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Hai T.,Harbin Engineering University | Hai T.,Nanyang Normal University | Hai T.,Oil equipment intelligent control engineering laboratory of Henan province | Xi Z.-H.,Harbin Engineering University
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | Year: 2016

In order to improve the zoomed effect of the method based on partial differential equation, combining the improved complex diffusion model and the nonlocal means filter, the image enlargement method is proposed. Having the advantage of precision location of the edges, with the edges sharpened by the shock filter, the improved anisotropic complex diffusion couples to the nonlocal means filter to keep with the similarity of the diffused image, the high resolution image is reconstructed. Not only using the local information of the image but the image's nonlocal information,the method makes the zoomed image more natural, at the same time, attenuates the edge's over-sharpen, therefore the enlarged image has better visual effective. The simulations prove the prominent performance of the proposed method. © 2016, Chinese Institute of Electronics. All right reserved. Source


Cui M.,Nanyang Normal University | Cui M.,Oil equipment intelligent control engineering laboratory of Henan province | Liu W.,Nanyang Normal University | Liu W.,Oil equipment intelligent control engineering laboratory of Henan province | And 5 more authors.
Nonlinear Dynamics | Year: 2015

Based on the uncertain nonlinear kinematic model of the differential-driving mobile robots, an adaptive sliding mode control method is used to design a controller for trajectory tracking of the differential-driving mobile robots with unknown parameter variations and external disturbances. The total uncertainties of the robot are estimated online by an improved linear extended state observer (ESO) with the error compensating term. The adaptive sliding mode controller with the switching gain is adjustable real-time online is developed by selecting the appropriate PID-type sliding surface. The convergence of the tracking errors for wheeled mobile robots is proved by the Lyapunov stability theory. Moreover, the simulation and real experiment results all show that the effectiveness and superiority of the proposed the adaptive sliding mode control method, in comparison with the traditional sliding model control and backstepping control method. © 2015 Springer Science+Business Media Dordrecht Source

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