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2010 11th International Conference on Control Automation Robotics & Vision

7-10 Dec. 2010

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Displaying Results 1 - 25 of 438
  • [Front cover]

    Publication Year: 2010, Page(s): c1
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    Freely Available from IEEE
  • Table of contents

    Publication Year: 2010, Page(s):1 - 3
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    Freely Available from IEEE
  • Basics on stabilization of discrete switched systems

    Publication Year: 2010, Page(s):336 - 340
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB) | HTML iconHTML

    This paper is devoted to discuss the role of the minimum residence time in the stabilization of dynamic discrete switched systems. It is found that it can be obviated if the sampling period is sufficiently large even without imposing the requirement in the continuous-time case that the various switched parameterizations (referred to often as “ configurations”) possess a common Lyapun... View full abstract»

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  • Novel web cache architecture

    Publication Year: 2010, Page(s):2525 - 2530
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (900 KB) | HTML iconHTML

    Web cache is system that is placed between the servers and the clients so as to retrieve the web objects to the clients as quickly as possible. But the algorithms present today are not so efficient to retain the important objects in the web cache. In this paper we analyze several replacement algorithms used in web cache like LFU, LRU and find that sometimes important links are also replaced. Whene... View full abstract»

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  • Opportunistic 3D trajectory generation for the JPL Aerobot with Nonlinear Trajectory Generation methodology

    Publication Year: 2010, Page(s):2442 - 2447
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3390 KB) | HTML iconHTML

    NASA is supposed to implement a sustainable and affordable human and robotic program to explore the solar system and beyond as it is the first goal of The Presidents Vision for U.S. Space Exploration. The robotic exploration across the solar system consists of exploring Jupiters moons, asteroids and other bodies to search for evidence of life, and to understand the history of the solar system. Tra... View full abstract»

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  • Linear discrete-time systems with fuzzy parametric uncertainty

    Publication Year: 2010, Page(s):36 - 41
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (629 KB) | HTML iconHTML

    The paper deals with the problem of determination of stability margin of uncertain linear discrete-time systems with parameter uncertainty described by fuzzy numbers. Arbitrary membership functions describing the uncertainty of coefficients of characteristic polynomial are considered. The presented solution is based on transformation of the original problem to Hurwitz stability test and generaliza... View full abstract»

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  • Self-learning continuous controllers

    Publication Year: 2010, Page(s):2409 - 2414
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (766 KB) | HTML iconHTML

    In this paper different approach of adaptation mechanism for fuzzy model reference learning control (FMRLC) method will be introduced. In contrast to original method the proposed procedure guarantees continuity of the fuzzy controller that in reward results in its smooth input-output behaviour (mapping) that eliminates undesirable abrupt changes in the control signal. Additionally, the proposed me... View full abstract»

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  • Stabilization of a circular ball-and-beam system

    Publication Year: 2010, Page(s):2227 - 2230
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (123 KB) | HTML iconHTML

    The ball on a circular beam system is an under-actuated mechanical system that is challenging control problem compared to its variant: the ball on a horizontal beam. The control challenge stems out from the fact that the ball on a circular beam system has two unstable eigenvalues unlike its variant which has one. A stabilizing controller synthesized using backstepping methodology is presented. In ... View full abstract»

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  • Robust stabilization using time-scaling and Lyapunov redesign: The ball-beam system

    Publication Year: 2010, Page(s):1661 - 1666
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (273 KB) | HTML iconHTML

    This paper proposes a nonlinear stabilizing controller for a ball on an end-actuated beam system, which is robust to an uncertainty in the mass of the ball. To this end, the dynamics is time-scaled into two subsystems termed as the `Outer-Loop' and the `Inner-Loop' dynamics. An Outer-Loop controller generates a reference trajectory for the beam's pitch angle, which if faithfully followed, would re... View full abstract»

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  • Multi-1D Block Matching Algorithm based motion estimation processor using mixed-signal approach

