The Experts below are selected from a list of 618 Experts worldwide ranked by ideXlab platform
Renquan Wang - One of the best experts on this subject based on the ideXlab platform.
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Analysis and Control of Acyclic Triangle Formations
European Journal of Control, 2012Co-Authors: Hengsheng Wang, Renquan WangAbstract:The concept of Congruent Triangle formation is defined, which neglects the translation and rotation but focuses on the edge lengths and orientation of Triangles. A set of three-variable, called TP-variables, is defined to describe the states of Congruent Triangles, which constitute the TP-space which is used to show the dynamic trajectories of shaping a desired Triangle formation from initial setups. The TP-variables are also used to find out the equilibria of acyclic Triangle formation under gradientlike control law in collinearity and to analyze the stability of the equilibria. Because there are two mirror acyclic Triangle formations flipping over with each other which can not be distinguished by using gradient-like control law, and acyclic Triangle formations will be trapped in collinearity if initially in collinear setups, a new control law, called orthogonal control law, is proposed. Under orthogonal control law the dynamical system approaches to the unique desired acyclic Triangle formation in any initial condition except initially putting agent 1 and agent 2 in the same place. The correctness is proved and simulations support the claims.
Hengsheng Wang - One of the best experts on this subject based on the ideXlab platform.
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Analysis and Control of Acyclic Triangle Formations
European Journal of Control, 2012Co-Authors: Hengsheng Wang, Renquan WangAbstract:The concept of Congruent Triangle formation is defined, which neglects the translation and rotation but focuses on the edge lengths and orientation of Triangles. A set of three-variable, called TP-variables, is defined to describe the states of Congruent Triangles, which constitute the TP-space which is used to show the dynamic trajectories of shaping a desired Triangle formation from initial setups. The TP-variables are also used to find out the equilibria of acyclic Triangle formation under gradientlike control law in collinearity and to analyze the stability of the equilibria. Because there are two mirror acyclic Triangle formations flipping over with each other which can not be distinguished by using gradient-like control law, and acyclic Triangle formations will be trapped in collinearity if initially in collinear setups, a new control law, called orthogonal control law, is proposed. Under orthogonal control law the dynamical system approaches to the unique desired acyclic Triangle formation in any initial condition except initially putting agent 1 and agent 2 in the same place. The correctness is proved and simulations support the claims.
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System Analysis of Acyclic Triangle Formation Control Initially in Collinearity
2010 International Conference on Electrical and Control Engineering, 2010Co-Authors: Hengsheng WangAbstract:This paper focuses on the analysis of acyclic Triangle formation control system under the gradient-like control law, in collinear situations (including collocations). The concept of Congruent Triangle formation and a 3-dimensional Triangle Formation Phase Space (or TP-space) are proposed to facilitate the visualization of the trajectories, which is usually within six dimensional space, of forming a Triangle formation to its prescribed shape in the plane. The equilibrium manifold of the acyclic Triangle formation under the gradient-like control law is mapped to the TP-space, which makes it easier to view the dynamic analysis results given by Cao[6]. The TP-space variables also find its advantage in the stability analysis of the equilibria of acyclic Triangle formation under gradient-like control law, by which the result shows that there are at least one stable equilibrium, at least one unstable equilibrium, in initially collinear situations which will be trapped in collinearity all the time, and at most two other possible equilibria, which depends on the desired length of edges. A simulation supports the result.
K. Kurosu - One of the best experts on this subject based on the ideXlab platform.
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A study on assembling of sub pictures using approximate junctions
Proceedings of the IECON'97 23rd International Conference on Industrial Electronics Control and Instrumentation (Cat. No.97CH36066), 1Co-Authors: K. Kurosu, K. Morita, T. Furuya, M. SoedaAbstract:It is important to develop a method of assembling a set of subpictures automatically into a mosaic picture, because a view through fiberscopes or microscopes with higher magnifying power is much larger than the field of view taken by a camera. This paper presents a method of assembling subpictures, where roughly estimated junctions called approximate junctions are employed for matching Triangles formed by selected junctions in subpictures. To overcome the difficulties in processing speed and noise corruption, fuzzy rules are applied to obtain fuzzy values for the existence of approximate junctions and fuzzy similarity for Congruent Triangle matching. Some demonstration, exemplified by assembling microscopic metal crystal matrix photographs, are given to show feasibility of this method.
