Recognition of the Multi Specularity Objects using the Eigen-Window

This paper describes a method for recognizing partially occluded objects for binpicking tasks using the eigen-space analysis. Although effective in recognizing an isolated object, as was shown by Murase and Nayar, the current method cannot be applied to partially occluded objects that are typical in bin-picking tasks. The analysis also requires that the object is centered in an image before recognition. These limitations of the eigen-space analysis are due to the fact that the whole appearance of an object is utilized as a template for the analysis. We propose a new method, referred to as the "eigen-window" method, that stores multiple partial appearances of an object in an eigen-space. Such partial appearances require a large number of memory space. A similarity measure among windows is developed to eliminate redundant windows and thereby reduce memory requirement. Using a pose clustering method among windows, the method determines the pose of an object and the object type of itself. ..

Design and Performance Tuning of Sliding-Mode Controller for High-Speed and High-Accuracy Positioning Systems in Disturbance Observer Framework

The tuning method of controllers can be used for effectively determining the overall performance of positioning systems. In particular, this method is highly effective in the case of high-speed and high-accuracy positioning systems. In this paper, a sliding-mode controller that uses one of the well-known approaches of robust control methodology is designed for high-speed positioning systems that require a high-accuracy performance. A performance-tuning method based on a disturbance observer (DOB) structure is also proposed. First, a generalized disturbance attenuation framework named robust internal-loop compensator (RIC) is introduced, and a sliding-mode controller based on a Lyapunov redesign is analyzed in the RIC framework. Then, the DOB properties of the sliding-mode controller are presented, and it is shown that the performance of the closed-loop system with a sliding-mode controller can be tuned up by using the structural characteristics of the DOB. These results make the design of an enhanced sliding-mode controller possible. Finally, the proposed algorithm is experimentally verified and discussed with two positioning systems. Experimental results show the effectiveness and the robustness of the proposed scheme.X1140sciescopu