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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering University of Tehran Iran

In this paper we study learning in cooperative object pushing systems. The proposed approach is based on the idea of learning individual skills and then mapping the required cooperative behaviors on the learned skills. The control point for each individual robot is chosen so as to simplify the design of the reinforcement signal and reduce the role of delayed reward on individual learning in addition to make cooperative protocol simpler. A fuzzy Q-learning system for learning individual object pushing is proposed, together with a method for coordination among the robots to push the object cooperatively. The coordination method takes into account the dynamics of the object and the learned individual skills. The idea of the coordination protocol is based on the notion of ability and active regions defined in this paper. In effect, the cooperation protocol is mapped to a Q-value based policy. Simulation results supportively show that the robots learn individual and cooperative object pushing efficiently

关键词： Protocols Robot kinematics Intelligent robots Fuzzy systems Learning Friction control systems Artificial intelligence Robot control Fuzzy control

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Unconditionally secure key distillation from multiphotons

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Physical Review A 2006年第1期73卷 010302(R)-010302(R)页

作者： Kiyoshi Tamaki Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto Ontario Canada M5S 3G4

In this paper, we prove that the unconditionally secure key can be surprisingly extracted from multiphoton emission part in the photon polarization-based quantum key distribution. One example is shown by explicitly proving that one can indeed generate an unconditionally secure key from Alice’s two-photon emission part proposed by Scarani [ et al. Phys. Rev. Lett. 92, 057901 (2004)]. Which is called the Scarani-Acin-Ribordy-Gisin (SARG04) protocol. This protocol uses the same four states as in Bennett-Brassard 1984 (BB84) and differs only in the classical postprocessing protocol. It is, thus, interesting to see how the classical postprocessing of quantum key distribution might qualitatively change its security. We also show that one can generate an unconditionally secure key from the single to the four-photon part in a generalized SARG04 protocol that uses six states. Finally, we also compare the bit error rate threshold of these protocols with the one in the BB84 protocol and the original six-state protocol assuming a depolarizing channel.

关键词： QUANTUM ERROR-CORRECTION DISTRIBUTION PROTOCOL CRYPTOGRAPHY STATES PROOF

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

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IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control Robotics and automation Intelligent robots Signal design Mechatronics Process control Intelligent control

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Design and simulation of an adaptive load shedding algorithm using a real network

Design and simulation of an adaptive load shedding algorithm...

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IEEE Power India Conference

作者： H. Seyedi M. Sanaye-Pasand M.R. Dadashzadeh School of Electrical and Computer Engineering University of Tehran Iran Control and Intelligent Processing Center of Excellence University of Tehran Iran Department of Electrical Engineering University of Western Ontario Canada

ISBN: (纸本)0780395255

In this paper a new adaptive under frequency load shedding algorithm is designed. The purpose of this method is to enhance the adaptability of under frequency relays and increase the security of power system during large disturbances. A suitable method to design the proposed adaptive under frequency load shedding scheme is described in detail. After completing the design, it is tested on a real power system by modeling the network in a power system studies software. Simulation results indicate that the proposed method has an improved performance for large disturbances while its response is similar to the conventional scheme for small disturbances

关键词： Algorithm design and analysis Power system simulation Power system relaying Power system security Power system modeling Frequency Design methodology Software testing System testing Software systems

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Anti-windup control for an air-breathing hypersonic vehicle model

Anti-windup control for an air-breathing hypersonic vehicle ...

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AIAA Guidance, Navigation, and control Conference 2006

作者： Groves, Kevin P. Serrani, Andrea Yurkovich, Stephen Bolender, Michael A. Doman, David B. Collaborative Center of Control Science Ohio State University Columbus OH 43210 United States Air Force Research Laboratory Wright-Patterson AFB OH 45433 United States Harris Corporation FL United States Department of Electrical and Computer Engineering 2015 Neil Ave. AIAA United States Department of Electrical and Computer Engineering 2015 Neil Ave. Columbus OH United States AFRL/VACA 2210 Eighth St. United States

ISBN: (纸本)1563478196

An anti-windup controller modification is implemented in control system design for a model of the longitudinal dynamics of an air-breathing hypersonic vehicle. Anti-windup control allows the input constraints to be considered explicitly in the design of linear controllers to track a reference trajectory for the vehicle velocity, altitude, and angle of attack. The presence of anti-windup alleviates the need of keeping large penalties on the magnitude of the control input to avoid the occurrence of saturation. This, in turn, allows tighter tuning of the controller gains to obtain faster and more accurate trajectory tracking. The paper employs recent developments in anti-windup design to deal with the presence of exponentially unstable dynamics, which are typically encountered in air-breathing vehicle models. Simulation results on a fully nonlinear model are presented to validate the controller design. Copyright © 2006 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Hypersonic aerodynamics

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Security proof of a three-state quantum-key-distribution protocol without rotational symmetry

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Physical Review A 2006年第4期74卷 042342-042342页

作者： Chi-Hang Fred Fung Hoi-Kwong Lo Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering University of Toronto Toronto Ont. M5S 3G4 Canada

