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2006 year, number 5

Fractal Processing of Faint Signals and Low-Contrast Images

A. A Potapov and V. A. German
Institute of Radio-Engineering and Electronics, RASMoscow E-mail:
Pages: 4-20

Abstract >>
Future prospects of creating bursting radar technologies within the scope of a new interdisciplinary scientific trend

On The Size Distribution of Connected Noise Regions on Digital Images

A. L. Reznik1, V. M. Efimov1, and A. N. Ginzburg2
1Institute of Automation and Electrometry, SB RAS, Novosibirsk E-mail:
2Institute of Applied Physics, RAS, Nizhnii Novgorod
Pages: 21-28

Abstract >>
In processing digital images of different physical origin, it is frequently necessary to eliminate from analyzed fragments the spatially uncorrelated additive noise resulting usually from imperfect recording process. Fast algorithms for calculating geometric characteristics of such connected noise regions are proposed and program-implemented. The obtained results were used to construct optimal rank filters intended to detect and suppress the noise.

Hierarchical Compression Method for Cartographic Images

A. Yu. Bavrina1, N. I. Glumov2, V. V. Sergeyev2, and E. I. Timbay1
1Samara State Aerospace University, Samara E-mail:
2Institute of Image Processing Systems, RAS, SamaraE-mail:
Pages: 29-36

Abstract >>
A method for lossless compression of palletized synthetic images is described. The method bases on hierarchical image representation as a set of matrices or hierarchical levels (HL) of a reduced size and on storing only information required to reconstruct a current HL from the calculated values of previous HLs. Different versions of implementing the method are considered. Some of them exploit actively peculiarities of cartographic images. Experimental investigation shows advantages of the method over the well-known lossless compression standards.

Geophysical Data Processing with Allowance for Nonlinear Effects of Radiation and Propagation of Elastic Waves

B. M. Glinsky, M. S. Khairetdinov, and G. F. Sedukhina
Institute of Computational Mathematics and Mathematical Geophysics, SB RAS, Novosibirsk E-mail:
Pages: 37-44

Abstract >>
The role of nonlinear wave processes of radiation and propagation of elastic oscillations in improving the quality of data processing in physical experiments is considered. Analysis of seismic waves without loss of generality of results relative to waves of another nature is carried out. The data were obtained in seismic physical experiments on depth sounding of the Earth by elastic oscillations generated by powerful surface vibrators developed by scientific institutions of the Siberian Branch of the Russian Academy of Sciences. The efficiency of the proposed approach to data processing is substantiated by the higher measurement accuracy of seismic wave parameters and by results referred to determining by daily and semi-diurnal periodicities of lunar-solar tides in seismic field parameters, which were obtained for the first time.

Fingers Tracking on Omnidirection Camera Image by Condensation Algorithm

N. Ikoma1, M. Sakata2, and M. Doi3
1Kyushu Institute of Technology, Fukuoka, Japan E-mail:
2Hitachi Kokusai Electric Inc., Tokyo, JapanE-mail:
3Osaka Electro-Communication University, Osaka, JapanE-mail:
Pages: 45-53

Abstract >>
Finger image tracking on an omnidirection camera is investigated aiming at human friendly interface using fingers

Determining Geometrical Parameters of Tapered Lensed Fibers

B. Spektor and A. Normatov
Technion, Israel Institute of Technology, EE department, Haifa, Israel E-mail:, E-mail:
Pages: 54-60

Abstract >>
Characterization of micro objects of different nature, particularly their geometrical properties, is an important issue of today

Implicit Definition and Right-Hand Solutions for One Class of Discontinuous Systems in Problems of Mechanical Object Control

I. A. Finogenko
Institute for System Dynamics and Control Theory, SB RAS Irkutsk E-mail:
Pages: 61-68

Abstract >>
A theory of right-hand solutions for one class of differential equations which the Lagrange systems of the second kind with discontinuous controls are reduced to is developed. The structure of controls is defined from the solution of the problem of synthesizing control systems for mechanical objects on the basis of the decomposition principle. An implicit method for single-valued definition of controls at discontinuity points is proposed. General issues of existence of right-hand solutions and their properties like uniqueness, continuation, stability, and continuous dependence on the initial conditions and parameters are studied.

The Model of An Intelligent Interactive Training System Architecture for Control of Groops

Yu. N. Zolotukhin1 and G. M. Shidlo2
1Institute of Automation and Electrometry, SB RAS, Novosibirsk E-mail:
2The Novosibirsk Military Institute, Novosibirsk E-mail:
Pages: 69-80

Abstract >>
Results of researches on using modern information technologies in the field of designing the means for training cadets to skills of subdivision control in combined arms operations are presented. A version of implementing an intelligent cadet agent-assistants in the model of a perspective educational organization for conducting practical tactical occupations is proposed. Basic approaches to defining the requirements on the criteria for estimating of components for the model of intelligent interactive training system architecture are formulated. Methods for implementing multi-agent systems and intelligent agents in perspective tactical simulators are proposed.

Multi-Robot System Formation Navigation

F. E. Schneider and D. Wildermuth
Research Establishment for Applied Sciences (FGAN), Wachtberg, Germany
E-mail:; E-mail:
Pages: 81-90

Abstract >>
A modified potential field approach is proposed for motion coordination in formations of multi-robot systems. The approach is briefly compared to related work. For the problem of moving in formation, a solution based on a directed potential field is presented. Different forces belonging to other robots and obstacles are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and move toward a specified target. Results of experiments are presented to illustrate the differences and improvements of this approach in comparison with the classical method.

Using Relative Localization for Multi-Robot Formation Navigation

F. E. Schneider and D. Wildermuth
Research Establishment for Applied Sciences (FGAN), Wachtberg, Germany
E-mail:; E-mail:
Pages: 91-99

Abstract >>
A new approach to relative position estimation in multi-robot systems, based on information of laser scanner systems, is presented. An Extended Kalman Filter (EKF) is used to obtain continuously updated position estimation. All robots of a group use these data in order to generate one common coordinate system. Experimental results are presented, including formation movement as an example application.

Robust Proportional-Integral Observer for Switched Systems

Liu Xing-Long and Duan Guang-Ren
Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin, China E-mail:
Pages: 100-112

Abstract >>
This paper deals with proportional-integral observer (PI-observer) design and robust control for switched systems under arbitrary switching sequences. The proposed approach detects the existence of a switched quadratic Lyapunov function to check the asymptotic stability of switched systems. Two equivalent conditions that can guarantee the PI-observers to track the state signal are developed. Based on these conditions, we synthesize the PI-observer-based state-feedback controller stabilizing the closed-loop system. Moreover, a state-feedback controller based on a PI-observer is developed to stabilize the switched systems with uncertainties. Numerical evaluation illustrates feasibility and advantage of the PI-observer for switched systems

Hв€ћ-Robust Output Dynamical Compensator for Switched Systems

Liu Xing-Long and Duan Guang-Ren.
Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin, China E-mail:
Pages: 113-122

Abstract >>
This paper mainly deals with the L2-ain control of switched systems based on an output dynamical compensator. A special output dynamical compensator for switched systems is developed and a compensator-based state-feedback controller for switched systems is synthesized to guarantee the L2-gain of closed-loop systems. Based on these assumptions, the robust control of switched systems with the L2-gain is realized. Numerical evaluation illustrates the feasibility and advantage of this output dynamical compensator for switched systems.