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A method for MISO systems identification using third-order cumulants

A method for MISO systems identification using third-order c...

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International conference on Digital Signal Processing (DSP)

作者： D. Korze D. Zazula B. Potocnik Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia

The paper introduces a method for identification of MISO systems with finite impulse responses (MA) using third-order cumulants. The method was derived from the well known C(q,k) formula for the SISO systems (Giannakis 1987), which works for the MA models only. The necessary condition of our method is, that all transfer channels h/sub r/(n) are of different order q/sub r/ and that input white noises are spatially uncorrelated. The variance analysis computing the third-order cumulant of the output signal for the superimposed systems is discussed as well. simulation confirms that under the necessary conditions the method works well, but the variance of identification results of the subsequent channel response grows and very long output signals have to be applied for circulation of the third-order cumulants of the output signal in MISO systems.

关键词： System identification Computer science White noise Equations

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Optimal 3D viewing with adaptive stereo displays: a case of tilted camera configuration

Optimal 3D viewing with adaptive stereo displays: a case of ...

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International conference on Advanced Robotics (ICAR)

作者： Sukhan Lee Sookwang Ro Jong-Oh Park Chong-Won Lee Jet propulsion Laboratory California Institute of Technology Pasadena CA USA Department of EE-Systems and CS University of Southern California Los Angeles CA USA Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780341600

An optimal 3D viewing method with tilted camera configurations is presented for advanced telemanipulations. As compared to the parallel camera configurations, which are special cases of tilted camera configurations, tilted camera configurations have more horizontal accuracy but with less vertical accuracy. However, this poor vertical accuracy of tilted camera configurations can be compensated by using different horizontal and vertical scaling factors. Besides, better depth resolution and near stereoscopic viewing can be achieved with tilted camera configurations. The method determines in real-time the optimal parameter values associated with stereo imaging and image projection on a video screen. These values implement the optimal stereo viewing adaptive to the focus of attention of the viewer. The simulation results of a tilted camera configuration are given, and they are compared to the results obtained from a parallel camera configuration.

关键词： Three dimensional displays Computer aided software engineering Cameras Layout Focusing Image converters Image resolution Equations Propulsion Laboratories

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Evaluation of a memory hierarchy for the MTS multithreaded processor

Evaluation of a memory hierarchy for the MTS multithreaded p...

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International conference on Parallel and Distributed Systems (ICPADS)

作者： W.L. Gallagher Chuan-Lin Wu Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA Department of Computer Science & Information Engineering National Chiao Tung University Taiwan

Executing multiple threads simultaneously on superscalar processor can improve hardware resource utilization and instruction throughput. The Multi-Threaded Superscalar (MTS) processor efficiently achieves the concurrent execution of multiple instruction streams using a VLIW, multiple functional unit architecture. However, the limitations of the memory system may impede the potential performance of the MTS processor. An interactive, parameter-driven simulator of the MTS architecture was developed using SES/workbench. A set of numerical benchmarks was run on it with varying memory system configurations. Assuming a single instruction cache, a single data cache, and one instruction queue per thread, varied parameters included the size of the instruction queues, the number of ports to the instruction cache, main memory latency, and cache hit rates. Based on simulation results, optimal values were chosen for certain parameters. To reasonably utilize the MTS processor, the memory system must provide at least 64 instruction bytes per cycle, though the demands for data access are far less severe. For reasonable memory speeds, this requires a roughly IMB three-ported instruction cache capable of providing 128 bits per port per cycle, as well as an IMB single-ported 32-bit wide data cache. A more realistic multilevel cache hierarchy is proposed.

关键词： Yarn Hardware Delay Throughput Computer architecture Registers Bandwidth VLIW Resource management Impedance

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Discrete adaptive control of a chaotic system under disturbances

Discrete adaptive control of a chaotic system under disturba...

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International conference on Control of Oscillations and Chaos

作者： P.Y. Guzenko Institute for Problems of Mechanical Engineering Russian Academy of Science Saint Petersburg Russia

The problem of adaptive output feedback control aimed at stabilization of a (periodic or chaotic) goal trajectory is considered. Algorithms of adaptive control based on linearization of controlled Poincare map and method of goal inequalities posed first by Fradkov et al. (1997) are briefly reviewed. Those algorithms are applied to stabilization of the limit cycle of forced brusselator model in the chaotic mode when the parameters of controlled system are not known exactly and the input values of control algorithm contain the random error of measurement. Some results of computer simulation are also included.

关键词： Adaptive control Chaos Force control Programmable control Output feedback Limit-cycles Control system synthesis Computer errors Error correction Force measurement

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Alleviation of chattering in variable structure control signal for flexible one-link manipulator

Alleviation of chattering in variable structure control sign...

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IEEE International conference on Robotics and Automation (ICRA)

作者： S. Thomas Jong-Hwan Kim Korea Advanced Institute of Science and Technology South Korea Department of Electrical Engineering Calicut Regional Engineering College Calicut Kerala India Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780365763

A variable structure controller design for the tip position control of a flexible one-link manipulator was presented by Thomas et al. (1997). The control torque obtained using this design methodology was subjected to high frequency chattering. This makes it impossible to implement the controller in practice. The absence of a sign(S) function in the control law makes it impossible to implement the boundary layer technique of chatter reduction where the sign(S) function is replaced by a saturation type function to yield a continuous control signal approximation that confines the system trajectory to a small band neighboring the switching surface. This paper presents a new switching law which not only alleviates chattering in the control signal but also ensures ideal sliding mode motion. simulation results are presented to verify the claims attributed to the proposed method.

关键词： Control systems Sliding mode control Electric variables control Frequency Motion control Control design Computer science Position control Torque control Design methodology

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Performance and configuration of hierarchical ring networks for multiprocessors

Performance and configuration of hierarchical ring networks ...

