9429595
Relay feedback tuning of robust PID controllers with iso-damping property
A new tuning method for proportional-integral-derivative (PID) controller design is proposed for a class of unknown, stable, and minimum phase plants. We are able to design a PID controller to ensure that the phase Bode plot is flat, i.e., the phase derivative w.r.t. the frequency is zero, at a given frequency called the "tangent frequency" so that the closed-loop system is robust to gain variations and the step responses exhibit an iso-damping property. At the "tangent frequency", the Nyquist curve tangentially touches the sensitivity circle. Several relay feedback tests are used to identify the plant gain and phase at the tangent frequency in an iterative way. The identified plant gain and phase at the desired tangent frequency are used to estimate the derivatives of amplitude and phase of the plant with respect to frequency at the same frequency point by Bode's integral relationship. Then, these derivatives are used to design a PID controller for slope adjustment of the Nyquist plot to achieve the robustness of the system to gain variations. No plant model is assumed during the PID controller design. Only several relay tests are needed. Simulation examples illustrate the effectiveness and the simplicity of the proposed method for robust PID controller design with an iso-damping property.
5638961
Blind Detection and Compensation of Camera Lens Geometric Distortions
Author(s): Ma, Lili; Chen, YangQuan; Moore, Kevin L | Abstract: This paper presents a blind detection and compensation technique for camera lens geometric distortions. The lens distortion introduces higher-order correlations in the frequency domain and in turn it can be detected using higher-order spectral analysis tools without assuming any specific calibration target. The existing blind lens distortion removal method only considered a single-coefficient radial distortion model. In this paper, two coefficients are considered to model approximately the geometric distortion. All the models considered have analytical closed-form inverse formulae.
1374
Flexible camera calibration using a new analytical radial undistortion formula with application to mobile robot localization
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce a certain amount of nonlinear distortion, where the radial distortion is the most severe part. Common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial distortion is to find a radial distortion model that allows easy undistortion as well as satisfactory accuracy. This paper presents a new radial distortion model with an easy analytical undistortion formula, which also belongs to the polynomial approximation category. Experimental results are presented to show that with this radial distortion model, satisfactory accuracy is achieved. An application of the new radial distortion model is non-iterative yellow line alignment with a calibrated camera on ODIS, a robot built in our CSOIS.
14235163
Robust controllability of interval fractional order linear time invariant systems
We consider uncertain fractional-order linear time invariant (FO-LTI) systems with interval coefficients. Our focus is on the robust controllability issue for interval FO-LTI systems in state-space form. We revisit the controllability problem for the case when there is no interval uncertainty. It turns out that the controllability check for FO-LTI systems amounts to checking the controllability of conventional integer order state space. Based on this fact, we further show that, for interval FO-LTI systems, the key is to check the linear dependency of a set of interval vectors. Illustrative examples are presented.
2422262
Visual servoing of an omni-directional mobile robot for alignment with parking lot lines
ODIS is an omni-directional mobile robot designed to autonomously or semi-autonomously inspect automobiles in a parking lot. Periodically, its position and orientation references need to be reset. This paper considers visual servoing to parking lot lines as one possible approach. Analysis and simulations demonstrate that a surprisingly simple proportional controller in the image coordinates can accomplish position and orientation alignment with parking lot lines. Unlike previous work, no image Jacobian matrix is necessary. Knowledge of the camera focal length is not required, but the camera and vehicle axes are assumed to be aligned, and the vehicle is assumed to rotate about the camera frame's y-axis.
669399
Camera Calibration: a USU Implementation
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera calibration procedures will open up the possibility of using a wide range of existing algorithms for 3-D reconstruction and recognition. The applications of camera calibration include vision-based metrology, robust visual platooning and visual docking of mobile robots where the depth information is important.
406686
Filtering of shrew DDoS attacks in frequency domain
The shrew distributed denial of service (DDoS) attacks are periodic, bursty, and stealthy in nature. They are also known as reduction of quality (RoQ) attacks. Such attacks could be even more detrimental than the widely known flooding DDoS attacks because they damage the victim servers for a long time without being noticed, thereby denying new visitors to the victim servers, which are mostly e-commerce sites. Thus, in order to minimize the huge monetary losses, there is a pressing need to effectively detect such attacks in real-time. Unfortunately, effective detection of shrew attacks remains an open problem. In this paper, we meet this challenge by proposing a new signal processing approach to identifying and detecting the attacks by examining the frequency-domain characteristics of incoming traffic flows to a server. A major strength of our proposed technique is that its detection time is less than a few seconds. Furthermore, the technique entails simple software or hardware implementations, making it easily deployable in a real-life network environment
14759214
Real-coded ECGA for economic dispatch
In this paper, we propose a new approach that consists of the extended compact genetic algorithm (ECGA) and split-on-demand (SoD), an adaptive discretization technique, to economic dispatch (ED) problems with nonsmooth cost functions. ECGA is designed for handling problems with decision variables of the discrete type, while the decision variables of ED problems are oftentimes real numbers. Thus, in order to employ ECGA to tackle ED problems, SoD is utilized for discretizing the continuous decision variables and works as the interface between ECGA and the ED problem. Furthermore, ED problems in practice are usually hard for traditional mathematical programming methodologies because of the equality and inequality constraints. Hence, in addition to integrating ECGA and SoD, in this study, we devise a repair operator specifically for making the infeasible solutions to satisfy the equality constraint. To examine the performance and effectiveness, we apply the proposed framework to two different-sized ED problems with nonsmooth cost function considering the valve-point effects. The experimental results are compared to those obtained by various evolutionary algorithms and demonstrate that handling ED problems with the proposed framework is a promising research direction.
6494882
State pruning for test vector generation for a multiprocessor cache coherence protocol
Verification is extremely important in designing digital systems such as a cache coherence protocol. Generating traces for system verification using a model checker and then using the traces to drive the RTL logic design simulation is an efficient method for debugging. This method has been called the witness string method (Abts and Roberts, 1999), which is based on DFS. We investigate a state pruning method that exploits multiple search heuristics in simultaneous DFS searches to choose the most efficient traces. We distribute the hash table of the entire state space among the simultaneous searches so that they cooperate to avoid redundant state exploration. To evaluate this search algorithm, we implant several protocol bugs in the Stanford DASH cache coherence protocol. Using an IBM Power4 system with the Berkeley Active Message library, we show an improvement in witness strings generation through the state pruning method over a pure DFS and a guided DFS.
16649809
Relative difference sets fixed by inversion and Cayley graphs
Using graph theoretical technique, we present a construction of a (30, 2, 29, 14)-relative difference set fixed by inversion in the smallest finite simple group--the alternating group A5. To our knowledge this is the first example known of relative difference sets in the finite simple groups with a non-trivial forbidden subgroup. A connection is then established between some relative difference sets fixed by inversion and certain antipodal distance-regular Cayley graphs. With the connection, several families of antipodal distance-regular Cayley graphs which are coverings of complete graphs are presented.
206473788
Booth's law of word frequency
Booth’s (1967) law is widely used to model the incidence of low frequency words in English text. Fedorowicz (198 1, 1982a, 1982b) used equation (3) below to study automated bibliographic systems. Pao (1978) used equation (4) to derive a transition point in automatic text analysis. The present communication confirms this usage, corrects a deficiency in the original derivation, and makes the results more general. Booth’s results are based on Zipf’s (1949) well-known relationship between the probability of occurrence, p(r), and the corresponding rank, r, of a word where