Spelling suggestions: "subject:"robust control"" "subject:"bobust control""
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Robust state estimation and model validation techniques in computer visionAl-Takrouri, Saleh Othman Saleh, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW January 2008 (has links)
The main objective of this thesis is to apply ideas and techniques from modern control theory, especially from robust state estimation and model validation, to various important problems in computer vision. Robust model validation is used in texture recognition where new approaches for classifying texture samples and segmenting textured images are developed. Also, a new model validation approach to motion primitive recognition is demonstrated by considering the motion segmentation problem for a mobile wheeled robot. A new approach to image inpainting based on robust state estimation is proposed where the implementation presented here concerns with recovering corrupted frames in video sequences. Another application addressed in this thesis based on robust state estimation is video-based tracking. A new tracking system is proposed to follow connected regions in video frames representing the objects in consideration. The system accommodates tracking multiple objects and is designed to be robust towards occlusions. To demonstrate the performance of the proposed solutions, examples are provided where the developed methods are applied to various gray-scale images, colored images, gray-scale videos and colored videos. In addition, a new algorithm is introduced for motion estimation via inverse polynomial interpolation. Motion estimation plays a primary role within the video-based tracking system proposed in this thesis. The proposed motion estimation algorithm is also applied to medical image sequences. Motion estimation results presented in this thesis include pairs of images from a echocardiography video and a robot-assisted surgery video.
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Robust control of an articulating flexible structure using MIMO QFTKerr, Murray Lawrence Unknown Date (has links)
Quantitative Feedback Theory (QFT) is a control system design methodology founded on the premise that feedback is necessary only because of system uncertainty. Articulating flexible structures, such as flexible manipulators, present a difficult closed-loop control problem. In such servo systems, the coupling of the rigid and flexible modes and the non-minimum phase dynamics severely limit system stability and performance. The difficulties in controlling these structures is exacerbated by the denumerably infinite number of flexible modes and associated difficulties in developing accurate dynamic models for controller design. As such, the control of articulating flexible structures presents a non-trivial testbed for the design of QFT based robust control systems. This dissertation examines the multi-input multi-output (MIMO) QFT based control of an articulating flexible structure and presents an enhancement of the theoretical basis for the MIMO QFT design methodologies. The control problem under consideration is the active vibration control of an articulating single-link flexible manipulator. This is facilitated by an actuation scheme comprised of a combination of spatially discrete actuation, in the form of a DC motor to perform articulation, and spatially distributed actuation, in the form of a piezoelectric transducer for active vibration control. In the process of developing and experimentally validating the QFT based control system, shortcomings in the theoretical basis for the MIMO QFT design methodologies are addressed. Robust stability theorems are developed for the two main MIMO QFT design methodologies, namely the sequential and non-sequential MIMO QFT design methodologies. The theorems complement and extend the existing theoretical basis for the MIMO QFT design methodologies. The dissertation results expose salient features of the MIMO QFT design methodologies and provide connections to other multivariable design methodologies.
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Robust control of an articulating flexible structure using MIMO QFTKerr, Murray Lawrence Unknown Date (has links)
Quantitative Feedback Theory (QFT) is a control system design methodology founded on the premise that feedback is necessary only because of system uncertainty. Articulating flexible structures, such as flexible manipulators, present a difficult closed-loop control problem. In such servo systems, the coupling of the rigid and flexible modes and the non-minimum phase dynamics severely limit system stability and performance. The difficulties in controlling these structures is exacerbated by the denumerably infinite number of flexible modes and associated difficulties in developing accurate dynamic models for controller design. As such, the control of articulating flexible structures presents a non-trivial testbed for the design of QFT based robust control systems. This dissertation examines the multi-input multi-output (MIMO) QFT based control of an articulating flexible structure and presents an enhancement of the theoretical basis for the MIMO QFT design methodologies. The control problem under consideration is the active vibration control of an articulating single-link flexible manipulator. This is facilitated by an actuation scheme comprised of a combination of spatially discrete actuation, in the form of a DC motor to perform articulation, and spatially distributed actuation, in the form of a piezoelectric transducer for active vibration control. In the process of developing and experimentally validating the QFT based control system, shortcomings in the theoretical basis for the MIMO QFT design methodologies are addressed. Robust stability theorems are developed for the two main MIMO QFT design methodologies, namely the sequential and non-sequential MIMO QFT design methodologies. The theorems complement and extend the existing theoretical basis for the MIMO QFT design methodologies. The dissertation results expose salient features of the MIMO QFT design methodologies and provide connections to other multivariable design methodologies.
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Position-sensorless control of permanent magnet synchronous machines over wide speed rangeChi, Song. January 2007 (has links)
Thesis (Ph. D.)--Ohio State University, 2007. / Title from first page of PDF file. Includes bibliographical references (p. 152-158).
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Mass movement mechanism for nonlinear, robust and adaptive control of flexible structuresMuenst, Gerhard. January 2001 (has links)
Thesis (M.S.)--Ohio University, August, 2001. / Title from PDF t.p.
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FPAA realization of a controlled directional microphoneHart, Patrick Hammel. January 2009 (has links)
Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Electrical and Computer Engineering, 2009. / Includes bibliographical references.
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RMesh : a low-delay robust mesh for dynamic peer-to-peer streaming network /Li, Yui-tung. January 2009 (has links)
Includes bibliographical references (p. 35-38).
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Robust damping of a directional microphone using digital feedbackVargas, Henik Vladimir. January 2008 (has links)
Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Electrical and Computer Engineering, 2008. / Includes bibliographical references.
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Security and robustness of a modified parameter modulation communication schemeLiang, Xiyin. January 2009 (has links)
Thesis (Ph.D.(Electronic engineering))--University of Pretoria, 2008. / Summary in English. Includes bibliographical references.
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Proactive traffic control stategies for sensor-enabled cars /Wang, Ziyuan. January 2009 (has links)
Thesis (Ph.D.)--University of Melbourne, Dept. of Computer Science and Software Engineering, 2010. / Typescript. Includes bibliographical references (p. 153-167)
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