Hybrid intelligent models for visual servoing

Author(s):  
S. Jafari ◽  
R. Jarvis ◽  
T. Sivahumaran
2020 ◽  
pp. 1-12
Author(s):  
Hu Jingchao ◽  
Haiying Zhang

The difficulty in class student state recognition is how to make feature judgments based on student facial expressions and movement state. At present, some intelligent models are not accurate in class student state recognition. In order to improve the model recognition effect, this study builds a two-level state detection framework based on deep learning and HMM feature recognition algorithm, and expands it as a multi-level detection model through a reasonable state classification method. In addition, this study selects continuous HMM or deep learning to reflect the dynamic generation characteristics of fatigue, and designs random human fatigue recognition experiments to complete the collection and preprocessing of EEG data, facial video data, and subjective evaluation data of classroom students. In addition to this, this study discretizes the feature indicators and builds a student state recognition model. Finally, the performance of the algorithm proposed in this paper is analyzed through experiments. The research results show that the algorithm proposed in this paper has certain advantages over the traditional algorithm in the recognition of classroom student state features.


2012 ◽  
Vol 26 (15) ◽  
pp. 1771-1797 ◽  
Author(s):  
Loïc Cuvillon ◽  
Edouard Laroche ◽  
Jacques Gangloff ◽  
Michel de Mathelin

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 105
Author(s):  
Thinh Huynh ◽  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim

This paper proposes a new method to control the pose of a camera mounted on a two-axis gimbal system for visual servoing applications. In these applications, the camera should be stable while its line-of-sight points at a target located within the camera’s field of view. One of the most challenging aspects of these systems is the coupling in the gimbal kinematics as well as the imaging geometry. Such factors must be considered in the control system design process to achieve better control performances. The novelty of this study is that the couplings in both mechanism’s kinematics and imaging geometry are decoupled simultaneously by a new technique, so popular control methods can be easily implemented, and good tracking performances are obtained. The proposed control configuration includes a calculation of the gimbal’s desired motion taking into account the coupling influence, and a control law derived by the backstepping procedure. Simulation and experimental studies were conducted, and their results validate the efficiency of the proposed control system. Moreover, comparison studies are conducted between the proposed control scheme, the image-based pointing control, and the decoupled control. This proves the superiority of the proposed approach that requires fewer measurements and results in smoother transient responses.


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