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A study on assembling of sub pictures using approximate junctions
IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems Man and Cybernetics (Cat. No.99CH37028), 1Co-Authors: K. Morita, K. KurosuAbstract:It is important to develop a method of assembling a set of sub pictures automatically into a mosaic picture, because a view through fiberscopes or microscopes with higher magnifying power is much larger than the field of view taken by a camera. This paper presents a method of assembling sub pictures, where roughly estimated junctions called approximate junctions are employed for matching sub pictures. To overcome the difficulties in processing speed and noise corruption, fuzzy rules are applied to get fuzzy values for existence of approximate junctions and fuzzy similarity for Congruent Triangle matching, and we tried to get a roughly assembling image in short time. Some demonstration, exemplified by assembling microscopic metal matrix photographs, are given to show feasibility of this method.
Guohua Peng - One of the best experts on this subject based on the ideXlab platform.
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IROS - 3-DOF point cloud registration using Congruent Triangles
2015 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2015Co-Authors: Xiaolong Wang, Hong Zhang, Guohua PengAbstract:In this paper, we present an efficient 3-DOF registration method to align two overlapping point clouds captured by a range sensor that experiences locally planar motion such as in many robotics applications. The algorithm follows the RANSAC framework and is based on finding a pair of Congruent Triangles in the source and target clouds. With the assumption of planar sensor motion, corresponding vertices of the Congruent Triangles must have similar elevation values, allowing our algorithm to identify them efficiently. Specifically, given a Triangle in the source cloud, our algorithm first finds two vertices of a candidate Congruent Triangle in the target cloud and then uses the third vertex to verify, minimizing the complexity of the geometric base as well as the expected time of sampling successfully a matching Congruent Triangle. To improve the performance of our algorithm further, our verification of a hypothetical alignment transformation proceeds first locally by using only the points near the vertices of the Congruent Triangles before involving the entire cloud. Our experimental results show that the proposed algorithm outperforms state-of-the-art registration algorithms in the case of 3-DOF planar sensor motion.
K. Morita - One of the best experts on this subject based on the ideXlab platform.
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A study on assembling of sub pictures using approximate junctions
Proceedings of the IECON'97 23rd International Conference on Industrial Electronics Control and Instrumentation (Cat. No.97CH36066), 1Co-Authors: K. Kurosu, K. Morita, T. Furuya, M. SoedaAbstract:It is important to develop a method of assembling a set of subpictures automatically into a mosaic picture, because a view through fiberscopes or microscopes with higher magnifying power is much larger than the field of view taken by a camera. This paper presents a method of assembling subpictures, where roughly estimated junctions called approximate junctions are employed for matching Triangles formed by selected junctions in subpictures. To overcome the difficulties in processing speed and noise corruption, fuzzy rules are applied to obtain fuzzy values for the existence of approximate junctions and fuzzy similarity for Congruent Triangle matching. Some demonstration, exemplified by assembling microscopic metal crystal matrix photographs, are given to show feasibility of this method.
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A study on assembling of sub pictures using approximate junctions
IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems Man and Cybernetics (Cat. No.99CH37028), 1Co-Authors: K. Morita, K. KurosuAbstract:It is important to develop a method of assembling a set of sub pictures automatically into a mosaic picture, because a view through fiberscopes or microscopes with higher magnifying power is much larger than the field of view taken by a camera. This paper presents a method of assembling sub pictures, where roughly estimated junctions called approximate junctions are employed for matching sub pictures. To overcome the difficulties in processing speed and noise corruption, fuzzy rules are applied to get fuzzy values for existence of approximate junctions and fuzzy similarity for Congruent Triangle matching, and we tried to get a roughly assembling image in short time. Some demonstration, exemplified by assembling microscopic metal matrix photographs, are given to show feasibility of this method.