    Publication Year: 2010, Page(s):854 - 859
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (170 KB) | HTML iconHTML

    In this paper, we propose a Mixed Signal Parallel Multi 1Dimensional Block Matching Algorithm (MSPM-1D-BMA) based motion estimation (ME) processor. In contrast to the typical 2Dimensional full search block matching algorithm (2DFSBMA), the MSPM-1D-BMA based ME processor will greatly reduce the number of data movements in between memories. We employ a voting algorithm in the proposed ME processor t... View full abstract»

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  • Controllability of fractional impulsive neutral functional integrodifferential inclusions with infinite delay in Banach spaces

    Publication Year: 2010, Page(s):518 - 522
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (116 KB) | HTML iconHTML

    In this work the controllability of fractional impulsive neutral functional integrodifferential inclusions in a Banach space has been addressed. Sufficient conditions for the controllability are established using fractional calculus, a semigroup of operators and fixed point theorem of Leray-Schauder nonlinear alternative. View full abstract»

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  • 3D object recognition via multi-view inspection in unknown environments

    Publication Year: 2010, Page(s):2088 - 2095
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1241 KB) | HTML iconHTML

    This paper presents a system for object recognition and localization within unknown indoor environments. The system includes a GUI design through which the user may describe an object of interest by means of color, size, and shape. A novel coarse to fine identification mechanism that incorporates multiple views of an object is then used to locate the described object within an unknown environment.... View full abstract»

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  • LBP-based biometric hashing scheme for human authentication

    Publication Year: 2010, Page(s):1842 - 1847
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (706 KB) | HTML iconHTML

    Biometric hash finds extensive applications in multimedia security systems. Biometric hashing schemes combine biometric features with random numbers for robust and secure human authentication or recognition. A novel biometric hashing scheme which is secure and robust to lighting changes is proposed in this paper. First, the local binary pattern (LBP) based histogram sequence or vector is employed ... View full abstract»

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  • An approach for raising the accuracy of one-class classifiers

    Publication Year: 2010, Page(s):872 - 877
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (133 KB) | HTML iconHTML

    The support vector data description (SVDD) is a method proposed to solve the problem of one-class classification. It models a hypersphere around the target set, and by the introduction of kernel functions, more flexible descriptions are obtained. In SVDD, the width parameter s and the penalty parameter c have to be given beforehand by the user. To automatically optimize the values for these parame... View full abstract»

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  • A study on tracking position control of an pneumatic system by backstepping design

    Publication Year: 2010, Page(s):721 - 726
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (671 KB) | HTML iconHTML

    The pneumatic actuator is widely used in industrial applications due to its reliability, low cost and no overheat problem in an industrial servo system. Recently, the development of control technology is improving and the requirement for control precision gets higher than before. In order to accomplish accurately control performance, nonlinear control techniques are implemented on control system. ... View full abstract»

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  • A 3D reconstruction system based on improved spacetime stereo

    Publication Year: 2010, Page(s):1886 - 1893
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (569 KB) | HTML iconHTML

    Spacetime stereo is a promising technique for accurate 3D reconstruction based on randomly varying illumination and temporal integration of the stereo matching cost. In this paper we show that the standard spacetime stereo approach can be improved in terms of accuracy of disparity estimation and convergence speed by adoption of suitable matching algorithms based on adaptive support windows. We als... View full abstract»

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  • Relative gain array for MIMO processes containing integrators and/or differentiators

    Publication Year: 2010, Page(s):231 - 235
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (111 KB) | HTML iconHTML

    Limitations are revealed for the existing methods to derive relative gain array (RGA) for a MIMO process containing integrators and/or differentiators. This paper proposes a new method to overcome these limitations. The method can handle processes described by either transfer functions or state-space models. The effectiveness and simplicity of the proposed method are illustrated with examples wher... View full abstract»

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  • Asymptotic synchronization and collision avoidance for multi-agent flocking

