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1991 INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION

作者： DEWIT, CC AUBIN, A Lab d'Automatique de Grenoble ENSIEG-INPG St-Martin-d'Heres France

ISBN: (纸本)081862163X

The authors consider the problem of improving the parameter identifiability properties of a robot model and derive a sequential estimation algorithm which substantially simplifies the estimating procedure. The estimation of the invariants (masses, inertias, etc.), which usually requires at most 11n parameters for a robot manipulator with n degrees of freedom, can be performed link by link in a sequential manner by n algorithms of size n_i, where Σn_i is smaller than 11n. Optimization of the robot trajectories seeking to improve parameter identifiability can be simplified. This method enhances the numerical algorithm conditioning and facilitates the selection of a high excited identification sequence, improving the parameter identifiability. The convergence of the estimates to their true values can be obtained provided that the information vector associated with each link is persistently exciting.

关键词： IDENTIFICATION OF ROBOT MODELS PARAMETER IDENTIFIABILITY recursive algorithms HYBRID IDENTIFICATION

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Multi-objective optimization of a plug flow reactor using a divide and conquer approach

Multi-objective optimization of a plug flow reactor using a ...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Hashem, Ihab Telen, Dries Nimmegeers, Philippe Logist, Filip Van Impe, Jan Katholieke Univ Leuven Chem Engn Dept BioTec Gebroeders De Smetsstr 1 B-9000 Ghent Belgium Katholieke Univ Leuven Chem Engn Dept OPTEC Gebroeders De Smetsstr 1 B-9000 Ghent Belgium

Lower profit margins and tighter environmental constraints push chemical companies to search for sustainable development and operation. To ensure sustainable development and operation in practice, multiple and conflicting objectives (e.g., maximize production vs. minimize energy consumption) typically have to be optimized simultaneously. The frame of multi-objective optimization allows to systematically propose improvements and evaluate trade-offs between different objectives. Solving a multi-objective optimization problem yields a set of solutions called the Pareto front, in which no improvement can be made in one objective without worsening another objective. The posteriori analysis of this set by a smart filter aims to keep only the significant solutions for the decision maker who is interested in a specific level of trade-offs. However, this strategy suffers from the large overhead of insignificant solutions produced in the original set. This situation makes applying this strategy to the complex multi-objective optimal control problems time consuming. In this paper, the smart filter by Mattson et al. (2004) is compared to a novel Divide and Conquer (D&C) algorithm to obtain a Pareto front with adaptive resolution for a case study of a plug flow reactor. The new algorithm depends on obtaining the Pareto front recursively while terminating the exploration of a Pareto front segment as soon as an insignificant point is found. It is shown that the D&C algorithm produces representations with similar quality to the smart filter with higher speed and a more intuitive trade-off oriented solution procedure. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi-objective optimisation Optimal control recursive algorithms Process industry

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A unified framework for mapping multidimensional separable DSP transforms onto parallel VLSI structures

A unified framework for mapping multidimensional separable D...

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7th IEEE International Symposium on Signal Processing and Information Technology

作者： Elnaggar, Ayman Aboelaze, Mokhtar Sultan Qaboos Univ Dept Comp Engn POB 33 Muscat Oman York Univ Dept Comp Sci Toronto ON M3J 1PE Canada

ISBN: (纸本)9781424418343

This paper presents a general approach for separable DSP transforms that allows the generation of higher order (longer size) multidimensional (m-d) architectures from 2 m lower order (shorter sizes) architectures. The objective of our work is to derive a unified framework and a design methodology that allows direct mapping of the proposed algorithms into modular VLSI architectures. Our methodology is based on manipulating tensor product forms so that they can be mapped directly into modular parallel architectures. The resulting circuits have very simple modular structure and regular topology.

关键词： recursive algorithms multidimensional transforms tensor products permutation matrices

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A STOCHASTIC 3MG ALGORITHM WITH APPLICATION TO 2D FILTER IDENTIFICATION 22

A STOCHASTIC 3MG ALGORITHM WITH APPLICATION TO 2D FILTER IDE...

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22nd European Signal Processing Conference (EUSIPCO)

作者： Chouzenoux, Emilie Pesquet, Jean-Christophe Florescu, Anisia Univ Paris Est LIGM UMR CNRS 8049 Champs Sur Marne France Univ Galatzi Elect & Telecommun Dept Galati Romania

ISBN: (纸本)9780992862619

Stochastic optimization plays an important role in solving many problems encountered in machine learning or adaptive processing. In this context, the second-order statistics of the data are often unknown a priori or their direct computation is too intensive, and they have to be estimated on-line from the related signals. In the context of batch optimization of an objective function being the sum of a data fidelity term and a penalization (e.g. a sparsity promoting function), Majorize-Minimize (MM) subspace methods have recently attracted much interest since they are fast, highly flexible and effective in ensuring convergence. The goal of this paper is to show how these methods can be successfully extended to the case when the cost function is replaced by a sequence of stochastic approximations of it. Simulation results illustrate the good practical performance of the proposed MM Memory Gradient (3MG) algorithm when applied to 2D filter identification.

关键词： stochastic approximation optimization subspace algorithms memory gradient methods descent methods recursive algorithms majorization-minimization filter identification Newton method sparsity machine learning adaptive filtering

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Accelerated reconstruction of a compressively sampled data stream 24

Accelerated reconstruction of a compressively sampled data s...

