The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper gives a design method for an optimal pre-filter in FRIT using closed-loop step response data by extending the method for VRFT. The paper shows that both the data-driven cost function and the original one have the same second order Taylor expansion with extended parameter descriptions. Finally, a numerical example shows the effectiveness of the proposed method.
Human action recognition has been extensively studied with a lot of real life application. Many methods have been proposed and achieved promising results when the input video captured from the same viewpoints. However, their accuracy decreases significantly under viewpoint changing. The reason is that action appearance is quite different when looking from a different angle. To overcome this problem,...
This paper proposes a distributed 3D pose synchronization law to achieve a common pose with a desired trajectory for a group of quadrotors. The dynamics of networked quadrotors is first derived, and a pose synchronization scheme is proposed. In the present controller design, linear approximation and passivation techniques are employed, which respectively enable to independently handle the yaw angle,...
This paper presents a supervisory control system for humanoid robot motion planning. The proposed system is a supervisory structure formed by two hierarchical levels of a discrete event system. The high level system is represented by a Petri net. This Petri net behaves as a supervisor that indicates the sequence of motions that the robot has to make. A robot walking in a closed space forms the lower...
In this paper, model order reduction is considered for externally positive systems. Since to verify external positivity of a given transfer function is NP-hard, an externally finitely positive system is introduced as an extension of an externally positive system. It is shown that the externally finitely positive system is useful for model order reduction of externally positive systems, where the q-Markov...
The paper proposes data-driven minimum variance regulatory control using a Fictitious Reference Iterative Tuning (FRIT) method. The present work uses the inverse of a linearly parametrized controller. Thus, a general parametrization is realized, and the integrator is straightforwardly introduced. A numerical example shows an effectiveness of the proposed method.
Rendering thermal sensation is useful for a machine that comes in contact with a human. For example, nursing robots can give a sense of security for patients, and communication robots can give a presence information for people who is in a remote location by using the technique of rendering. The methods about thermal sensation have been studied for many years. These studies usually use a thermoelectric...
We have proposed surface inspection system for detecting small defects on painted surface. The system used frequency multiplexed orthogonal stripes, so that we can detect anisotropic defects. But there is a little cross talk that affects detection rate of tiny defects. In this paper, we propose time division multiplexed orthogonal stripes pattern projection under single exposure. It is enabled by...
This research is focused on the implementation of a vision system intended for a mobile tracked robot, based on three different detectors and feature descriptors which have been analyzed to determine which gives the best performance. The metrics used for comparison purposes are: time processing, resistance to noise and invariance to rotation. Experimental tests conducted demonstrated that the Oriented...
This paper aims to design a reduced observer and optimal controller to stabilize an inverted pendulum on a cart. Pendulum moves with the cart in the direction of the circle tracking. We separately design a reduced-order observer and a linear quadratic regulator (LQR), then combine them to be observer-based controller. Simulation results will demonstrate the responses of pendulum angle and cart position...
This paper describes the new method for measuring the shape of the front surface and the rear surface of a transparent object is difficult because a light does not reflect largely on the surface but mostly penetrate in the object. The proposed use the slightly reflected light on the surface of the transparent object. The experimental results show the usefulness of the proposed method for shape measurement...
This study proposes a novel classification method for sequential data invoving human trial and error. The classification of sequential data obtained from human experiments has become an important tool that supports the data analytics of the modern society. For example, several algorithms for motion recognition, voice recognition, etc. have been recently developed. The hidden Markov model (HMM) is...
This paper provides a timely study report of FDT and AutomationML Collaboration. AutomationML is on the shortlist of several IIoT standards. It contains several parts related to describe different aspects for in the design process of a plant. The information related to FDT are the description of the system topology and the communication relations within such a topology. The output of a CAE tool is...
Although many daily necessities are translucent object, it is difficult to measure the shape of translucent object with traditional 3D scamming approach. We observed the behavior of the light path and proposed the 3D shape measurement method for translucent objects. We conducted the experiment to verify the usefulness the proposed method. From the experimental results, it was shown that the proposed...
The development of underwater exploration robots is expected for the biological research of aquatic life. In particular, biomimetic robots are possible to investigate aquatic organisms without affecting them seriously. A Manta robot has been already developed by mimicking the pectoral fin of the manta ray. Note however that it is difficult to obtain the self-position data, because small AUVs like...
We consider solving large-scale Lyapunov equations for multi-agent system. Focusing on the Kronecker product in the Lyapunov equations, we use third order tensors and its operations, which are useful to decrease memory requirements. In this paper, we propose the modified GMRES method for the Lyapunov equations which computes using third order tensor. Moreover, we display numerical examples of the...
In the traditional indoor positioning systems, because of high cost or various environmental interferences, most existing technology such as GPS, Bluetooth and RFID are not so useful. Pedestrian Dead-Reckoning (PDR) is a kind of low-cost location positioning technique that can get high accuracy by estimating the heading angle of target from acceleration, gyro and compass data. Usually, researchers...
This paper proposes a novel method of tracing dynamic objects for indoor mobile robot by fusing visual features. The proposed tracking algorithm is a kind of improved CAMSHIFT algorithm combined with SURF, optical flow and ultra-sonic data, to enhance the tracking capability. Since CAMSHIFT algorithm is based HSV color space model, it is weak on strong lighting, abrupt change of light and fast-moving...
This paper describes a possibility of online maintenance by fault tolerant PID control for systems with input redundancy. We show that performance degradation does not generate from the viewpoint of the input/output characteristics from the reference input to the output when an actuator failure occurs.
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.