Construction of a control system for disturbance rejection using a dual observer

A well‐known control system which can reduce the adverse effects of disturbances is a disturbance observer. However, in many cases of mechanical systems, system disturbances which do not satisfy the matching condition may be imposed. Therefore, it may be difficult to reduce the adverse effects of the disturbances by the traditional disturbance observer. In this paper, a method of control system synthesis for disturbance rejection using a dual observer is proposed. This method is based on the zeroing induced by the disturbance localization problem. This problem may be solved by dividing the state space into observable subspace and unobservable subspace. As compared with an H_∞ controller based on perfect observation, the usefulness of the proposed control system for disturbance rejection is demonstrated by numerical simulations for a two‐mass spring system. © 2002 Scripta Technica, Electr Eng Jpn, 138(4): 50–60, 2002; DOI 10.1002/eej.1138     

A comparison of lightness contrast effects in CRT and surface colours

The simultaneous contrast effect is investigated in this article. A total of 174 and 154 test/induction combinations were studied for CRT and surface colours respectively. Each combination was assessed by nine observers using a matching technique. The test and induction colours used for CRT colours were similar to surface colours using fabric samples. The results indicated a strong lightness contrast effect for both CRT and surface media; that is, the lightness of a test colour surrounded by a lighter induction colour was reduced for both CRT and surface colours. However, the effect in CRT medium was more pronounced than in the surface medium. © 2004 Wiley Periodicals, Inc. Col Res Appl, 30, 13–20, 2005; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/col.20074     

Lubricating behavior of iron rhenate and its relation to matching pairs

The iron rhenate was compounded by chemical method, which may be generated during wear process of Fe-Re alloys at elevated temperature. The friction coefficient of iron rhenate has been determined by a pin-on-disc device. The results show that iron rhenate plays role of lubricating at RT-600 °C. The lubricating behavior is related to the matching pairs. The hardness of the materials of matching pairs, compatibility of iron rhenate with materials of matching pairs and surface roughness of disc affect the lubricating behavior of iron rhenate mostly. The principle of matching pairs is proposed. Project supported by the National Natural Science Foundation of China Synopsis of the first author Xiong Dangsheng. associated professor, born in 1960. Current research fields include high-temperature self-lubricating alloys and tribological properties of material.     

Proposed modification to the CIECAM02 colour appearance model to include the simultaneous contrast effects

A modified CIECAM02 colour appearance model, named CIECAM02‐m2, is proposed to enable CIECAM02 to predict the simultaneous contrast effect. The structure of the CIECAM02‐m2 is a development from CIECAM02, and contains two different procedures for modifying the reference white; one is for lightness and the other is for hue. The model was tested using a data set accumulated in this study and the LUTCHI data. The CV values for three colour attributes between predictions and experimental data were used to evaluate the accuracy of the model. The low CV values obtained show the performance of the CIECAM02‐m2 model to predict the simultaneous contrast effect satisfactorily. © 2007 Wiley Periodicals, Inc. Col Res Appl, 32, 121 – 129, 2007     

Evaluating the 1931 CIE color‐matching functions

The use of colorimetry within industry has grown extensively in the last few decades. Central to many of today's instruments is the CIE system, established in 1931. Many have questioned the validity of the assumptions made by Wright¹ and Guild,² some suggesting that the 1931 color‐matching functions are not the best representation of the human visual system's cone responses. A computational analysis was performed using metameric data to evaluate the CIE 1931 color‐matching functions as compared to with other responsivity functions. The underlying assumption was that an optimal set of responsivity functions would yield minimal color‐difference error between pairs of visually matched metamers. The difference of average color differences found in the six chosen sets of responsivity functions was small. The CIE 1931 2° color‐matching functions on average yielded the largest color difference, 4.56 ΔE. The best performance came from the CIE 1964 10° color‐matching functions, which yielded an average color difference of 4.02 ΔE. An optimization was then performed to derive a new set of color‐matching functions that were visually matched using metameric pairs of spectral data. If all pairs were to be optimized to globally minimize the average color difference, it is expected that this would produce an optimal set of responsivity functions. The optimum solution was to use a weighted combination of each set of responsivity functions. The optimized set, called the Shaw and Fairchild responsivity functions, was able to reduce the average color difference to 3.92 ΔE. In the final part of this study a computer‐based simulation of the color differences between the sets of responsivity functions was built. This simulation allowed a user to load a spectral radiance or a spectral reflectance data file and display the tristimulus match predicted by each of the seven sets of responsivity functions. © 2002 Wiley Periodicals, Inc. Col Res Appl, 27, 316–329, 2002; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/col.10077     

