分数阶Rayleigh--Duffing-like系统的自适应追踪广义投影同步

本文针对分数阶Rayleigh-Duffing—like系统，设计了控制器和未知参数的辨识规则，实现了含有未知参数和随机扰动的分数阶Rayleigh—Duffing—like系统同给定信号的广义投影同步．数值仿真表明了所设计的控制器及未知参数辨识规则的有效性．     

应用画法几何解决空间连杆机构杆件的定位

应用画法几何探讨空间四杆各杆件的定位问题。空间几何问题需要用“形”和“数”来确定,经过图示图解后建立起数学模型,然后通过计算获得结果,较之单纯的数学分析法使解题简单明了、形象直观、易于掌握。     

Sense and sidedness in the graphics pipeline via a passage through a separable space

Computer graphics is ostensibly based on projective geometry. The graphics pipeline—the sequence of functions applied to 3D geometric primitives to determine a 2D image—is described in the graphics literature as taking the primitives from Euclidean to projective space, and then back to Euclidean space. This is a weak foundation for computer graphics. An instructor is at a loss: one day entering the classroom and invoking the established and venerable theory of projective geometry while asserting that projective spaces are not separable, and then entering the classroom the following week to tell the students that the standard graphics pipeline performs clipping not in Euclidean, but in projective space—precisely the operation (deciding sidedness, which depends on separability) that was deemed nonsensical. But there is no need to present Blinn and Newell’s algorithm (Comput. Graph. 12, 245–251, 1978; Commun. ACM 17, 32–42, 1974)—the crucial clipping step in the graphics pipeline and, perhaps, the most original knowledge a student learns in a fourth-year computer graphics class—as a clever trick that just works. Jorge Stolfi described in 1991 oriented projective geometry. By declaring the two vectors and distinct, Blinn and Newell were already unknowingly working in oriented projective space. This paper presents the graphics pipeline on this stronger foundation.

Synchronisation of a fractional-order chaotic system using finite-time input-to-state stability

The issue of synchronisation for a fractional-order chaotic system with uncertainties and disturbance is studied in this paper. The finite-time input-to-state stable theory of fractional-order dynamical system is presented for the first time. A linear feedback controller is proposed to achieve synchronisation of this fractional-order system and guarantee the bounded state error for any bounded interference in finite time. Since the chaotic system displays special dynamical behaviours as invariable Lyapunov exponent spectrums and controllable signal amplitude, one can achieve complete synchronisation and projective synchronisation by only adjusting the system parameter. Numerical simulations are shown to verify the feasibility of the presented synchronisation scheme.     

A generalized function projective synchronization scheme for uncertain chaotic systems subject to input nonlinearities

In this paper, a modified generalized function projective synchronization scheme for a class of master–slave chaotic systems subject to dynamic disturbances and input nonlinearities (dead-zone and sector nonlinearities) is investigated. This synchronization system can be seen as a generalization of many existing projective synchronization schemes (namely the function projective synchronization, the modified projective synchronization and so on), in the sense that the master system has a scaling function matrix and the slave system has a scaling factor matrix. To practically achieve this generalized function synchronization, an adaptive fuzzy variable-structure control system is designed. The fuzzy systems are used to appropriately approximate the uncertain nonlinear functions. A Lyapunov approach is employed to prove the boundedness of all signals of the closed-loop control system as well as the exponential convergence of the synchronization errors to an adjustable region. Simulations results are presented to illustrate the effectiveness of the proposed generalized function PS scheme.     

