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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Lui, Wen Lik Dennis Jarvis, Ray Monash Univ Dept Elect & Comp Syst Engn Intelligent Robot Res Ctr Clayton Vic 3800 Australia

ISBN: (纸本)9781424466757

This paper describes a topological SLAM system using a purely vision-based approach. This robot utilizes a GPU-based omnidirectional catadioptric stereovision system to perceive and plan its path in the environment. Subsequently, the omnidirectional images generated are used to incrementally build a database of image signatures based on the standard 2D Haar Wavelet decomposition. In order to maintain a globally consistent topological map, a relaxation algorithm, which requires local metric information between nodes, is employed each time the appearance-based localization system revisits an existing node in the topological map. The relative transformation of the current position of the robot with respect to the actual position of the matched node is recovered by using a least squares estimation of the transformation parameters of two 3D point patterns generated by the stereovision system. In addition, local metric information is obtained by using the proposed visual odometry system which combines distance measurements calculated by using optical flow techniques which estimates the movement of a web camera relative to the ground being observed and bearing estimates from the omnidirectional catadioptric vision system. Experiments were conducted in a variety of environments ranging from indoor to outdoor environments which demonstrate the feasibility of this approach.

关键词： GPU-based omnidirectional catadioptric stereovision system Haar transforms SLAM (robots) distance measurement distance measurements globally consistent topological map image sensors image sequences image signatures least squares approximations least squares estimation omnidirectional images optical flow techniques pure vision-based approach relaxation algorithm relaxation theory robot vision standard 2D Haar wavelet decomposition stereo image processing topological SLAM transformation parameters visual odometry wavelet transforms web camera

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Compressive Sensing MEMS FTIR Spectrometer 19

Compressive Sensing MEMS FTIR Spectrometer

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Conference on MOEMS and Miniaturized Systems XIX

作者： Hedayet, Karim S. Sabry, Yasser M. Khalil, Diaa Ain Shams Univ Fac Engn 1 Elsarayat St Cairo Egypt Si Ware Syst 3 Khalid Ibn Al Waleed St Cairo Egypt

ISBN: (纸本)9781510633506

Handheld spectrometers are gaining attention due to their growing market. The customers seek to analyze their own samples with good accuracy and reasonable cost. Therefore, the spectrometer manufacturers miniaturize their products and reduce their cost. However, this leads to decreased spectral resolution and optical throughput rendering the task of the identifying closely spaced spectral lines challenging. In this work, we report the application of the compressive sensing (CS) techniques on a MEMS Fourier Transform Infrared spectrometer, for the sake of resolution enhancement based on the spectrum sparsity. The spectrometer wavelength range is 1300-2500 nm while its core engine is a micro-machined scanning Michelson interferometer. The interferometer scanning mirror is driven by a MEMS electrostatic actuator with programmable travel range corresponding to two different resolutions of about 16 nm and 8 nm around 1550 nm. The CS algorithm is applied on filtered white light around a wavelength of 2000 nm fed to the spectrometer using multimode optical fiber and is found to enhance the resolving power down to 3 nm starting from the 22 nm resolution. Then the algorithm is applied on larger number of lines by superposing the spectral lines of a tuneable laser source around 1550 nm. The spacing between the spectral lines is varied and the reconstructed spectra by direct FFT and using the CS technique are compared. The CS technique shows overall better spectral resolution the efficiency of the technique is found to deteriorate as the number of spectral lines increases.

关键词： Compressive Sensing MEMS FTIR Spectrometers super resolution greedy algorithm relaxation algorithm

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Optimizing Control by Robustly Feasible Model Predictive Control and Application to Drinking Water Distribution Systems

Optimizing Control by Robustly Feasible Model Predictive Con...

