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Dongjian He
Northwest A&F University

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Journal : Indonesian Journal of Electrical Engineering and Computer Science

 1 
Adaptive Tracking Control Algorithm for Picking Wheel Robot Zhiyong Zhang; Dongjian He
Indonesian Journal of Electrical Engineering and Computer Science Vol 10, No 8: December 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

The Objective of the paper is to investigate walking stability of picking wheel robot in the fields of medium speed and high load complex operating environment. Firsly, we analyze the influence on walking control for simplified dynamic model of picking robot and its remaining (instabilities), guarantee the stability and convergence of simplified system for tracking errors using the Lyapunov theory. Secondly, adaptive stabilization and tracking control algorithm is proposed on farmland in order to overcome its uncertainty and disturbances. Finally, the effectiveness and stability of the algorithm is verified using matlab simulation and experiment in the case of high load and medium speed. DOI: http://dx.doi.org/10.11591/telkomnika.v10i8.1652
Camera Image Mosaicing Based on an Optimized SURF Algorithm Nan Geng; Dongjian He; Yanshuang Song
Indonesian Journal of Electrical Engineering and Computer Science Vol 10, No 8: December 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

For real-time and robust web camera image mosaicing, a method based on an optimized SURF (Speeded Up Robust Features) was proposed in this paper. Firstly, the feature points from the overlapping parts between the reference image and the target image are extracted by employing the rapid matching algorithm - BBF (Best-Bin-Fist). Then RANSAC (Random Sample Consensus) is used for mismatched features eliminating and projection matrix calculating to resample the target image and achieve the calibrated one. Finally, registered images are fused with evolutional fusion algorithm to produce image mosaicing. The results demonstrates that our image mosaicing method can stitch the images captured with the web cameras with noise and different lighting effectively and efficiently while also being robust.  DOI: http://dx.doi.org/10.11591/telkomnika.v10i8.1658
Co-Authors Nan Geng Yanshuang Song Zhiyong Zhang