    Publication Year: 2010, Page(s):263 - 268
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (241 KB) | HTML iconHTML

    A novel individual-based alignmen/repulsion algorithm is proposed in this paper for a flock of multiple agents. With this algorithm, each individual repels its sufficiently close neighbors and aligns to the average velocity of its neighbors with moderate distances. In both mathematical analysis and numerical simulation, we prove that the algorithm guarantees an uncrowded flocking behavior with asy... View full abstract»

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  • A unified 2D-3D video scene change detection framework for mobile camera platforms

    Publication Year: 2010, Page(s):2147 - 2153
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (10110 KB) | HTML iconHTML

    In this paper, we present a novel scene change detection algorithm for mobile camera platforms. Our approach integrates sparse 3D scene background modelling and dense 2D image background modelling into a unified framework. The 3D scene background modelling identifies inconsistent clusters over time in a set of 3D cloud points as the scene changes. The 2D image background modelling further confirms... View full abstract»

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  • Overriding control for stability with manifest variables

    Publication Year: 2010, Page(s):236 - 241
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (159 KB) | HTML iconHTML

    This paper presents a new method of stabilizing closed-loop systems, whereby instability warnings and overriding controls are performed. The system stability is maintained by having a separated agent, here called stabilizing agent, to produce corrective actions to the manipulated variables. This agent computes the stabilizing thresholds on-the-fly based on dissipative projections and real-time sta... View full abstract»

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  • On line quality inspection in tailor welded blank based on laws texture energy and structured light

    Publication Year: 2010, Page(s):207 - 212
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3963 KB) | HTML iconHTML

    Tailored blank laser welding has become a critical joining process in a number of manufacturing industries, including automotive, medical, and aerospace. Even if the welding process involves very high-tech equipment, the final product is not necessarily free of defects such as lack of fusion or penetration and porosities. This is the reason why it is important to inspect the welds quality. The con... View full abstract»

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  • Nonsmooth μ synthesis

    Publication Year: 2010, Page(s):917 - 922
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (171 KB) | HTML iconHTML

    We revisit robust complex- and mixed-μ synthesis problems based on upper bounds and show that they can be recast as specially structured controller design programs. The proposed reformulations suggest a streamlined handling of μ synthesis problems using recently developed (local) nonsmooth optimization methods where both scalings or multipliers and a controller of given structure are... View full abstract»

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  • Experiences with online local model predictive control for WMR navigation

    Publication Year: 2010, Page(s):370 - 377
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1759 KB) | HTML iconHTML

    Path-tracking by using MPC (model predictive control) is a suitable control science solution for mobile robot navigation applications. Online MPC is reported by using short-term horizons that allow dealing with flexible path-tracking and reactive behaviors. The majority of MPC experimental research developed is based on the fact that the reference trajectory is known beforehand. However, under dyn... View full abstract»

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  • Sensor fusion of delay and non-delay signal using ensemble Kalman filter with moving covariance

    Publication Year: 2010, Page(s):1928 - 1933
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (189 KB) | HTML iconHTML

    This paper describes the design of ensemble Kalman filter (EnKF) to implement fusion of the delay and non-delay data for nonlinear discrete-time system in order to achieve the excellent dynamic response. We proposed a fusion method with EnKF that only needs to update the stored covariance between two different time instants, instead of classical method, which is re-performing Kalman operation at e... View full abstract»

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  • Adaptive control of singular nonlinear systems with convex/concave parametrization

    Publication Year: 2010, Page(s):1680 - 1683
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (109 KB) | HTML iconHTML

    This note is concerned with the model reference adaptive tracking problem of singular nonlinear systems with nonlinear parametrization where the nonlinearity in the parameters is convex or concave. Applying the standard coordinate transformation to the singular system to yield a reduced-order normal system, we convert the model reference adaptive tracking problem of singular system into the model ... View full abstract»

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