From the Publisher: 
The accessible presentation of this book gives both a general view of the entire computer vision enterprise and also offers sufficient detail to be able to build useful applications. Users learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods. A CD-ROM with every copy of the text contains source code for programming practice, color images, and illustrative movies. Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance. Topics are discussed in substantial and increasing depth. Application surveys describe numerous important application areas such as image based rendering and digital libraries. Many important algorithms broken down and illustrated in pseudo code. Appropriate for use by engineers as a comprehensive reference to the computer vision enterprise.

Computer vision : a modern approach = 计算机视觉 : 一种现代的方法

A tutorial account of variable structure control with sliding mode is presented. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. Future research areas are suggested and an extensive list of references is included. >

Variable structure control: a survey

Active filtering of electric power has now become a mature technology for harmonic and reactive power compensation in two-wire (single phase), three-wire (three phase without neutral), and four-wire (three phase with neutral) AC power networks with nonlinear loads. This paper presents a comprehensive review of active filter (AF) configurations, control strategies, selection of components, other related economic and technical considerations, and their selection for specific applications. It is aimed at providing a broad perspective on the status of AF technology to researchers and application engineers dealing with power quality issues. A list of more than 200 research publications on the subject is also appended for a quick reference.

A review of active filters for power quality improvement

羟氨苄青霉素引起大疱性类天疱疮样疹

The aim of this paper is to present a review of current control techniques for three-phase voltage-source pulsewidth modulated converters. Various techniques, different in concept, have been described in two main groups: linear and nonlinear. The first includes proportional integral (stationary and synchronous) and state feedback controllers, and predictive techniques with constant switching frequency. The second comprises bang-bang (hysteresis, delta modulation) controllers and predictive controllers with on-line optimization. New trends in current control-neural networks and fuzzy-logic-based controllers-are discussed, as well. Selected oscillograms accompany the presentation in order to illustrate properties of the described controller groups.

Current control techniques for three-phase voltage-source PWM converters: a survey

This paper demonstrates the feasibility of controlling motion and vibration of a class of flexible systems with inaccessible or unknown outputs through measurements taken from their actuators which are used as single platforms for measurements, whereas flexible dynamical systems are kept free from any attached sensors. Based on the action reaction law of dynamics, the well-known disturbance observer is used to determine the incident reaction forces from these dynamical systems on the interface planes with their actuators. Reaction forces are considered as feedback-like signals that can be used as alternatives to the inaccessible system outputs. The sensorless action reaction based motion and vibration control technique is implemented on a flexible system with finite modes and all results are verified experimentally.

/pdf/sensorless-action-reaction-based-residual-vibration-3izk7vof8u.pdf

Sensorless action-reaction-based residual vibration suppression for multi-degree-of-freedom flexible systems

This work focuses on the design of driver for PiezoLegs actuator used for high precision positioning purposes. Motor is driven with the set of periodical voltages with known frequency, amplitude and phase shift between the phases. Motor's operation has been investigated in detail and clear relationships between the amplitude and phase shifts between the phases and motor step size have been established. According to the motor analysis, set of design requirements for the design of driver is given. Particular solution meeting these requirements and satisfying the given design constraints is presented. Driver is experimentally evaluated for power consumption and analyzed in frequency domain, it's performance is compared to the performance of a commercially available driver for the same motor. Designed driver shows improved performance.

Piezoelectric motor driver: Design and evaluation

This paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an α–β–γ filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/S0263574718000607

Performance improvement of bilateral control systems using derivative of force

This article presents a novel master-slave control configuration that is experimentally demonstrated to improve teleoperation performance under random network delay. This is achieved via the design...

Improved bilateral teleoperation with proactive haptic sensing and transmission

A "sliding mode observer" based approach to estimate rigid and affine motion of an object is presented in this paper. Two different problems are considered. First the motion is of rigid type and constrained to a plane, and object, e.g. a mobile robot, is viewed using a stationary camera at a fixed certain distance in the normal direction of the motion plane, thus the motion in image plane also being rigid. Then we consider the problem of identifying parameters of an affine motion which may result as the scaled orthographic projection of an almost planar object undergoing 3D rigid motion. In either case, certain number of feature points extracted from the images of the object is used for parameter estimation. Though we know these feature points in every frame, we also construct their estimates, and try to make these estimates follow the actual ones using sliding mode control. It turns out that the control employed in this framework allows us to estimate the motion parameters of the moving object in an elegant way.

Asif Sabanovic

Papers

Sensorless action-reaction-based residual vibration suppression for multi-degree-of-freedom flexible systems

Piezoelectric motor driver: Design and evaluation

Performance improvement of bilateral control systems using derivative of force

Improved bilateral teleoperation with proactive haptic sensing and transmission

Rigid and Affine Motion Estimation in Vision Using Sliding Mode Observers