射影不变性在旋转对称形状描述中的一种应用

旋转对称性是计算机视觉形状分析中的一类重要结构属性。自动检测该类目标的旋转特性以及提取目标的旋转中心（轴）,是描述和分析旋转对称目标的关键步骤。旋转对称的形状经过透视成像后,其成像特点不再具有对称性甚至扭对称性,但对称的结构单元之间仍然存在内在的对应不变特性。该文以简单连通的平面多边形目标为研究模型,利用射影几何中的交比不变量定义了目标轮廓上关键点的结构参数和结构参数的相似性度量,用于自动检验目标上的旋转对称点对;并利用正多边形顶点与形心的关系约束形成射影不变性,用来自动检测目标的旋转中心。实验结果验证了方法的有效性。     

Qualitative Scene Interpretation Using Planar Surfaces

Our aim is to provide an autonomous vehicle moving into an indoor environment with a visual system to perform a qualitative 3D structure reconstruction of the surrounding environment by recovering the different planar surfaces present in the observed scene.The method is based on qualitative detection of planar surfaces by using projective invariant constraints without the use of depth estimates. The goal is achieved by analyzing two images acquired by observing the scene from two different points of view. The method can be applied to both stereo images and motion images.Our method recovers planar surfaces by clustering high variance interest points whose cross ratio measurements are preserved in two different perspective projections. Once interest points are extracted from each image, the clustering process requires to grouping corresponding points by preserving the cross ratio measurements.We solve the twofold problem of finding corresponding points and grouping the coplanar ones through a global optimization approach based on matching of high relational graphs and clustering on the corresponding association graph through a relaxation labeling algorithm.Through our experimental tests, we found the method to be very fast to converge to a solution, showing how higher order interactions, instead to giving rise to a more complex problem, help to speed-up the optimization process and to reach at same time good results.     

2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement

Classical visual servoing techniques need a strong a priori knowledge of the shape and the dimensions of the observed objects. In this paper, we present how the 2 1/2 D visual servoing scheme we have recently developed, can be used with unknown objects characterized by a set of points. Our scheme is based on the estimation of the camera displacement from two views, given by the current and desired images. Since vision-based robotics tasks generally necessitate to be performed at video rate, we focus only on linear algorithms. Classical linear methods are based on the computation of the essential matrix. In this paper, we propose a different method, based on the estimation of the homography matrix related to a virtual plane attached to the object. We show that our method provides a more stable estimation when the epipolar geometry degenerates. This is particularly important in visual servoing to obtain a stable control law, especially near the convergence of the system. Finally, experimental results confirm the improvement in the stability, robustness, and behaviour of our scheme with respect to classical methods.     

A Dynamic Motion Control Technique for Human-like Articulated Figures

This paper presents a dynamic motion control technique for human-like articulated figures in a physically based character animation system. This method controls a figure such that the figure tracks input motion specified by a user. When environmental physical input such as an external force or a collision impulse are applied to the figure, this method generates dynamically changing motion in response to the physical input. We have introduced comfort and balance control to compute the angular acceleration of the figure's joints. Our algorithm controls the several parts of a human-like articulated figure separetely through the minimum number of degrees-of-freedom. Using this approach, our algorithm simulates realistic human motions at efficient computational cost. Unlike existing dynamic simulation systems, our method assumes that input motion is already realistic, and is aimed at dynamically changing the input motion in real-time only when unexpected physical input is applied to the figure. As such, our method works efficiently in the framework of current computer games.     

Flexible Image-Based Photometric Reconstruction using Virtual Light Sources

Photometric reconstruction is the process of estimating the illumination and surface reflectance properties of an environment, given a geometric model of the scene and a set of photographs of its surfaces. For mixed-reality applications, such data is required if synthetic objects are to be correctly illuminated or if synthetic light sources are to be used to re-light the scene. Current methods of estimating such data are limited in the practical situations in which they can be applied, due to the fact that the geometric and radiometric models of the scene which are provided by the user must be complete, and that the position (and in some cases, intensity) of the light sources must also be specified a-priori. In this paper, a novel algorithm is presented which overcomes these constraints, and allows photometric data to be reconstructed in less restricted situations. This is achieved through the use of virtual light sources which mimic the effect of direct illumination from unknown luminaires, and indirect illumination reflected off unknown geometry. The intensity of these virtual light sources and the surface material properties are estimated using an iterative algorithm which attempts to match calculated radiance values to those observed in photographs. Results are presented for both synthetic and real scenes that show the quality of the reconstructed data and its use in off-line mixed-reality applications.