensor to locate the fingertip and palm mass-center from detected hand region for trajectory processing. Apart from the positional information, the velocity and acceleration information are included as input features for trajectory matching. The system verification performance is evaluated in terms of equal error rate. In addition, an investigation of fusion at feature level is conducted for possible performance enhancement. Our empirical results show the potential of the proposed bare-hand in-air signature system.
{"title":"A system for hand gesture based signature recognition","authors":"Je-Hyoung Jeon, B. Oh, K. Toh","doi":"10.1109/ICARCV.2012.6485153","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485153","url":null,"abstract":"In this paper, we propose a user authentication system based on hand-gesture signature without the need of any handheld device. The system uses a depth image sensor to locate the fingertip and palm mass-center from detected hand region for trajectory processing. Apart from the positional information, the velocity and acceleration information are included as input features for trajectory matching. The system verification performance is evaluated in terms of equal error rate. In addition, an investigation of fusion at feature level is conducted for possible performance enhancement. Our empirical results show the potential of the proposed bare-hand in-air signature system.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116523925","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485371
Huaicheng Yan, Zhenzhen Su, H. Shi, Hao Zhang
This paper addresses the H∞ filtering problem for networked control systems with quantization and multiple packet dropouts. The effects of measurement channel and control channel quantization as well as packet dropouts are considered simultaneously due to limited communication capacity and unreliable communication links. Stochastic variables satisfying the Bernoulli random binary distribution are utilized to model the multiple packet dropouts. Sufficient conditions are proposed such that the filtering error system is exponentially mean-square stable while the H∞ disturbance rejection attenuation constraint is satisfied. Then, the explicit expression of the desired filter gains is described in terms of the solution to linear matrix inequalities (LMIs). Finally, a numerical example is employed to demonstrate the effectiveness of the proposed filter design approach.
{"title":"H∞ filtering for networked control systems with quantization and multiple packet dropouts","authors":"Huaicheng Yan, Zhenzhen Su, H. Shi, Hao Zhang","doi":"10.1109/ICARCV.2012.6485371","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485371","url":null,"abstract":"This paper addresses the H∞ filtering problem for networked control systems with quantization and multiple packet dropouts. The effects of measurement channel and control channel quantization as well as packet dropouts are considered simultaneously due to limited communication capacity and unreliable communication links. Stochastic variables satisfying the Bernoulli random binary distribution are utilized to model the multiple packet dropouts. Sufficient conditions are proposed such that the filtering error system is exponentially mean-square stable while the H∞ disturbance rejection attenuation constraint is satisfied. Then, the explicit expression of the desired filter gains is described in terms of the solution to linear matrix inequalities (LMIs). Finally, a numerical example is employed to demonstrate the effectiveness of the proposed filter design approach.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114503167","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485163
L. Hun, T. Lim, V. Koo
This paper presents the design and development of a PC-based orientation sensing system using strapdown inertial measurement unit (SIMU). A 9-DOF (degree of freedom) SIMU, which consists of 3-DOF gyroscopes, 3-DOF accelerometers, and 3-DOF magnetometers, are used to estimate the orientation. Data fusion is performed to improve measurement accuracy. In this paper, the orientation measurements are compared and discussed using three different approaches, known as the conventional accelerometer/gyroscope approach, the Kalman filter based 9-DOF SIMU approach, and the gradient decent algorithm based 9-DOF SIMU approach. The derivation of each approach together with the design of the PC-based orientation sensing system is outlined in this paper.
