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The article focuses on the development of an on-board system design method for optimal control of an autonomous mobile group of objects. It is assumed that the group consists of a leader and some agents. A new method for the synthesis of an optimal multivariable control system, which is needed for preserving desired position of the agent relatively to the leader was substantiated in the article. The...
Trajectories obtained from low level tracking algorithm provide an opportunity for us to analyze meaningful behaviors and monitor adverse or malicious events. How to abstract meaningful features from the raw data of trajectories is a challenge due to the high dimensionality and noise. In this paper, a novel approach, stacked denoising autoencoder(SDA) is applied to address this problem. This method...
The commercial interest in proximity services is increasing. Application examples include location-based information and advertisements, logistics, social networking, file sharing, etc. In this paper, we consider positioning of devices based on time series proximity reports from a mobile device to a network node. This corresponds to nonlinear measurements with respect to the device position in relation...
Stationary human micro-motion trajectory in slow time range domain provides more original motion information, including periodical respiration and heart beating, as well as random body movement and sudden body shaking, whose range often outstrips the periodical movement. Phase contour, amplitude contour and peak locus are all the represent of stationary human micro-motion trajectory. Due to the phase...
The autonomous motor skill learning is crucial for the humanoid robot to adapt to various tasks in complex environments and develop human-like behaviors. In this paper a method of autonomously learning arm movements for target reaching is proposed. To model the dynamics of arm joint trajectories during reaching, the dynamical movement primitives (DMP) model is employed. Based on the DMP representation,...
The new tool for off-line estimation of the state of discrete linear systems is presented. The algorithm of Finite Impulse Response (FIR) smoother is described and its optimality is proven. The optimality of this smoother means that error covariance matrix of the estimation is minimal. It places this method in the Least Square Estimation (LSE) methods group, which are much better than frequently used...
Line tracking is important for numerous applications of the machine vision, including control of line following robots. Local lacunarity for binary images allows the estimation of line by the detection of spatial differences using statistical properties of textures. Additional tracking algorithm improves the line detection by application of motion model. Such approach allows the extended width line...
In this paper, we introduce a new framework to combine the central difference information filter (CDIF) with the interacting multiple model (IMM) method for maneuvering object tracking. The CDIF has been recently introduced for solving object tracking problem using multiple sensors. The CDIF uses Stirling's interpolation to generate a number of sigma points for approximating the distribution of Gaussian...
The design of a Model Predictive Control (MPC) strategy for the closed-loop operation of an Artificial Pancreas (AP) to treat type 1 diabetes mellitus is considered. The contribution of this paper is to propose a velocity-weighting mechanism, within an MPC problem's cost function, that facilitates penalizing predicted hyperglycemic blood-glucose excursions based on the predicted blood-glucose levels'...
Fault diagnosis is the central component of abnormal event management (AEM) [1–3]. Because of the increasing need for higher system performance, product quality, human safety, and cost efficiency, fault diagnosis systems are applied in diverse industrial fields, such as petrochemical and petroleum industries, robotics, and automotive/aerospace systems [4, 5]. According to the International Federation...
The recent research is trending to develop robust solutions for controlling nonlinear systems with uncertain dynamics. This paper employs a novel approach of active disturbance rejection control (ADRC) based on extended state observer (ESO) to solve the nonlinear control problem with uncertain dynamics. To evaluate the actual performance of the ADRC, the classical nonlinear system of cargo ship steering...
This paper addresses visual servoing control of quadrotor unmanned aerial vehicles (UAVs) during tracking of a moving ground object. The proposed system uses single monocular camera as an input for feedback control system of quadcopter. The main objectives of the developed control system was to compensate for the noise introduced by the visual sensor and to reduce errors in object tracking by means...
In this paper, we apply inverse optimal control approaches in order to recover the cost function that can explain given observations, for a class of constrained optimization problems. The inverse optimal control was recently solved in an approximately optimal framework, meaning that the interest is in finding the proper criteria suitable for the system for which the decisions are approximately optimal...
Policy evaluation has long been one of the core issues of the online reinforcement learning, especially in the continuous state domain. In this paper, the issue is addressed by employing Gaussian processes to represent the action value function from the probability perspective. By modeling the return as a stochastic variable, the action value function can sequentially update according to observed...
This paper presents an approach intended for tracking of biological non-stationary signals. The proposed approach utilizes a Kalman filter autoregressive model together with a method for estimation of covariance matrices of the uncorrelated process noise and measurement noise. The method was tested in simulations, where the ability of tracking of a class of time varying autoregressive processes was...
The paper shows analogies between two separately evolved areas of PID control, the disturbance observer based controllers and the “intelligent” PID controllers. The simplest “intelligent” PID controller is represented by the “intelligent P” controller denoted as iP. It is designed for the simplified “ultra-local” integral plant models neglecting all internal plant feedbacks. These are included and...
We demonstrate trajectory control of the tip of an inverted pendulum atop a small unmanned aerial vehicle. In this paper we discuss how exploiting the differential flatness of combined systems provides a realization of adequate control. A differential flatness controller is derived for trajectory control of a pendulum tip. Simulation results are presented for tip trajectory tracking with and without...
Biomolecular interactions are central to biological processes and typically take place at nanometer scale distances. They often involve molecular motion which is known to affect the accuracy of the parameter estimates. Therefore, in this paper, we consider a case of two closely spaced molecules with planar trajectory and present a general expression of the Fisher information matrix in terms of their...
Sparse bundle adjustment (SBA) is the state of the art method for simultaneously optimizing a set of camera poses and 3D points. The multibody bundle adjustment optimizes the static scene and the moving rigid object(s). The result is one camera path representing the main camera motion and virtual camera path(s) for each of the independently moving objects in the scene. The bundle adjustment for the...
Human action representation, recognition and learning is of importance to guarantee a fruitful human-robot cooperation. In this paper, we propose a novel coordinate-free, scale invariant representation of 6D (position and orientation) motion trajectories. The advantages of the proposed invariant representation are twofold. First the performance of gesture recognition can be improved thanks to its...
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