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24th European Signal Processing Conference (EUSIPCO)

作者： Sopasakis, Pantelis Freris, Nikolaos Patrinos, Panagiotis IMT Inst Adv Studies Lucca Piazza S Ponziano 6 I-55100 Lucca Italy New York Univ Abu Dhabi Div Engn POB 129188 Abu Dhabi U Arab Emirates Katholieke Univ Leuven Dept Elect Engn ESAT STADIUS Kasteelpk B-3001 Leuven Belgium Katholieke Univ Leuven OPTEC Kasteelpk B-3001 Leuven Belgium

ISBN: (纸本)9780992862657

The traditional compressed sensing approach is naturally offline, in that it amounts to sparsely sampling and reconstructing a given dataset. Recently, an online algorithm for performing compressed sensing on streaming data was proposed: the scheme uses recursive sampling of the input stream and recursive decompression to accurately estimate stream entries from the acquired noisy measurements. In this paper, we develop a novel Newton-type forwardbackward proximal method to recursively solve the regularized Least-Squares problem (LASSO) online. We establish global convergence of our method as well as a local quadratic convergence rate. Our simulations show a substantial speed-up over the state of the art which may render the proposed method suitable for applications with stringent real-time constraints.

关键词： Compressed sensing operator splitting methods recursive algorithms LASSO Forward Backward Splitting

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Towards the Defuzzification Procedure in an ANFIS

Towards the Defuzzification Procedure in an ANFIS

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International Siberian Conference on Control and Communications (SIBCON)

作者： Chernyshov, Kirill R. VA Trapeznikov Inst Control Sci Lab Syst Identificat Moscow Russia

ISBN: (纸本)9781538651421

The paper pays attention to particularities concerned with the defuzzification procedure in adaptive neural network based fuzzy inference systems. Specifically, the problem of constructing recursive parameter estimation algorithms is considered with regard to their convergence and stability. In the combination with various forms of the quadratic criterion, such an approach enables on to obtain strongly consistent estimation algorithms under essential generality of modeled system description;and the convergence properties are demonstrated in the comparison with conventional algorithms.

关键词： ANFIS defuzzification Hessian condition number parameters estimation recursive algorithms

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recursive Formulae for Some Bivariate Counting Distributions Obtained by the Trivariate Reduction Method

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ASTIN Bulletin 2000年第1期30卷 141-155页

作者： Walhin, J.F. Paris, J. Université Catholique de Louvain Belgium SECURA Belgian Re 1000 Bruxelles Rue Montoyer 12 Belgium

In this paper we study some bivariate counting distributions that are obtained by the trivariate reduction method. We work with Poisson compound distributions and we use their good properties in order to derive recursive algorithms for the bivariate distribution and bivariate aggregate claims distribution. A data set is also fitted. © 2000, International Actuarial Association. All rights reserved.

关键词： Bivariate counting distributions fit Hofrnann distribution mixed Poisson distribution Poisson compound distribution recursive algorithms

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Efficient Language-Based Parallelization of Computational Problems Using Cilk Plus 12th

Efficient Language-Based Parallelization of Computational Pr...

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12th International Conference on Parallel Processing and Applied Mathematics (PPAM)

作者： Stpiczynski, Przemyslaw Marie Curie Sklodowska Univ Inst Math Pl Marii Curie Sklodowskiej 1 PL-20031 Lublin Poland

ISBN: (纸本)9783319780542;9783319780535

The aim of this paper is to evaluate Cilk Plus as a language-based tool for simple and efficient parallelization of recursively defined computational problems and other problems that need both task and data parallelization techniques. We show that existing source codes can be easily transformed to programs that can utilize multiple cores and additionally offload some computations to coprocessors like Intel Xeon Phi. We also advise how to improve simplicity and performance of data parallel algorithms by tuning data structures to utilize vector extensions of modern processors. Numerical experiments show that in most cases our Cilk Plus versions of Adaptive Simpson's Integration and BelmanFord Algorithm for solving single-source shortest-path problems achieve better performance than corresponding OpenMP programs.

关键词： Cilk Plus Multicore Xeon Phi Vectorization Offload recursive algorithms Shortest-path problems

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Visual Examples of Recursion 09

Visual Examples of Recursion

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Annual Conference on Innovation and Technology in Computer Science Education

作者： Stephenson, Ben Univ Calgary Calgary AB Canada

ISBN: (纸本)9781605583815

Because recursion is generally introduced early in the curriculum, the range of problems that can used to motiviate its study is limited. We describe three interesting visual problems that use recursion effectively. Each problem demonstrates the utility of recursion in an engaging way while being appropriate for students nearing the end of CS1.

关键词： Recursion recursive algorithms Pedagogy Computer Science Education Graphical Projects Student Engagement

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ADAPTIVE EQUALIZATION OF DIGITAL LINE-OF-SIGHT RADIO SYSTEMS

ADAPTIVE EQUALIZATION OF DIGITAL LINE-OF-SIGHT RADIO SYSTEMS

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4TH IFAC Symposium on Adaptive Systems in Control and Signal Processing 1992

作者： SARI, H SOC ANONYME TELECOMMUN F-75626 PARIS 13FRANCE

ISBN: (纸本)0080417175

This paper gives a state-of-the-art review of adaptive channel equalization in digital line-of-sight radio systems employing bandwidth-efficient modulation techniques. A particular emphasis is placed on decision-feedback equalizer (DFE) implementation and performance in the presence of nonminimum-phase fading. Stability problems of fractionally-spaced equalizers (FSE's) are discussed, and a newly developed adaptation technique is outlined. We also discuss the blind adaptation algorithms that are used to reduce outage by preventing the equalizer coefficients to diverge during severe fade events and carrier synchronism loss. Finally, we discuss further issues related to asymmetric equalizers and to the interaction of the equalizer adaptation algorithm with the carrier recovery loop.

关键词： ADAPTIVE SYSTEMS ADAPTIVE EQUALIZATION DATA TRANSMISSION DIGITAL RADIO SYSTEMS FADING CHANNELS NYQUIST CRITERION recursive algorithms

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