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Modified partial update EDS algorithms for adaptive filtering

ANALOG INTEGRATED CIRCUITS AND SIGNAL PROCESSING 2014年第3期78卷 657-667页

作者： Xie, Bei Bose, Tamal Virginia Polytech Inst & State Univ Blacksburg VA 24061 USA Univ Arizona Tucson AZ 85721 USA

Partial update (PU) Euclidean direction search (EDS) algorithms have been developed to reduce the computational complexity of the full update EDS. In this paper, the PU EDS is modified to achieve better performance. The performance is analyzed for a time-invariant system and for a time-varying system. Theoretical steady-state mean and mean squared error results of the modified PU EDS are derived for both time-invariant system and time-varying system. Computer simulations are presented to support the theoretical analyses. The modified PU EDS can achieve similar performance to the full update EDS while reducing the computational complexity significantly. The performance of the modified PU EDS is also compared with the PU recursive least squares (RLS) algorithm and the PU conjugate gradient in computer simulations. The performance of modified PU EDS is comparable to PU RLS, and it needs less computational cost.

关键词： EDS Partial update recursive algorithms Tracking

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recursive kinematics and inverse dynamics for a planar 3R Parallel Manipulator

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 2005年第4期127卷 529-536页

作者： Khan, WA Krovi, VN Saha, SK Angeles, J SUNY Buffalo Buffalo NY 14260 USA McGill Univ Ctr Intelligent Machines Montreal PQ H3A 2A7 Canada Indian Inst Technol Dept Mech Engn New Delhi India McGill Univ Ctr Intelligent Machines Montreal PQ H3A 2A7 Canada

We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may be assembled to create different topologies, e.g., cooperative robotic systems. recursive algorithms are desirable from the viewpoint of simplicity and uniformity of computation. However, the prominent features of parallel architecture manipulators-the multiple closed kinematic loops, varying locations of actuation together with mixtures of active and passive joints-have traditionally hindered the formulation of modular and recursive algorithms. In this paper the concept of the decoupled natural orthogonal complement (DeNOC) is combined with the spatial parallelism of the robots of interest to develop an inverse dynamics algorithm which is both recursive and modular The various formulation stages in this process are highlighted using the illustrative example of a 3R Planar Parallel Manipulator.

关键词： recursive algorithms Comment Modularity recursive Robot inverse kinematics Parallel architectures Uniformity mixtures

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Range, radial velocity, and acceleration MLE using radar LFM pulse train

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 1998年第4期34卷 1070-1084页

作者： Abatzoglou, TJ Gheen, GO Lockheed Martin Adv Technol Ctr Palo Alto CA 94304 USA

An efficient implementation of the maximum likelihood estimator (MLE) is presented for the estimation of target range, radial velocity, and acceleration when the radar waveform consists of a wideband linear frequency modulated (LFM) pulse train. Analytic properties of the associated wideband ambiguity function are derived;in particular the ambiguity function, with acceleration set to zero, is derived in closed form, Convexity and symmetry properties of the ambiguity function over range, velocity, and acceleration are presented;these are useful for determining region and speed of convergence for recursive algorithms used to compute the MLE. In addition, the Cramer-Rao bound (CRB) is computed in closed form which shows that the velocity bound is decoupled from the corresponding bounds in range and acceleration, A fast MLE is then proposed which uses the Hough Transform (HT) to initialize the MLE algorithm, Monte Carlo simulations show that the MLE attains the CRB for low to moderate signal-to-noise depending on the a priori estimates of range, velocity, and acceleration.

