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

The future smart grid is considered to be solution for common problems associated with current electricity grid. Smart grid will incorporate renewable energy sources, intelligent sensors and controls, automated switches, robust communication technology, etc. Implementation of such smart grid requires the collective efforts from researchers from many fields of engineering and creation of reliable test platforms. This paper presents the PV emulator as a test platform for research of problems associated with the design of controller for PV sources, the design of energy management system, generation capacity prediction, wireless network integration and protocol issues, security and cloud based data management and analysis for smart grid applications.

Internet of things inspired photovoltaic emulator design for smart grid applications

—Design of a motion control system, convenient for a
wide range of applications in industry, space, biology, medicine,
particularly including more than one physics environment is
very important. Well known control architectures like trajectory
tracking, compliance control, interaction force control are
scientific milestones which has common control task: to maintain
desired system configuration. In this concept, motion control
system can be an unconstrained motion-performed interaction
with neither environment nor any other system, or constrained
motion-system in contact with environment and/or other systems.
This paper provides the function based design approach to
formulate control of constrained system particularly bilateral
systems in micromanipulation applications. The control objective
aimed to maintain desired functional relations between human
and environment defining convenient tasks and their proper
relations on master and slave motion systems. The custom built
micromanipulation setup presented here designed for the implementation
of the methodology. Preliminary results concerning
position tracking, force control and transparency between master
and slave systems are clearly demonstrated.

Function Based Control of Constrained Motion Systems for Microsystems Applications

This article demonstrates that an actuator can be used as a single platform for measurement, control and estimation by designing a chain of estimators and performing simple off-line experiments. Making use of the fact that rejected torque from the dynamical system consists of all the system dynamics beside
all external disturbances. The rejected torque waves are estimated using the actuator parameters, and used for an off-line experiment for parameter estimation, then the estimated rejected torque is used along with the estimated parameters to estimate the positions of any multi-degree of freedom flexible dynamical system. That makes it possible to use those estimates to achieve sensorless motion and vibration control without using actual measurement. Moreover, all the estimated parameters and system dynamics can be used in order to estimate any external disturbance on the system when it starts to interact with the environment.

/pdf/a-novel-algorithm-for-sensorless-motion-control-parameter-5gnwduaubr.pdf

A novel algorithm for sensorless motion control, parameter identication and position estimation

Network delays in the feedback and control loop can give rise to loss of transparency and instability in teleoperation and bilateral control systems, especially with the use of the internet as the medium of communication. This is a current problem of bilateral control, with numerous approaches taken to improve the performance in the face of network delay. This study is based on the more recent approach of taking communication delay effects into account as disturbance, and addressing the problem via the design of a disturbance observer. To this aim, a novel sliding-mode observer (SMO) and an EKF observer are developed and tested for improved performance in bilateral position control systems. The SMO runs on the master side and estimates the slave position using delayed measurement feedback from the slave side. The estimated feedback is used in a PD controller, also running on the master side, the output of which is sent to the slave through the internet as control input for trajectory tracking dynamics. As another contribution to bilateral control, in this study, an extended Kalman Filter (EKF) is also developed to estimate the variable load changes on the slave side, which are further compensated by a “plus” term added on the slave side to the PD control input sent by the master. The designed SM and EKF based bilateral control approach is tested with experiments conducted on a slave system comprising a single link arm under gravitational load. For added challenge, the system is tested for bi-directional load and reference trajectory variations and for both constant and random measurement and control input delays of 1-2 seconds in all cases. The experiment results demonstrate that the designed SM and EKF based observers perform very well under no control input delay, and well- known slave parameters and initial conditions. The developed system performs reasonably well with bi-directional load and reference variations under parameter uncertainties, and definitely maintains stability even under simultaneous random measurement and control delays of 1-2 seconds, which is considerably more than the considered delays in current literature.

Experimental Evaluation of Sliding Mode and EKF Observers for Network Delay Compensation in Bilateral Control

This paper presents a novel sensorless force control algorithm for Multi-degree-of-freedom flexible systems which enables controlling the interaction forces with the environment without using force sensors. The coupled nature of flexible system dynamics makes it possible to estimate externally applied forces or torques that arise due to system's interaction with the environment. Disturbance and flexibility are simultaneously utilized to estimate system parameters, dynamics and externally applied forces or torques. The interaction torque estimate is then used to accomplish sensorless torque control assignment. This paper attempts to keep the flexible plant free from any measurement while performing a torque control assignment. However, actuator's parameters and variables are assumed to be available.

Asif Sabanovic

Papers

Internet of things inspired photovoltaic emulator design for smart grid applications

Function Based Control of Constrained Motion Systems for Microsystems Applications

A novel algorithm for sensorless motion control, parameter identication and position estimation

Experimental Evaluation of Sliding Mode and EKF Observers for Network Delay Compensation in Bilateral Control

Force control in multi-degree-of-freedom flexible systems — Sensorless technique