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International conference on Parallel Processing (ICPP)

作者： V.C. Hamacher Hong Jiang Department of Electrical and Computer Engineering Queen''s University Kingston ONT Canada Department of Computer Science and Engineering University of Nebraska Lincoln Lincolnshire NE USA

Analytical queueing network models for expected message delay in 2-level and 3-level hierarchical-ring interconnection networks (INs) are developed. Such networks have recently been used in commercial and research prototype multiprocessors. A major class of traffic carried by these INs consists of cache line transfers, and associated coherency control messages, between processor caches and remote memory modules in shared-memory multiprocessors. Memory modules are assumed to be evenly distributed over the processor nodes. Such traffic consists of short, fixed-length messages. They can be conveniently transported using the slotted ring transmission technique, which is studied here. The message delay results derived from the models are shown to be quite accurate when checked against a simulation study. The comparisons to simulations include heavy traffic situations where queueing delays in ring crossover switches are significant for ring utilization levels of 80 to 90%. As well as facilitating analysis, the analytical models can be used to determine optimal sizes for the rings at different levels in the hierarchy under specified traffic distributions in a system with a given total number of processor nodes. Optimality is in terms of minimizing average message delay. A specific example of such a design exercise is provided for the uniform traffic case.

关键词： Delay Analytical models Traffic control Multiprocessor interconnection networks Prototypes Telecommunication traffic Intelligent networks Protocols Queueing analysis Switches

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Dynamic traffic control: decentralized and coordinated methods

Dynamic traffic control: decentralized and coordinated metho...

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International conference on Intelligent Transportation

作者： I. Porche S. Lafortune Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

ALLONS-D is a decentralized real-time traffic control scheme. Through simulations, the scheme is shown to be suitable for adaptive control of an isolated intersection. An efficient tree searching algorithm, constrained only by a maximum and minimum green time per phase, is used to find a traffic signal plan that minimizes delay. Differences between ALLONS-D and other real-time traffic control schemes, such as OPAC, are described. The scheme can also be used to reduce travel times on transit routes. For arterial networks of intersections, ALLONS-D is capable of inducing a level of coordination that results in progressive signal plans. An extension of the scheme to provide network-wide optimization of traffic signals is explained in the form of a two-layer scheme. simulation experiments are performed with a newly developed simulator called STNS.

关键词： Traffic control Vehicles Telecommunication traffic Decision trees Costs Adaptive control Computational modeling Communication system traffic control Delay effects Distributed control

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java Session Language: A Session-Based Language for Cloud Service Composition 2019

Java Session Language: A Session-Based Language for Cloud Se...

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proceedings of the 2019 7th International conference on Information Technology: IoT and Smart City

作者： Dongming Jiang Yuan Jiang School of Mathematics and Computer Science Jiangxi Science & Technology Normal University Nanchang China School of Information Engineering Nanchang University Nanchang China

ISBN: (纸本)9781450376631

Since the limited capability of single one, cloud services need to be assembled to form business process, which crate for users demands. However, to realize service composition is a time-consuming task which requires users know both the business logic and techniques of service composition. Its main reason is that current solution lacks a suitable language which can implement cloud service and easy to use. Regarding this issue, we put forward JSL, a new dialect language for integrating services. Because interaction is the basis of service composition, JSL apply session to depict the operation of interaction, then express complex composition further. JSL also use functions operators to shield the prone-to-error concurrent programming. Moreover, we designed model-driven framework to support JSL simulation experiences demonstrates the efficiency of JSL since JSL and its framework can speed up the development and decrease the concurrent mistakes.

关键词： session type JSL MDA Cloud services function combinator

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An adaptive control strategy for robotic cutting

An adaptive control strategy for robotic cutting

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IEEE International conference on Robotics and Automation (ICRA)

作者： G. Zeng A. Hemami Department of Electrical Engineering and Computer Science Ecole Polytechnique de Montrèal Montreal QUE Canada

Automation of a cutting process requires a system that is able to perform a planned cutting work irrespective of the interaction forces experienced during this process. For a robotic cutter the controller must adjust the applied force exerted on the material to be cut, while complying with unknown environment restrictions and disturbances. In this paper the problem of cutting a media by a blade is investigated. Based on a learning philosophy and position and velocity errors feedback an algorithm for the control of such a process is presented. An adaptive position controller and a switching logical velocity controller ensure the cutting operation is performed along a desired path with a desired velocity, while a learning control strategy is employed to adjust the required cutting force. The latter is a force learning algorithm which uses the force feedback. The effectiveness of the presented control system is demonstrated by simulation results.

关键词： Adaptive control Force control Velocity control Robotics and automation Force feedback Automatic control Robot control Blades Error correction Programmable control

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Design and evaluation of a novel 3 d.o.f. flexible robot

Design and evaluation of a novel 3 d.o.f. flexible robot

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IEEE/ASME (AIM) International conference on Advanced Intelligent Mechatronics

作者： J.I. Arocena R.W. Daniel Departmento de Autoatica y Computacion Universidad Publica de Navarra (UPNA) Pamplona Spain Robotics Research Group Department of Engineering Science University of Oxford Oxford UK

Summary form only given. This paper aims to rectify a perceived imbalance between theory and experiment in the research literature on the control of flexible manipulators. The theme, is a novel 3 d.o.f. flexible manipulator, the "Rotabot", designed and constructed at the Oxford University Robotics Laboratory. The arm is an experimental concept design for a full sized industrial flexible arm, where the tractability of the final control problem has been a major design driver. This paper describes the different design features of the Rotabot. The key design properties are first demonstrated by simulation and then confirmed by extensive experimentation.

关键词： Robot sensing systems Manipulators Service robots Laboratories Industrial control Size control

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