关键词： recursive algorithms maximum likelihood estimation acceleration closed forms ambiguity function complementary return to bias SHOOTING RANGE

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A Control Theoretical Approach to Spectral Factorization is Unstable

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CIRCUITS SYSTEMS AND SIGNAL PROCESSING 2022年第2期41卷 1201-1206页

作者： Meller, Michal Lasota, Adam Gdansk Univ Technol Dept Automat Control Fac Elect Telecommun & Comp Sci Narutowicza 11-12 PL-80233 Gdansk Poland

Local stability analysis of a recently proposed recursive feedback-based approach to spectral factorization is performed. The method is found not to give stability guarantees. Interestingly enough, its global behavior often allows one to obtain reasonable approximations of spectral factorizations if a suitable stopping criterion is employed.

关键词： Spectral factorization Stability analysis Associated ordinary differential equation method recursive algorithms

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Efficient camera-space target disposition in a matrix of moments structure using camera-space manipulation

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 1999年第8期18卷 809-818页

作者： González-Galván, EJ Skaar, SB Seelinger, MJ Univ Autonoma San Luis Potosi Fac Ingn Ctr Invest & Estud Posgrad San Luis Potosi SLP Mexico Univ Notre Dame Dept Aerosp & Mech Engn Notre Dame IN 46556 USA

This paper introduces a new estimation approach for determining the sequence of internal manipulator configurations which are required to perform a task on an arbitrarily positioned and oriented workpiece, in the context of the method of camera-space manipulation-a robust and precise means of controlling three-dimensional robot maneuvers using vision. Despite a nonlinear estimation model, a recursive scheme is developed. This approach reduces the computational and memory burden that is required by the "batch" estimation approach while retaining identical results. The same formalism that permits this result is used to condense to a minimum the visual information required to create "camera-space objectives." The discussion includes actual experimental results wherein robust, millimeter sir-axis positioning precision with a three-dimensional, rigid-body task is achieved using a very large GMF S-400 robot.

关键词： camera-space manipulation nonlinear estimation computer vision robotics recursive algorithms

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Multistage stochastic decision problems: Approximation by recursive structures and ambiguity modeling

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EUROPEAN JOURNAL OF OPERATIONAL RESEARCH 2023年第3期306卷 1027-1039页

作者： Pflug, Georg Ch. Univ Vienna Fac Econ & Stat Wien Oskar Morgenstern Pl A-1090 Vienna Austria

Stochastic multistage decision problems appear in many -if not all -application areas of Operations Re-search. While to define such problems is easy, to solve them is quite difficult, since they are of infinite dimension. Numerical solution can only be found by solving an approximate, easier problem. In this pa-per, we show good approximations can be found, where we emphasize the recursive structure of the involved algorithms and data structures. In a second part, the problem of coping with the model error of approximations is discussed. We present algorithms for finding distributionally robust solutions for the model error problem. We also review some application cases of such situations from the literature.(c) 2022 The Author. Published by Elsevier B.V. This is an open access article under the CC BY license ( http://***/licenses/by/4.0/ )

关键词： Stochastic programming Scenario tree generation recursive algorithms Model error Distributionally robust solutions

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Two-stage improved recursive Newton-type algorithm for power-quality indices estimation

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IEEE TRANSACTIONS ON POWER DELIVERY 2007年第3期22卷 1351-1359页

作者： Terzija, Vladimir V. Stanojevic, Vladimir Univ Manchester Sch Elect & Elect Engn Manchester M60 1QD Lancs England Univ London Imperial Coll Sci Technol & Med Control & Power Grp London SW7 2AZ England

In the paper, a new improved recursive Newton-type algorithm (IRNTA) suitable for various measurement applications in the electric power systems is presented. Here, it is applied for power-quality (PQ) indices estimation according to the IEEE Standard 1459-2000. Basically, the algorithm is a recursive nonlinear estimator, improved with a strategy of sequentially tuning the forgetting factor. This approach generally improves the algorithm performance: immunity to random noise, accuracy, and the speed of convergence. The IRNTA considers the power frequency as an unknown model parameter and takes into account distortion of voltages and currents. Therefore, it is suitable for the real-time PQ monitoring. The algorithm has two stages. In the first stage, the input signal spectra and fundamental frequency are estimated, whereas in the second stage, the unknown PQ indices are calculated. To demonstrate the efficiency of the proposed algorithm, the results of computer simulations and laboratory testing are presented.

