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An FPGA-based voice signal preprocessor for the real-time cross-correlation

An FPGA-based voice signal preprocessor for the real-time cr...

引用

International Conference on Control, automation and Systems ( ICCAS)

作者： Seung Hun Jin Jung Uk Cho Dae Ro Lee Jong Hyun Park Hyung Soon Kim Chang Hoon Lee Jong Suk Choi Jae Wook Jeon School of Information and Communication Engineering Sung Kyun Kwan University Suwon South Korea School of Electronic Electrical and Communication Engineering Pusan University busan South Korea Department of Electronic Engineering Pai Chai University Daejeon South Korea Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea

In this paper, we present an FPGA-based real-time voice signal preprocessing system that can compute the cross-correlation of the voice signals from number of microphones. Each cross-correlation is calculated using voice signals captured within 200 ms which has 10 ms shifting window. The sampling frequency of the proposed system is 48 KHz and the resolution of each sample is 16 bits. The entire algorithm is implemented in hardware based on FPGA and runs in real-time.

关键词： Signal processing Real time systems Frequency Electronic mail Microphones Signal resolution Hardware Field programmable gate arrays Data mining Data processing

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On Dynamic Diffeomorphism for Feedback Linearizable Uncertain Systems

On Dynamic Diffeomorphism for Feedback Linearizable Uncertai...

引用

SICE Annual Conference

作者： Ho-lim Choi Min-sung Koo Jong-tae Lim Intelligent Robotics Research Center Korea Institute of Science and Technology Seongbuk-gu Seoul Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology Yuseong-gu Daejeon Korea

A systematic procedure is presented to develop a new adaptive control scheme for a class of uncertain nonlinear systems to achieve asymptotic state regulation. Our new approach is to add an integrator-type function to a diffeomorphism to deal with parametric uncertainty in the system. Our approach does not explicitly require some existing geometrically restrictive conditions such as the triangularity, feedforward, or the parametric-strict-feedback conditions, etc

关键词： Uncertain systems Nonlinear systems Control systems Backstepping Adaptive control Uncertainty State feedback Nonlinear control systems Robustness Robots

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Scalable temporal interest points for abstraction and classification of video events

Scalable temporal interest points for abstraction and classi...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Seung-Hoon Han ln-So Kweon Digital Media R&D Center Samsung Electronics Company Limited South Korea Robotics and Computer Vision Laboratory Division of Electrical Engineering Department of EECS Korea Advanced Institute of Science and Technology South Korea

The image sequence of a static scene includes similar or redundant information over time. Hence, motion-discontinuous instants can efficiently characterize a video shot or event. However, such instants (key frames) are differently identified according to the change of velocity and acceleration of motion, and such scales of change might be different on each sequence of the same event. In this paper, we present a scalable video abstraction in which the key frames are obtained by the maximum curvature of camera motion at each temporal scale. The scalability means dealing with the velocity and acceleration change of motion. In the temporal neighborhood determined by the scale, the scene features (motion, color, and edge) can be used to index and classify the video events. Therefore, those key frames provide temporal interest points (TIPs) for the abstraction and classification of video events.

关键词： Layout Acceleration Cameras Humans Research and development Robot vision systems Computer vision Laboratories Image sequences Scalability

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Modeling of human driving behavior based on piecewise linear model

Modeling of human driving behavior based on piecewise linear...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Jong-Hae Kim S. Okuma Young-Woo Kim Don-Ha Hwang Min-Huei Kim Dong-Hee Kim Department of Electrical Engineering and Computer Science Graduate School of Engineering University of Nagoya Japan Space Robotics Research Center Toyota Technological Institute Nagoya Japan Industry Applications Research Laboratory Korea Electrotechnology Research Institute Changwon South Korea Department of Electrical & Automation Engineering Yeungnam College of Science and Technology Daegu South Korea Department of Electrical Engineering Yeungnam University Kyungbuk South Korea

This paper presents the development of the modeling strategy of the human driving behavior based on the expression as Piecewise Linear (PWL) model focusing on the driver’s stopping maneuver. The driving data are collected by using the three-dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. In our modeling, the relationship between the driver’s sensory information and the operation of the driver such as braking amount is expressed by PWL model, which is a class of Hybrid Dynamical System (HDS). The identification problem for the PWL model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control low’ according to the sensory information. These results enable us to capture not only the physical meaning of the driving skill, but also the decision-making aspect (switching conditions) in the driver’s stopping maneuver.

