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Motion-compensated lifting schemes have become a reference for the temporal filtering of video data. However, block-based motion estimation and compensation produce annoying blocking artifacts around the moving objects and near the borders of the images. In this paper, we propose a new lifted temporal filtering method, based on joint segmentation and motion estimation. This method consists in attributing...
The goal of multidimensional independent component analysis (MICA) lies in the linear separation of data into statistically independent groups of signals. In this work, we give an elementary proof for the uniqueness of this problem in the case of equally sized subspaces, showing that the separation matrix is essentially unique except for row permutation and scaling. The proof is based on the reinterpretation...
In this paper, we present a new approach for online joint detection and tracking for multiple targets, using sequential Monte Carlo methods. We first use an observation clustering algorithm to find some regions of interest (ROIs), and then propose to initiate a new target or remove an existing track, based on the persistence information of these ROIs over time. In addition, we also integrate a very...
This paper solves the problem of identifying the deterministic part of the plant operating in closed-loop. Under the assumption that the exogenous reference input is feedback-free and persistently exciting (PE), it can be shown that the identification of the deterministic part is independent of the identification of the stochastic part by the preliminary orthogonal decomposition of the joint input-output...
The paper considers an example of mechanical system with high relative degree: a fully actuated robot with elastic joints and the related control problem. The considered system is characterized by a uniform relative degree five, assuming as available output only the joints' angles. Two different strategies can be exploited to address this control problem. A first possibility is to use a full order...
In this paper the tracking control problem for robot manipulators is addressed and solved by using a second order sliding mode control methodology. Unless other variable structure control schemes, the control torques are continuous functions of time, with no need for smoothing filters that cause a degradation of the performance as well as potential instability. A novel scheme is proposed, that accomplishes...
A method for blind separation of instantaneous mixture of colored sources, based on the minimization a Gaussian mutual information criterion, is proposed. It amounts to jointly approximately diagonalizing a set of estimated spectral density matrices. Separation is shown to be achievable (up to a scaling and a permutation) if no pair of sources can have proportional spectral densities. An effcient...
We propose a novel method for applying real-valued independent component analysis (ICA) to complex-valued multi-sensor data that comprises instantaneous linear mixtures of co-channel non-Gaussian independent signals. We examine, for non-ideal practical conditions, the optimahty of cumulant-based ICA and blind signal separation approaches in terms of the standard criterion for statistical independence...
This paper develops a design approach, based on sampled data robust feedback H∞-control, for stabilisation of the upright posture of paraplegic persons standing. The subject stands in a special apparatus which braces the knee and hip joints. Stabilising torque at the ankle joint is produced by electrical stimulation of the paralyzed calf muscle of both legs using surface electrodes. The goal in this...
In this paper we propose a novel frequency domain approach for the identification of a multiple-input multiple-output (MIMO) system driven by temporally i.i.d. and spatially independent non-Gaussian processes. The system frequency response is obtained based on singular value decomposition of a matrix constructed based on the power-spectrum and slices of polyspectra of the system output. Since more...
We consider a variant of the time-optimal control of the acrobot and term it sub time-optimal. By exploiting the partially linearized structure obtained through a feedback linearization technique, we swing up the first link to the vertically upright position in optimal time and then stabilize the second link around its vertical equilibrium position. Rate constraints are imposed on the actuator and...
In this paper, we propose a novel method to estimate the direction of arrival (DOA) of the harmonic acoustic signals received by a uniform linear sensor array. The wideband Direction of Arrival (DOA) estimation problem is formulated under Bayesian framework. The received signals are firstly divided into narrow sub-bands, and the sparsity in the angular domain in each sub-band is exploited to give...
Microsoft Kinect which has been primarily aimed at the computer gaming industry has been used in bio-kinematic research related implementations. A multi-Kinect system can be useful in exploiting spatial diversity to increase measurement accuracy. One of the main problems in deploying multi-Kinect systems is to estimate the pose, including the position and orientation of each Kinect. In this paper,...
We investigate how unmanned aerial vehicles (UAVs) with flexible wings can be designed to exploit the aeroelasticity of wing deformation that is present in bat wings, with a view to improve the efficiency of flight. We constructed a robotic bat wing with fully passive elastic wing-folding properties. The robotic wing is powered by a gearbox running two synchronised motors, effectively providing one...
The Fast Independent Vector Analysis (FastIVA) algorithm [1] is an effective approach to achieve the joint blind source separation (JBSS) problem. However, the authors in [1] do not give the stable analysis for the FastIVA algorithm. In this paper, we extend the work of Intae Lee et al [1] by deriving conditions for local stability for the more general case of noncircular sources. Simulations demonstrate...
The lower limb exoskeleton suit is a wearable device that aims to support the movement of users,and enhance the motion and strength of physical lower limbs. As inertial sensors provide better measurement performance (vs. optical or electromagnetic sensors), a CAN-based inertial sensor network was proposed in this study for an enhancement of the real-time movement detection of the lower limb exoskeleton...
The whole dance of Likok Pulo are modeled by hidden Markov model. Dance gestures are cast as hidden discrete states and phrase as a sequence of gestures. For robustness under noisy input of Kinect sensor, an angular representation of the skeleton is designed. A pose of dance is defined by this angular skeleton representation which has been quantified based on range of movement. One unique gesture...
To quantify spectrum usage, many outdoor and indoor measurement campaigns have already been conducted in different parts of the world. These studies assist policy makers in optimizing spectrum management policies by providing necessary information about the usage patterns of wireless services in different spectrum bands. Furthermore, the spectrum usage measurements help researchers to build a mechanism...
Advancement of RGB-D cameras that are capable of tracking human body movement in the form of a skeleton has contributed to growing interest in skeleton-based human action recognition. However, the tracking performance of a single camera is prone to occlusion and is view dependent. In this study, we use fusion skeletal data obtained from two views for recognizing human action. We perform a substitutive...
In this paper we introduce a real-time system for action detection. The system uses a small set of robust features extracted from 3D skeleton data. Features are effectively described based on the probability distribution of skeleton data. The descriptor computes a pyramid of sample covariance matrices and mean vectors to encode the relationship between the features. For handling the intra-class variations...
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