关键词： IEEE Standard 1459-2000 monitoring non-linear estimation power quality (PQ) recursive algorithms

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CBR for the management and reuse of image-processing expertise: a conversational system

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 1999年第6期12卷 733-747页

作者： Ficet-Cauchard, V Porquet, C Revenu, M Inst Sci Mat & Rayonnement GREYC F-14050 Caen France

The development of an image-processing (IP) application is a complex activity, which can be greatly alleviated by user friendly graphical programming environments. The major objective of the work described in this paper is to help TP experts reuse parts of their applications. A first step towards knowledge reuse has been to propose a suitable representation of the strategies of IP experts by means of IP plans (trees of tasks, methods and tools). This paper describes the CBR module of an interactive system for the development of IP plans. After a brief presentation of the overall architecture of the system and its other modules, the authors explain the distinction between an IP case and an IP plan, and give the selection criteria and functions that are used for similarity calculation. The core of the CBR module is a search/adaptation algorithm, whose main steps apr detailed: retrieval of suitable cases? recursive adaptation of the selected one and memorization of new cases. The system's implementation is presently completed. its functioning is described in a session showing the kind of assistance provided by the CBR module during, the development of a new IP application. (C) 1999 Elsevier Science Ltd. All rights reserved.

关键词： case-based reasoning image-processing application reuse interactivity knowledge management recursive algorithms

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Efficient arbitrary sampling rate conversion with recursive calculation of coefficients

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 2002年第4期50卷 854-865页

作者： Russell, AI Beckmann, PE MIT Elect Res Lab Cambridge MA 02139 USA Enuvis Inc San Francisco CA 94404 USA

In this paper, we present a novel algorithm for sampling rate conversion by an arbitrary factor. Theoretically, sampling rate conversion of a discrete-time (DT) sequence can be performed by converting the sequence to a series of continuous-time (CT) impulses. This series of impulses is filtered with a CT lowpass filter, and the output is then sampled at the desired rate. If the CT filter is chosen to have a rational transfer function. then this system can be simulated using a DT algorithm for which both computation and memory requirements are low. The DT implementation is comprised of a parallel structure, where each branch consists of a time-varying filter with one or two taps, followed by a fixed recursive filter operating at the output sampling rate. The coefficients of the time-varying filters are calculated recursively. This eliminates the need to store a large table or coefficients, as is commonly done.

关键词： irrational ratio sampling rate conversion low complexity low memory rational filters recursive algorithms

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Mean convergence behavioural analysis of IIR adaptive filters

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SIGNAL PROCESSING 1997年第3期63卷 229-240页

作者： Kumar, RVR Rao, CBR Indian Inst Technol Dept Elect & Elect Commun Engn Kharagpur 721302 W Bengal India

In spite of having several advantages, IIR adaptive filters have not been getting their due share in applications because of the need for stability monitoring during adaptation and uncertainty in convergence time for stochastic inputs which can be mainly attributed to the involved nonquadratic criterion function. Because of this type of criterion function, it has been very difficult to estimate the nature of convergence in the stochastic frame work. Recently, it is shown that the ensemble mean parameter updating equations of the IIR adaptive algorithms can be represented by the associated ordinary differential equations (ODEs). In this paper a method of solving the ODEs in order to analyse the mean convergence behaviour of these filters, given the mean description of the input in the form of power spectral density is presented. Further, this procedure is applied to study the convergence behaviour of general IIR adaptive filters. Effectiveness of this method is shown through several analytical and simulation results obtained from two adaptive filtering examples. (C) 1997 Elsevier Science B.V. All rights reserved.

关键词： adaptive filter recursive algorithms ODE convergence parameter trajectory

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