关键词： Humans Piecewise linear techniques Hidden Markov models Decision making Computer science Space technology robotics and automation Switches Automatic control Service robots

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Tele-coordinated control of multi-robot systems via the Internet

Tele-coordinated control of multi-robot systems via the Inte...

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IEEE International Conference on robotics and automation (ICRA)

作者： I. Elhajj Chow Man Kit Yun Hui Liu Ning Xi A. Goradia T. Fukuda Department of Computer Science and Engineering Oakland University Rochester MI USA Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Automation & Computer-Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Center for Cooperative Researchin Advanced Science & Technology University of Nagoya Nagoya Japan

The coordination of multi-robots is required in many scenarios for efficiency and task completion. Combined with teleoperation capabilities, coordinating robots provide a powerful tool. Add to this the Internet and now it is possible for multi-experts at multi-remote sites to control multi-robots in a coordinated fashion. For this to be feasible there are several hurdles to be crossed including Internet type delays, uncertainties in the environment and uncertainties in the object manipulated. In addition, there is a need to measure and control the quality of tele-coordination. This paper proposes a measure for the quality of tele-coordination, referred to as the coordination index, and details the design procedure that ensures a system performs at a required index. The theory developed was tested by bilaterally tele-coordinating two mobile manipulators via the Internet. The experimental results confirmed the theory presented.

关键词： Control systems Multirobot systems Internet Robot kinematics Centralized control robotics and automation Manipulators Delay effects Automatic control Computer science

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Properties of one-step prediction observers (identifiers) for system parameter identification 6

Properties of one-step prediction observers (identifiers) fo...

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6th International Conference on Signal Processing, ICSP 2002

作者： Loh, Robert N. K. Lu, Manxue Department of Electrical and Systems Engineering Center for Robotics and Advanced Automation Oakland University RochesterMI48309 United States

A unifying one-step prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes will be developed. Four specific algorithms can be derived from ... 详细信息

ISBN: (纸本)0780374886

关键词： Parameter estimation

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Properties of one-step prediction observers (identifiers) for system parameter identification

Properties of one-step prediction observers (identifiers) fo...

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International Conference on Signal Processing Proceedings (ICSP)

作者： R.N.K. Loh Manxue Lu Center for Robotics and Advanced Automation Department of electrical and Systems engineering Oakland University Rochester MI USA

A unifying one-step prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes is developed. Four specific algorithms can be derived from the u... 详细信息

关键词： Parameter estimation Filters robotics and automation Systems engineering and theory Prediction algorithms Modeling Equations Sampling methods Projection algorithms Noise measurement

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Properties of One-Step Prediction Observers (Identifiers) for System Parameter Identification

Properties of One-Step Prediction Observers (Identifiers) fo...

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2002年第6届信号处理国际会议

作者： Robert N.K.Loh Center for Robotics and Advanced Automation Department of electrical and Systems engineerieng Oakland University Rochester Michigan 48309 USA

关键词： Section Identifiers Properties of One-Step Prediction Observers for System Parameter Identification

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Design of one-step-ahead prediction observers for system parameter identification

Design of one-step-ahead prediction observers for system par...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： R.N.K. Loh M. Lu School of Electrical and Electronic Engineering Nanyang Technological University Singapore Center for Robotics and Advanced Automation Department of Electrical and Systems Engineering Oakland University Rochester MI USA

A unifying one-step-ahead prediction observer (identifier) for system parameter estimation or identification of autoregressive moving average (ARMA) processes has been developed. Four specific algorithms can be derive... 详细信息

关键词： Parameter estimation Filters Time measurement robotics and automation Systems engineering and theory Erbium State estimation Current measurement Prediction algorithms Equations

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A new exoskeleton-type masterarm with force reflection based on the torque sensor beam

A new exoskeleton-type masterarm with force reflection based...

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IEEE International Conference on robotics and automation (ICRA)

作者： Yoon Sang Kim Sooyong Lee Changhyun Cho Munsang Kim Chong-Won Lee Department of Electrical Engineering University of Washington Seattle WA USA Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Texas A and M University College Station TX USA

ISBN: (纸本)0780365763

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in the paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator's arm precisely, and its can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

关键词： Force sensors Optical reflection Torque Humans Service robots Kinematics Shoulder Wrist Elbow Capacitive sensors

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