Abstract: The movement of points feet of the anthropomorphous robot in space occurs along some stable trajectory of a known form. A large number of modifications to the methods of control of biped robots indicate the fundamental complexity of the problem of stability of the program trajectory and, consequently, the stability of the control for the deviation for this trajectory. Existing gait generators use piecewise interpolation of program trajectories. This leads to jumps in the acceleration at the boundaries of sites. Another interpolation can be realized using differential equations with fractional derivatives. In work, the approach to synthesis of generators of program trajectories is considered. The resulting system of nonlinear differential equations describes a smooth trajectory of movement having rectilinear sites. The method is based on the theory of an asymptotic stability of invariant sets. The stability of such systems in the area of localization of oscillatory processes is investigated. The boundary of the area is a bounded closed surface. In the corresponding subspaces of the oscillatory circuits, the resulting stable limit cycles are curves having rectilinear sites. The solution of the problem is carried out by means of synthesis of a set of the continuous smooth controls with feedback. The necessary geometry of closed trajectories of movement is obtained due to the introduction of high-order nonlinearities in the control of stabilization systems. The offered method was used for the generation of trajectories of movement of point’s feet of the anthropomorphous robot. The synthesis of the robot's program movement was carried out by means of the inverse method.
Abstract: In this paper we study numerical methods for solving Sylvester matrix equations of the form AX +XBT +CDT = 0. A new projection method is proposed. The union of Krylov subspaces in A and its inverse and the union of Krylov subspaces in B and its inverse are used as the right and left projection subspaces, respectively. The Arnoldi-like process for constructing the orthonormal basis of the projection subspaces is outlined. We show that the approximate solution is an exact solution of a perturbed Sylvester matrix equation. Moreover, exact expression for the norm of residual is derived and results on finite termination and convergence are presented. Some numerical examples are presented to illustrate the effectiveness of the proposed method.
Abstract: In this paper we introduce some subspaces of fuzzy entire sequence space. Some general properties of these sequence spaces are discussed. Also some inclusion relation involving the spaces are obtained. Mathematics Subject Classification: 40A05, 40D25.
Abstract: For improving the efficiency of human 3D tracking, we
present an algorithm to track 3D Arm Motion. First, the Hierarchy
Limb Model (HLM) is proposed based on the human 3D skeleton
model. Second, via graph decomposition, the arm motion state space,
modeled by HLM, can be discomposed into two low dimension
subspaces: root nodes and leaf nodes. Finally, Rao-Blackwellised
Particle Filter is used to estimate the 3D arm motion. The result of
experiment shows that our algorithm can advance the computation
efficiency.
Abstract: Many real-world data sets consist of a very high dimensional feature space. Most clustering techniques use the distance or similarity between objects as a measure to build clusters. But in high dimensional spaces, distances between points become relatively uniform. In such cases, density based approaches may give better results. Subspace Clustering algorithms automatically identify lower dimensional subspaces of the higher dimensional feature space in which clusters exist. In this paper, we propose a new clustering algorithm, ISC – Intelligent Subspace Clustering, which tries to overcome three major limitations of the existing state-of-art techniques. ISC determines the input parameter such as є – distance at various levels of Subspace Clustering which helps in finding meaningful clusters. The uniform parameters approach is not suitable for different kind of databases. ISC implements dynamic and adaptive determination of Meaningful clustering parameters based on hierarchical filtering approach. Third and most important feature of ISC is the ability of incremental learning and dynamic inclusion and exclusions of subspaces which lead to better cluster formation.
Abstract: In illumination variant face recognition, existing
methods extracting face albedo as light normalized image may lead to
loss of extensive facial details, with light template discarded. To
improve that, a novel approach for realistic facial texture
reconstruction by combining original image and albedo image is
proposed. First, light subspaces of different identities are established
from the given reference face images; then by projecting the original
and albedo image into each light subspace respectively, texture
reference images with corresponding lighting are reconstructed and
two texture subspaces are formed. According to the projections in
texture subspaces, facial texture with normal light can be synthesized.
Due to the combination of original image, facial details can be
preserved with face albedo. In addition, image partition is applied to
improve the synthesization performance. Experiments on Yale B and
CMUPIE databases demonstrate that this algorithm outperforms the
others both in image representation and in face recognition.
Abstract: In this paper, we present an algorithm for computing a
Schur factorization of a real nonsymmetric matrix with ordered diagonal
blocks such that upper left blocks contains the largest magnitude
eigenvalues. Especially in case of multiple eigenvalues, when matrix
is non diagonalizable, we construct an invariant subspaces with few
additional tricks which are heuristic and numerical results shows the
stability and accuracy of the algorithm.
Abstract: In this work, I present a review on Sparse Distributed
Memory for Small Cues (SDMSCue), a variant of Sparse Distributed
Memory (SDM) that is capable of handling small cues. I then conduct
and show some cognitive experiments on SDMSCue to test its
cognitive soundness compared to SDM. Small cues refer to input
cues that are presented to memory for reading associations; but have
many missing parts or fields from them. The original SDM failed to
handle such a problem. SDMSCue handles and overcomes this
pitfall. The main idea in SDMSCue; is the repeated projection of the
semantic space on smaller subspaces; that are selected based on the
input cue length and pattern. This process allows for Read/Write
operations using an input cue that is missing a large portion.
SDMSCue is augmented with the use of genetic algorithms for
memory allocation and initialization. I claim that SDM functionality
is a subset of SDMSCue functionality.
Abstract: Identity verification of authentic persons by their multiview faces is a real valued problem in machine vision. Multiview faces are having difficulties due to non-linear representation in the feature space. This paper illustrates the usability of the generalization of LDA in the form of canonical covariate for face recognition to multiview faces. In the proposed work, the Gabor filter bank is used to extract facial features that characterized by spatial frequency, spatial locality and orientation. Gabor face representation captures substantial amount of variations of the face instances that often occurs due to illumination, pose and facial expression changes. Convolution of Gabor filter bank to face images of rotated profile views produce Gabor faces with high dimensional features vectors. Canonical covariate is then used to Gabor faces to reduce the high dimensional feature spaces into low dimensional subspaces. Finally, support vector machines are trained with canonical sub-spaces that contain reduced set of features and perform recognition task. The proposed system is evaluated with UMIST face database. The experiment results demonstrate the efficiency and robustness of the proposed system with high recognition rates.