A method that can be used for for recognizing facial expressions of multiple persons is proposed. In this method, the condition of facial muscles is assigned to a hidden state of a HMM for each expression. Then, the probability of the state is updated according to a feature vector obtained from image processing. Image processing is performed in two steps. First, a velocity vector is estimated f...

Harmonic functions provide a method for implementingpotentialeld path planning. Since they produce smooth vector elds which are free of spurious local minima, they also provide an ideal mechanism for implementing velocity-based control. This paper describes the implementation of velocity control using harmonic functions. The resulting control system is termed \Harmonic Control" and is quite rob...

This paper proposes a novel optimization algorithm combined the mechanism of quantum evolutionary algorithm and real-coding method, called an improved quantum particle swarm optimization algorithm (IQPSO). Like the traditional particle swarm optimization, IQPSO is also characterized by position vector and velocity vector to implement the evolution process. However, the particle of IQPSO is divi...

The integration of the rotation from a given angular velocity is often required in practice. The present paper explores how the choice of the parametrization of rotation, when employed in conjuction with different numerical time-integration schemes, effects the accuracy and the computational efficiency. Three rotation parametrizations – the rotational vector, the Argyris tangential vector and t...

Suucient conditions for the success of the robotic control of assembly are presented. The assembly is modelled as a discrete event system using Petri nets. The abstraction of assembly to the discrete event system highlights the changes in the state of contact as the key points to control in the assembly process. Using this abstraction , suucient conditions on the velocity commands are developed...

Abstract This paper presents the energy-optimal velocity to solve problem of path planning for autonomous underwater vehicles (AUVs) in current fields. In proposed scheme, a sequence thrust velocities and steering directions is predicted enable utilize/avoid currents minimize their energy consumption. Each direction are deduced through vector analysis method under expected displacement correspo...