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19th International Conference on Artificial Neural Networks (ICANN 2009)

作者： Tran, Vu Nam Brdys, Mietek A. Univ Birmingham Coll Engn & Phys Sci Dept Elect Elect & Comp Engn Birmingham B15 2TT W Midlands England

ISBN: (纸本)9783642042768

The paper consider optimizing Model Predictive Control (MPC) for nonlinear plants with output constraints under uncertainties. Although the MPC technology can handle the constraint in the model by solving constraint model based optimization task, satisfying the plant output constraints still remains a challenge. The paper proposes Robustly Feasible MPC (REMPC), which achieves feasibility of the outputs in the controlled plant. Hie RFMPC is applied to control quantity which is illustrated by application to a Drinking Water Distribution Systems (DWDS) example.

关键词： predictive control robust feasibility genetic algorithms robust output prediction optimization relaxation algorithm drinking water distribution systems

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Thermo-piezoelectric finite element modeling for piezoelectric transformers

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JAPANESE JOURNAL OF APPLIED PHYSICS 2008年第4期47卷 2182-2188页

作者： Yang, Yao-Joe Chen, Chien-Cheng Kuo, Chi-Wei Lee, Chih-Kung Natl Taiwan Univ Dept Mech Engn Taipei 106 Taiwan Natl Taiwan Univ Inst Appl Mech Taipei 106 Taiwan

In this paper, we present the development of an efficient three-dimensional finite-element tool, NTUPZE-T, for analyzing the thermal effect of piezoelectric transformers. The tool combines a finite-element piezoelectric solver and a finite-element thermal solver to estimate the temperature distribution during device operation. Device dissipation energy was calculated by considering internal damping effects. This energy is considered as the heat source of the heat transfer equation for estimating the device temperature distribution. Since the material properties of piezoelectric materials are dependent on temperature, a self-consistent thermo-piezoelectric analysis procedure using the relaxation algorithm is proposed. The modeling results of a Rosen-modal-type piezoelectric transformer under different operating frequencies and electrical loads are presented. The experimental setup for measuring the device electrical performance and temperature distribution is described. Simulated voltage gains, phase differences, efficiencies, as well as temperature distributions are also validated with experimental results.

关键词： piezoelectric transformer finite element method thermo-piezoelectric effect relaxation algorithm

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Variation-based approach to image segmentation

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Science in China(Series F) 2001年第4期44卷 259-269页

作者：张永平郑南宁赵荣椿 DepartmentofMathematics ShaanxiNormalUniversityXi'an710062China TheInstituteofArtificialIntelligenceandRobotics Xi'anJiaotongUniversityXi'an710049China DepartmentofComputerScience NorthwestPolytechnicUniversity.Xi'an710072China

A new approach to image segmentation is presented using a variation framework. Re-garding the edge points as interpolating points and minimizing an energy functional to interpolate a smooth threshold surface it carries out the image segmentation. In order to preserve the edge informa-tion of the original image in the threshold surface, without unduly sharping the edge of the image, a non-convex energy functional is adopted. A relaxation algorithm with the property of global conver-gence, for solving the optimization problem, is proposed by introducing a binary energy. As a result the non-convex optimization problem is transformed into a series of convex optimization problems, and the problem of slow convergence or nonconvergence is solved. The presented method is also tested experimentally. Finally the method of determining the parameters in optimizing is also explored.

关键词： image segmentation variation optimization relaxation algorithm global convergence.

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ESTIMATION OF AN N-L-N HAMMERSTEIN-WIENER MODEL

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IFAC Proceedings Volumes 2002年第1期35卷 247-252页

作者： Yucai Zhu Section CS Faculty of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands Also with: Tai-Ji Control The Netherlands y.zhu@tip.nl

Estimation of a single-input single-output block-oriented model is studied. The model consists of a linear block embedded between two static nonlinear gains. Hence it is called N-L-N Hammerstein-Wiener model. First the model structure is motivated and the disturbance model is discussed. The paper then concentrates on parameter estimation. A relaxation iteration scheme is proposed by making use of a model structure in which the error is bilinear-in-parameters. This leads to a simple algorithm which minimizes the original loss function. The convergence and consistency of the algorithm are studied. In order to reduce the variance error, the obtained linear model is further reduced using frequency weighted model reduction. Simulation study will be used to illustrate the method.

