Consideration of manipulator dynamics and external disturbances in robot control system design can enhance the stability and performance properties of the whole system. In this paper, we present an approach to solve the control problem when the inertia parameters of robot are unknown, and at the same time robot is subjected to external force disturbances. This approach is based on simultaneous ...

This paper introduces a new algorithm for the discrimination of moving object and moving shadow pixels in video sequences. The algorithm works in HSV space and is designed to be unaffected by scene type (indoor, outdoor), background type (plain, patterned, complex) or lighting conditions (direct sunlight, fluorescent lights, diffuse lighting). In order to operate successfully in both indoor and...

In this paper, a noise adaptive speech recognition approach is proposed for recognizing speech which is corrupted by additive non-stationary background noise. The approach sequentially estimates noise parameters, through which a nonlinear parametric function adapts mean vectors of acoustic models. In the estimation process, posterior probability of state sequence given observation sequence and ...

We propose a solution strategy for parameter estimation, where we combine adaptive multiscale estimation (AME) and level-set estimation (LSE). The approach is applied to the nonlinear inverse problem of recovering a coefficient function in a system of differential equations from spatially sparsely distributed measurement data. The specific equations considered in this paper describe two-phase p...

Abstmrt--In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed, ranging from tracking-error-driven gradient methods to combined trackingand prediction-error-driven least-squares type adaptation methods. This paper presents experimental data from a comparative study between these adaptation methods, performed on a two-degrees-of-freedom ro...

Image deconvolution is still to be a challenging illposed problem for recovering a clear image from a given blurry image, when the point spread function is known. Although competitive deconvolution methods are numerically impressive and approach theoretical limits, they are becoming more complex, making analysis, and implementation difficult. Furthermore, accurate estimation of the regularizati...

An approach to road parameter recognition in monocular image sequences under egomotion is described. Two stabilization mechanisms are integrated into the basic recursive estimation procedure: a short sequence averaging of individual measurements and a scalar filter for long-term stabilization. Besides the bottom-up measurements a second type of road measurements is provided synthetic measuremen...

Location-based service (LBS) is becoming an important part of the information technology (IT) business. Localization is a core technology for LBS because LBS is based on the position of each device or user. In case of outdoor, GPS – which is used to determine the position of a moving user – is the dominant technology. As satellite signal cannot reach indoor, GPS cannot be used in indoor environ...

The weak membrane model uses Markov Random Fields within the Bayesian inference framework for image reconstruction and seg-mentation problems. Recently, the model has been extended for the 4D Gabor feature vector space and was applied to texture segmen-tation. A limitation of this technique is that the parameters in the model have to be adjusted for each diierent input image and they are xed th...

slope stability analysis is an enduring research topic in the engineering and academic sectors. accurate prediction of the factor of safety (fos) of slopes, their stability, and their performance is not an easy task. in this work, the adaptive neuro-fuzzy inference system (anfis) was utilized to build an estimation model for the prediction of fos. three anfis models were implemented including g...