{"title":"A PC-based orientation sensing using 9-DOF strapdown inertial measurement unit","authors":"L. Hun, T. Lim, V. Koo","doi":"10.1109/ICARCV.2012.6485163","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485163","url":null,"abstract":"This paper presents the design and development of a PC-based orientation sensing system using strapdown inertial measurement unit (SIMU). A 9-DOF (degree of freedom) SIMU, which consists of 3-DOF gyroscopes, 3-DOF accelerometers, and 3-DOF magnetometers, are used to estimate the orientation. Data fusion is performed to improve measurement accuracy. In this paper, the orientation measurements are compared and discussed using three different approaches, known as the conventional accelerometer/gyroscope approach, the Kalman filter based 9-DOF SIMU approach, and the gradient decent algorithm based 9-DOF SIMU approach. The derivation of each approach together with the design of the PC-based orientation sensing system is outlined in this paper.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122018863","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485366
H. Wang
In this paper, we investigate the task-space synchronization for networked robots on strongly connected graphs with both the uncertain kinematics and dynamics. A cascade framework is proposed to facilitate the synchronization controller design. Under this framework, we propose an adaptive task-space synchronization scheme with an indirect kinematic parameter adaptation and a direct dynamic parameter adaptation for the networked robots. Passivity decomposition transformation is adopted to show the synchronization of the networked robotic systems. Simulation results are provided to demonstrate the performance of the proposed adaptive networked controller.
{"title":"Cascade framework for task-space synchronization of networked robots with uncertain kinematics and dynamics","authors":"H. Wang","doi":"10.1109/ICARCV.2012.6485366","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485366","url":null,"abstract":"In this paper, we investigate the task-space synchronization for networked robots on strongly connected graphs with both the uncertain kinematics and dynamics. A cascade framework is proposed to facilitate the synchronization controller design. Under this framework, we propose an adaptive task-space synchronization scheme with an indirect kinematic parameter adaptation and a direct dynamic parameter adaptation for the networked robots. Passivity decomposition transformation is adopted to show the synchronization of the networked robotic systems. Simulation results are provided to demonstrate the performance of the proposed adaptive networked controller.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128603406","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485362
R. Haghighi, C. Cheah
In region based shape control of multi-agent systems, the agents move together as a group inside a desired region while maintaining minimum distance among themselves. The desired formation is specified as the desired region for the whole group instead of desired trajectories for individual agents. One limitation of region based shape formation method is the necessity of access to the desired reference of the region i.e. desired movement of the entire group. This paper presents a distributed shape formation control method for multi-agent systems. We develop a state estimator for each agent to construct the desired reference based on local information. A Lyapunov-like function is proposed to examine the stability of the overall system. Simulation results are presented to illustrate the performance of the proposed method in distributed shape formation.
{"title":"Distributed shape formation of multi-agent systems","authors":"R. Haghighi, C. Cheah","doi":"10.1109/ICARCV.2012.6485362","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485362","url":null,"abstract":"In region based shape control of multi-agent systems, the agents move together as a group inside a desired region while maintaining minimum distance among themselves. The desired formation is specified as the desired region for the whole group instead of desired trajectories for individual agents. One limitation of region based shape formation method is the necessity of access to the desired reference of the region i.e. desired movement of the entire group. This paper presents a distributed shape formation control method for multi-agent systems. We develop a state estimator for each agent to construct the desired reference based on local information. A Lyapunov-like function is proposed to examine the stability of the overall system. Simulation results are presented to illustrate the performance of the proposed method in distributed shape formation.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124718092","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 : 2012-12-01DOI: 10.1109/ICARCV.2012.6485206
D. Shen, Youqing Wang
In this paper, an iterative learning control (ILC) algorithm with iteration varying gain is proposed for stochastic point-to-point tracking systems. The general formulation of point-to-point control problem and an associated performance index are given. The almost sure convergence of the given recursive algorithm is strictly proved in term of a modified tracking error. An illustrative example shows the effectiveness of the proposed approach.
{"title":"Iterative learning control for stochastic point-to-point tracking system","authors":"D. Shen, Youqing Wang","doi":"10.1109/ICARCV.2012.6485206","DOIUrl":"https://doi.org/10.1109/ICARCV.2012.6485206","url":null,"abstract":"In this paper, an iterative learning control (ILC) algorithm with iteration varying gain is proposed for stochastic point-to-point tracking systems. The general formulation of point-to-point control problem and an associated performance index are given. The almost sure convergence of the given recursive algorithm is strictly proved in term of a modified tracking error. An illustrative example shows the effectiveness of the proposed approach.","PeriodicalId":441236,"journal":{"name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124724843","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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