The sliding mode controller, based on the theory
of the Variable Structure System (VSS), is considered
for a robot manipulator. By consideration of VSS theory,
the nonlinear interactions of manipulator dynamics
are suppressed by use of linear sliding equations, and
VSS robustness with respect to the unknown physical manipulator
parameter...
Vision is a flexible, non-contact sensor that can be used for position feedback in
closed-loop control of dynamic systems. Current vision systems for industrial
automation provide low sample rates and large sample delays relative to other types of
position sensors. Poor sample rates and sample delays are a result of...
The full capacity of the existing transmission lines is often underutilized
due to the system stability requirements. Controllable network devices represent
the effective means of improving the system stability, and their deployment allows
better use of the existing transmission facilities and can help to avoid construction of
new lines. This...
Adaptive filtering may be applied in areas where an optimal filtering algorithm
may not be known a-priori and where the filtering operation may be non-stationary. This
field, or more generally, the field of adaptive systems, is one which may be regarded as
mature, having been the subject of considerable research...
A fully automated method for content-based color image retrieval is developed to extract color and shape content of an image. A color segmentation algorithm based on the k-mean clustering algorithm is used and a saturated distance is proposed to discriminate between two color points in the HSV color space. The...
A new, fully automated summarization algorithm of MPEG compressed videos is designed to address the challenge of content based video retrieval. This algorithm segments the MPEG stream motion vector magnitudes using a seed growing region technique. Following the spatial segmentation of each frame, an intra-frame class-merging operation is performed. The...
The purpose of the thesis is to design and develop a network of automated, distributed, living cell-based sensors, called CytoSensors. Their main role is to detect a variety of biological and chemical toxins. The system is designed to help researchers to carry out multitude of experiments, in order to build...
This thesis presents an algorithm that estimates motion in image sequence using wavelet transform. The motion detection is performed under unfavorable conditions of background movement, change of brightness, and noise. The algorithm is tolerant to brightness changes, noise, and small movement in the background. The false alarm rate of motion...
To protect the environment and save human lives, the detection of various hazardous toxins of biological or chemical origin has been a major challenge to the researchers at Oregon State University. Living fish cells can indicate the presence of a wide range of toxins by reactions such as changing color...
CytoSensor system integration and design is driven by requirements generated by the need to complete biological experiment operations. The system is used for toxin-based detection which will identify and quantify unknown input toxins by using a biosensor based on a living fish chromatophore. The system consists of 3 main parts:...
Image segmentation is the process by which an image is divided into number of regions. The regions are to be homogeneous with respect to some property. Definition of homogeneity depends mainly on the expected patterns of the objects of interest. The algorithms designed to perform these tasks can be divided...
Morphological filters have shown good performance in various image processing applications. Furthermore, their algorithms are easy to implement in special architectures, with the exception that linear filtering cannot be implemented in many of these cases. In this study, a new architecture and corresponding algorithm, capable of realizing linear shiftinvariant filters,...
"Expert systems" is an area in the field of
artificial intelligence which attempts to encode an
"expert's" heuristic knowledge and reasoning ability into
a computer program. The purpose of this study is to
investigate the applicability of using an "expert system"
in a closed-loop automatic control system.
An "expert system"...
Mathematical models for the doubly-fed machine are
presented. The properties of the machine with rotor excitation as supplied by a power converter with voltage
source character are reviewed. The peculiar torque-speed
characteristic of the machine in this operating mode and
its effect on the stability of the machine are presented....
With the development of converters and inverters, it
became possible to control the stator current of an
induction motor. The differential equations which describe
transient behavior of the induction motor are conveniently
expressed by transforming the stator and rotor variables to
d-q axes rotating at synchronous speed. The transient
behavior...
Most of the existing research on mathematical morphology is
restricted to the deterministic case. This thesis addresses the void
in the results on the stochastic properties of morphological filters.
The primary results include analysis of the stochastic
properties of morphological operations, such as dilation, erosion,
closing and opening. Two unbiased...
A systematic optimization of the Cohen class time-frequency
transformation for detecting the parameters change is developed.
The local moments approach to change detection is proposed and a
general formula for the local moments is derived. The optimal
kernel functions of the time-frequency transformation are determined
based on the combined criteria...
Mathematical morphology, developed in the early 1960's for
single-component signals, has been applied to a number of image
processing applications. This investigation examines the systematic
extension of mathematical morphology to multi-variate signals.
Two approaches are considered. The first approach, the
extension of the theory of single-component morphological filters to
multi-variate...
A general discrete-time, adaptive, multidimensional framework is introduced
for estimating the motion of one or several object features from their successive
non-linear projections on an image plane. The motion model consists of
a set of linear difference equations with parameters estimated recursively from
a non-linear observation equation. The model dimensionality...