关键词： Identification nonlinear process block-oriented model parameter estimation relaxation algorithm

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Nonlinear model identification using working point variables

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IFAC Proceedings Volumes 2003年第16期36卷 1291-1296页

作者： Yucai Zhu Section CS Faculty of Electrical Engineering Eindhoven University of Technology P.O. Box 513 5600 MB Eindhoven The Netherlands Tel. +31.40.2473246 Tai-Ji Control Grensheuvel 10 5685 AG Best The Netherlands

The identification of dynamic models with nonlinear gains is studied. The nonlinear gain is modelled as a function of so-called working-point variable (WPY). The working-point variable is introduced to represent the changes of process operation range. Parameter estimation is solved for the models. A relaxation iteration scheme is used to estimate the initial high order model and then a model reduction is used to obtain the reduced model. The convergence and consistency of the method are studied. Simulation study will he used to illustrate the estimation method.

关键词： Identification nonlinear models working-point variable (WPV) parameter estimation relaxation algorithm

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Recognition of Traditional Chinese Medicine Sphygmograms Using the System Identification Approach

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IFAC Proceedings Volumes 1982年第4期15卷 1223-1228页

作者： Z.-F. Zhang R.-J. Ma Y.-J. Feng Department of Automatic Control Beijing Institute of Technology Beijing China

Picking up the characteristic values of traditional Chinese medicine sphygmograms using the system identification approach is considered in this paper. The successive approximation method to determine the pulse graph's estimated parameters, similar to the relaxation algorithm, is investigated. Several typical pulses, the chronic nephritis and acute urethritis abnormal pulse graph before and after cure, some cases of the finger plethysmograms of the healthy and the hyper-tensive before and after exercise, as well as the sphygmograms of about 50 pregnant women, are given. These results indicate, that by identifying the pulse's type, diagnosing a disease and forecasting a fetus sex is possible.

关键词： Identification linear system relaxation algorithm parameter estimation biomedical modelling data processing

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A SELF-ADAPTIVE ARMIJO-LIKE STEP SIZE METHOD FOR SOLVING MONOTONE VARIATIONAL INEQUALITY PROBLEMS IN HILBERT SPACES

JOURNAL OF NONLINEAR FUNCTIONAL ANALYSIS

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JOURNAL OF NONLINEAR FUNCTIONAL ANALYSIS 2019年 2019卷

作者： Tian, Ming Tong, Mengying Civil Aviat Univ China Tianjin Key Lab Adv Signal Proc Tianjin 300300 Peoples R China

In this paper, we study the weak and the strong convergence of a self-adaptive Armijo-like step size method for solving variational inequality problems with monotone and Lipschitz continuous mappings in a real Hilbert space. We combine Tseng's extragradient method with relaxation algorithm and Yamada's algorithm, respectively. It is worth emphasizing that our algorithm do not need to know the Lipschitz constant of the Lipschitz continuous mapping. We also give numerical examples to illustrate our main results.

关键词： Extragradient method Tseng's extragradient method Yamada algorithm relaxation algorithm Self-adaptive Armijo-like step size method

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EXPERIMENTS WITH SOME algorithmS THAT FIND CENTRAL SOLUTIONS FOR PATTERN-CLASSIFICATION

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COMMUNICATIONS OF THE ACM 1979年第3期22卷 178-183页

作者： SLAGLE, J Naval Research Lab. Washington DC

In two-class pattern recognition, it is a standard technique to have an algorithm finding hyperplanes which separates the two classes in a linearly separable training set. The traditional methods find a hyperplane which separates all points in one class from all points in the other, but such a hyperplane is not necessarily centered in the empty space between the two classes. Since a central hyperplane does not favor one class or the other, it should have a lower error rate in classifying new points and is therefore better than a noncentral hyperplane. Six algorithms for finding central hyperplanes are tested on three data sets. Although frequently used in practice, the modified relaxation algorithm is very poor. Three algorithms which are defined in the paper are found to be quite good. [ABSTRACT FROM AUTHOR]

关键词： accelerated relaxation centering central hyperplanes centrality criteria dead zone hyperplane linear discriminants linearly separable pattern classification pattern recognition relaxation algorithm

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