异构多核处理器的任务分配及能耗的研究*

异构多核处理器采用不同的任务分配与调度算法,会导致不同的时间消耗与能量消耗,采用合适的任务分配与调度算法能节省较多的能耗。目前普遍认为最有发展前途的任务分配与调度技术是先用启发式方法进行分组,然后再用遗传算法进行调度。在改进任务分组后,又首次提出了用遗传算法解决能耗问题。实验结果表明在实时要求不高的情况下,能以较小的时间代价来节省较多的能耗。     

地铁站场景下的可行驶区域检测

在室内环境下的机器人视觉导航任务中,可行驶区域检测是不可或缺的一部分,这是保证自动驾驶任务实现的基础.目前较多的解决方法是对数据集中出现过的障碍物进行识别来检测可行驶区域,缺乏灵活性,因此本文提出了一种针对地铁站等室内平坦地面的可行驶区域检测方法,提高实用性.本文采用经典的MobileNetV3网络对采集到的前方图像进行分类,判断是否为地面区域.由于室内地面的地标、箭头等贴纸的影响,因此需要对非地面区域进一步判断,与常规的立体障碍物进行区分.本文利用连续帧之间的特征点匹配获得相机移动距离,并利用直线拟合计算斜率的方法达到区分立体障碍物与平面地标的目的.实验表明,本文提出的方法能较好地检测机器人前方可行驶区域,具有较高的实用价值.     

A portable stereo vision system for whole body surface imaging

This paper presents a whole body surface imaging system based on stereo vision technology. We have adopted a compact and economical configuration which involves only four stereo units to image the frontal and rear sides of the body. The success of the system depends on a stereo matching process that can effectively segment the body from the background in addition to recovering sufficient geometric details. For this purpose, we have developed a novel sub-pixel, dense stereo matching algorithm which includes two major phases. In the first phase, the foreground is accurately segmented with the help of a predefined virtual interface in the disparity space image, and a coarse disparity map is generated with block matching. In the second phase, local least squares matching is performed in combination with global optimization within a regularization framework, so as to ensure both accuracy and reliability. Our experimental results show that the system can realistically capture smooth and complete whole body shapes with high accuracy.     

Change detection in desktop virtual environments: An eye-tracking study

It is common knowledge that attention is important for learning. We need to utilize attention in order to learn something efficiently and effectively. Similarly, we may also need to acquire familiarity with (i.e., learn) our surroundings in order to utilize our attention. In this study, learning is defined as a product of one’s exposure to natural visual stimuli. Using a virtual model of a natural scene, we investigate both attention and its relationship to learning, according to this definition. Specifically, our focus is the effect of environment familiarity on gaze direction. Our findings reveal that the factor of familiarity with one’s surroundings in virtual reality environments exerts a significant influence on peoples’ ability to detect a variety of specific changes that occur within scenes under their observation.     

Template-based quadrilateral meshing

Generating quadrilateral meshes is a highly non-trivial task, as design decisions are frequently driven by specific application demands. Automatic techniques can optimize objective quality metrics, such as mesh regularity, orthogonality, alignment and adaptivity; however, they cannot make subjective design decisions. There are a few quad meshing approaches that offer some mechanisms to include the user in the mesh generation process; however, these techniques either require a large amount of user interaction or do not provide necessary or easy to use inputs. Here, we propose a template-based approach for generating quad-only meshes from triangle surfaces. Our approach offers a flexible mechanism to allow external input, through the definition of alignment features that are respected during the mesh generation process. While allowing user inputs to support subjective design decisions, our approach also takes into account objective quality metrics to produce semi-regular, quad-only meshes that align well to desired surface features.