In ultrasound-guided needle insertion procedures, tracking of the needle relative to the ultrasound image is beneficial for needle trajectory planning and guidance. A single camera closed-form method is proposed for automatic real-time trajectory tracking with a low-cost camera mounted directly on the ultrasound transducer. The camera is calibrated to the ultrasound image coordinates. By mounti...

In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis. The dynamics formulated in terms of full-state tracking errors offer some properties that allow better understanding of the...

Target track is an important research dot in weapon performance testingfiled, to stable track the flying target in optical detection system and testing instrument, horizontal trajectory tracking system based on rotating mirror was researchedin this paper.A horizontal trajectory tracking method was proposed for the tracking problem in the process of the projectile flight, the design of rotating ...

Pitching contents play the key role in the resultant victory or defeat in a baseball game. Utilizing the physical characteristic of ball motion, this paper presents a trajectory-based framework for automatic ball tracking and pitching evaluation in broadcast baseball videos. The task of ball detection and tracking in broadcast baseball videos is very challenging because in video frames, the noi...

The recognition of hand gestures from image sequences is an important and challenging problem. This paper presents a robust solution to track and recognize a list of hand gestures from their trajectory. The CamShift algorithm is used for hand tracking and the resulting trajectory is segmented into strokes. The trajectory of recognized gestures consists of at least 2 strokes. The gestures are cl...

In cooperation with IVECO Magirus for the new generation of fire turntable ladders a trajectory tracking control was developed to avoid swaying of the cage especially in case of large ladder lengths. Beside the active damping of the upcoming oscillations as a new functionality a automated mode for the ladder operation was implemented. This automated mode has to provide time indexed reference fu...

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

In this paper, a method of reducing the tracking error in CNC machining is proposed. The structured neural network is used to approximate the discontinuous friction in CNC machining, which has jump points and uncertainties. With the estimated nonlinear friction function, the reshaped trajectory can be computed from the desired one by solving a second order ODE such that when the reshaped trajec...

This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired tra...

Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers’ trajectories are generated based on the trajectory realized by the real leader. Real environments contain large n...