Versatile visual servoing without knowledge of true jacobian.pdf cobian matrix estimator. The Jacobian matrix estimator does not need a priori knowledge of the kinematic structure and parameters of the robot system, such as camera and link parameters. The Proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories, by using the estimated Jacobian matrix, which is proved by the Lyapunov stability theory. To show the effectiveness of the Proposed scheme, simulation and experimental results are presented.
标签： Versatile knowledge estimator servoing
上传时间： 2016-08-26
上传用户：大三三
Because of the poor observability of Inertial Navigation System on stationary base, the estimation error of the azimuth will converge very slowly in initial alignment by means of Kalmari filtering, and making the time initial alignment is longer. In this paper, a fast estimation method of the azimuth error is creatively Proposed for the initial alignment of INS on stationary base. On the basis of the the fast convergence of the leveling error, the azimuth error can be directly calculated. By means of this fast initial alignment method, the time of initial alignment is reduced greatly. The computer simulation results illustrate the efficiency of the method.
标签： observability Navigation estimation stationary
上传时间： 2014-01-03
上传用户：wuyuying
Boost provides free peer-reviewed portable C++ source libraries. We emphasize libraries that work well with the C++ Standard Library. Boost libraries are intended to be widely useful, and usable across a broad spectrum of applications. The Boost license encourages both commercial and non-commercial use. We aim to establish "existing practice" and provide reference implementations so that Boost libraries are suitable for eventual standardization. Ten Boost libraries are already included in the C++ Standards Committee s Library Technical Report (TR1) as a step toward becoming part of a future C++ Standard. More Boost libraries are Proposed for the upcoming TR2. Boost works on almost any modern operating system, including UNIX and Windows variants. Follow the Getting Started Guide to download and install Boost. Popular Linux and Unix distributions such as Fedora, Debian, and NetBSD include pre-built Boost packages. Boost may also already be available on your organization s internal web server.
标签： libraries peer-reviewed emphasize provides
上传时间： 2016-12-05
上传用户：semi1981
An adaptive fuzzy integral sliding mode controller for mismatched time-varying linear systems is presented in this paper. The Proposed fuzzy integral sliding mode controller is designed to have zero steady state system error under step inputs and alleviate the undesired chattering around the sliding surface
标签： time-varying controller mismatched adaptive
上传时间： 2014-12-04
上传用户：luopoguixiong
The combinatorial core of the OVSF code assignment problem that arises in UMTS is to assign some nodes of a complete binary tree of height h (the code tree) to n simultaneous connections, such that no two assigned nodes (codes) are on the same root-to-leaf path. Each connection requires a code on a specified level. The code can change over time as long as it is still on the same level. We consider the one-step code assignment problem: Given an assignment, move the minimum number of codes to serve a new request. Minn and Siu Proposed the so-called DCAalgorithm to solve the problem optimally. We show that DCA does not always return an optimal solution, and that the problem is NP-hard. We give an exact nO(h)-time algorithm, and a polynomial time greedy algorithm that achieves approximation ratio Θ(h). Finally, we consider the online code assignment problem for which we derive several results
标签： combinatorial assignment problem arises
上传时间： 2014-01-19
上传用户：BIBI
A combined space鈥搕ime block coding (STBC) and eigen-space tracking (EST) scheme in multiple-input-multiple-output systems is Proposed. It is proved that the STBC-EST is capable of shifting hardware complexity from the receiver to the transmitter without any bit error rate (BER) performance loss. A computation efficient EST algorithm is also Proposed, which makes the STBC-EST affordable. Simulation results show that the STBC-EST with a modest feedback requirement results in a negligible BER performance loss compared with a dual system configuration.
标签： multiple-input-m eigen-space combined tracking
上传时间： 2014-01-13
上传用户：磊子226
The paper describes the concept and realization of the DOOCS control software for FPGAbased TESLA cavity controller and simulator (SIMCON). It bases on universal software components, created for laboratory purposes and used in MATLAB based control environment. These modules have been recently adapted to the DOOCS environment to ensure a unified software to hardware communication model. The presented solution can be also used as a general platform for control algorithms development. The Proposed interfaces between MATLAB and DOOCS modules allow to check the developed algorithm in the operation environment before implementation in the FPGA. As the examples two systems have been presented.
标签： realization FPGAbased describes the
上传时间： 2017-04-16
上传用户：koulian
This paper presents a novel technique to increase the quality of medical images based on Histogram Equalization. In the Proposed method first we have applied a noise reduction method and then we apply some suitable preprocessing on histogram of the medical images and after that histogram equalization has been applied on the new histogram. Our Proposed method in despite of its simplicity has better results in compare to other usual methods based on histogram equalization. The quality of resulted images after applying our Proposed methods has been tested on a database (medical images) with a confirmed criterion by viewer. Also we have considered a mathematical criterion for comparing our Proposed algorithm with other available methods for contrast enhancement. Results show the better efficiency of the Proposed method.
标签： Histogram technique increase presents
上传时间： 2017-04-20
上传用户：VRMMO
Watermarking schemes evaluation Abstract鈥擠igital watermarking has been presented as a solution to copy protection of multimedia objects and dozens of schemes and algorithms have been Proposed. Two main problems seriously darken the future of this technology though. Firstly, the large number of attacks and weaknesses which appear as fast as new algorithms are Proposed, emphasizes the limits of this technology and in particu-lar the fact that it may not match users expectations. Secondly, the requirements, tools and methodologies to assess the current technologies are almost non-existent. The lack of benchmarking of current algorithms is bla-tant. This confuses rights holders as well as software and hardware manufacturers and prevents them from using the solution appropriate to their needs. Indeed basing long-lived protection schemes on badly tested watermarking technology does not make sense.
标签： Watermarking watermarking evaluation presented
上传时间： 2013-12-04
上传用户：thinode
This code proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link robot arm. The objective function for the Proposed GA is to minimizing traveling time and space, while not exceeding a maximum pre-defined torque, without collision with any obstacle in the robot workspace.
标签： point-to-point trajectory algorithm proposes
上传时间： 2013-12-21
上传用户：chenxichenyue
