Aiming at image denoising problem, some researchers put forward bilateral filtering algorithm. The algorithm makes weighting for spatial distance and pixel intensity difference. It introduces pixel weighting kernel function on the Gaussian locality smoothing mode, which is more favorable to keep the image margin detail. This paper tries the new improvement on the foundation of bilateral filter technique. It adopts coherent values scanning to treat energy center corresponding apparent dip as smoothing discontinuous geologic body direction. The directivity dramatically reduces, and it is easy to be generalized to non-planar geometrical morphology lineup. And it adopts the method based on waveform self-adaption mode on coherent values estimation. The estimated depending on the time dip and coherent values property are more reliable and physical significance. When calculating pixel value similarity weight, it uses discontinuous geologic body direction sampling point mean or median to replace calculate point. It is much easier to suppress random noise and more effective to keep geologic feature.

This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function and design a robust loop-shaping controller to balance the system. The simulation and experimental results show that the TWIP system can be balanced but might experience velocity drifts because its balancing point is affected by model variations and disturbances. Therefore, we propose a multi-loop control layout consisting of a velocity loop and a position loop for the TWIP robot. The velocity loop can adjust the balancing point in real-time and regulate the forward velocity, while the position loop can achieve position tracking. For walking assistance, we design a decoupled control structure that transfers the linear and rotational motions of the robot to the commands of two parallel motors. We implement the designed controllers for simulation and experiments and show that the TWIP system employing the proposed decoupled multi-loop control can provide satisfactory responses when assisting with walking.