This paper presents a real-time visual tracking system in the robot soccer domain. The details of the Essex Wizards robot football team and its control system are described. A real-time visual tracking algorithm has been developed. Some initial results of the image pre-processing and visual tracking algorithms in real environment setting are given to show the performance of the system.

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

Using Tracking Differentiators in Designing Nonlinear Disturbance Observers for Uncertain SystemsNaser Kazemzadeh, Saeed BarghandanAbstractIn the present paper, a practical designing method has been proposed for a novel class of NDOs based on TD. Such NDOs can nearly estimate all uncertain disturbances (specifically disturbances without prediction information). Regarding the outstanding perform...

Extracting and tracking active objects are two major issues in surveillance and monitoring applications such as nuclear reactors, mine security, and traffic controllers. In this paper, a block-based similarity algorithm is proposed in order to detect and track objects in the successive frames. We define similarity and cost functions based on the features of the blocks, leading to less computati...

In this paper, we investigate the effects of auto-tracking subsystem together with different beam divergences on SNR, BER and stability of FSO communication links. For this purpose we compute the values of power, SNR and BER on receiver, based on analytic formula of Gaussian beam on receiver plane. In this computation the atmospheric effects including absorption, scattering and turbulence are c...

Within the ITrackU project, a modular software architecture for model-based visual tracking and image understanding is being developed. The library is general-purpose with respect to object models, state-space parameters, visual modalities employed, number of cameras and targets, and tracking methodology. This provides the necessary building blocks for a seamless integration of a wide variety o...

We propose a non-intrusive eye tracking system intended for the use of everyday gaze typing using web cameras. We argue that high precision in gaze tracking is not needed for on-screen typing due to natural language redundancy. This facilitates the use of low-cost video components for advanced multi-modal interactions based on video tracking systems. Robust methods are needed to track the eyes ...

In many software projects, bug tracking systems (or defect tracking systems) play a central role: they allow users to communicate with developers to let them know about any problems and to request new features. In addition, developers can keep track of any unresolved bugs and request more information from users. However, most bug tracking systems are far from perfect. the none of them can be tr...

this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

in this paper, controlling the gyros with linear plus cubic damping is considered. hence, an adaptive control algorithm is proposed to overcome the uncertainties in model parameters and the chaotic behavior of gyroscopes. it is noted that for general applications dynamic model coefficient of gyros is not precisely determined, on the other hand, with respect to a particular coefficient gyroscope...