Standard security proofs of quantum-key-distribution (QKD) protocols often rely on symmetry arguments. In this paper, we prove the security of a three-state protocol that does not possess rotational symmetry. The three-state QKD protocol we consider involves three qubit states, where the first two states ∣0z⟩ and ∣1z⟩ can contribute to key generation, and the third state ∣+⟩=(∣0z⟩+∣1z⟩)∕2 is for channel estimation. This protocol has been proposed and implemented experimentally in some frequency-based QKD systems where the three states can be prepared easily. Thus, by founding on the security of this three-state protocol, we prove that these QKD schemes are, in fact, unconditionally secure against any attacks allowed by quantum mechanics. The main task in our proof is to upper bound the phase error rate of the qubits given the bit error rates observed. Unconditional security can then be proved not only for the ideal case of a single-photon source and perfect detectors, but also for the realistic case of a phase-randomized weak coherent light source and imperfect threshold detectors. Our result in the phase error rate upper bound is independent of the loss in the channel. Also, we compare the three-state protocol with the Bennett-Brassard 1984 (BB84) protocol. For the single-photon source case, our result proves that the BB84 protocol strictly tolerates a higher quantum bit error rate than the three-state protocol, while for the coherent-source case, the BB84 protocol achieves a higher key generation rate and secure distance than the three-state protocol when a decoy-state method is used.

关键词： UNCONDITIONAL SECURITY CRYPTOGRAPHY

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Multi-Innovation Stochastic Gradient Identification Methods

Multi-Innovation Stochastic Gradient Identification Methods

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World Congress on Intelligent control and Automation (WCICA)

作者： Feng Ding Tongwen Chen Control Science and Engineering Research Center Southern Yangtze University Wuxi Jiangsu China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

The stochastic gradient (SG) identification algorithm has a poor convergence rate. We extend the SG algorithm from the viewpoint of innovation modification and present multi-innovation stochastic gradient (MISG) identification algorithms. Since the multi-innovation stochastic gradient algorithms use not only the current data but also the past data at each iteration, parameter estimation accuracy can be improved. Further, we study the performance of the SG and MISG algorithms and show that the MISG algorithms have faster convergence rates and better tracking performance than their corresponding SG algorithms by simulation results

关键词： Stochastic processes Convergence Parameter estimation Eigenvalues and eigenfunctions Stochastic systems Technological innovation Gradient methods Linear regression Vectors Stochastic resonance

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Using novel MEMS EEG sensors in detecting drowsiness application

Using novel MEMS EEG sensors in detecting drowsiness applica...

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IEEE 2006 Biomedical Circuits and Systems Conference Healthcare Technology, BioCAS 2006

作者： Chiou, Jin-Chern Ko, Li-Wei Lin, Chin-Teng Hong, Chao-Ting Jung, Tzyy-Ping Liang, Sheng-Fu Jeng, Jong-Liang Department of Electrical and Control Engineering National Chiao-Tung University Hsin-Chu Taiwan Brain Research Center National Chiao-Tung University Hsin-Chu Taiwan Institute for Neural Computation University of California San Diego San Diego CA United States Department of Biological Science and Technology National Chiao-Tung University Hsin-Chu Taiwan

ISBN: (纸本)1424404371

Electroencephalographic (EEG) analysis has been widely adopted for the monitoring of cognitive state changes and sleep stages because abundant information in EEG recording reflects changes in drowsiness, arousal, sleep, and attention, etc. In this study, Micro-Electro-Mechanical Systems (MEMS) based silicon spiked electrode array, namely dry electrodes, are fabricated and characterized to bring EEG monitoring to the operational workplaces without requiring conductive paste or scalp preparation. An isotropic/anisotropic reactive ion etching with inductive coupled plasma (RIE-ICP) micromachining fabrication process was developed to manufacture the needle-like micro probes to pierce the stratum corneum of skin and obtain superior electrically conducting characteristics. This article reports a series of prosperity testing and evaluations of continuous EEG recordings. Our results suggest that the dry electrodes have advantages in electrode-skin interface impedance, signal intensity and size over the conventional (wet) electrodes. In addition, we also developed an EEG-based drowsiness estimation system that consists of the dry-electrode array, power spectrum estimation, Principal Component Analysis (PCA)-based EEG signal analysis, and multivariate linear regression to estimate driver's drowsiness level in a virtual-reality-based dynamic driving simulator to demonstrate the potential applications of the MEMS electrodes in operational environments. ©2006 IEEE.

关键词： Electrodes

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Maintaining limited-range connectivity among second-order agents

Maintaining limited-range connectivity among second-order ag...

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American control Conference (ACC)

作者： G. Notarstefano K. Savla F. Bullo A. Jadbabaie Department of Information Engineering Università di Padova Padova Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

In this paper we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are: (i) do there exist control inputs for each agent to maintain network connectivity, and (ii) given desired controls for each agent, can one compute the closest connectivity-maintaining controls in a distributed fashion. The proposed solution is based on three contributions. First, we define and characterize admissible sets for double integrators to remain inside disks. Second, we establish an existence theorem for the connectivity maintenance problem by introducing a novel state-dependent graph, called the double-integrator disk graph. Finally, we design a distributed "flow-control" algorithm to compute optimal connectivity-maintaining controls

关键词： Communication system control control systems Optimal control Ad hoc networks Robot kinematics Distributed computing Autonomous agents Design engineering computer networks Distributed control

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Multiscale Face Detection: A New Approach to Robust Face Detection

Multiscale Face Detection: A New Approach to Robust Face Det...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： M. Aghagolzadeh H. Soltanian-Zadeh B.N. Araabi Department of Electrical and Computer Engineering University of Tehran Tehran Iran Radiologyimageanalaysis laboratory Henry Ford Health System Detroit MI USA Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

This paper presents a novel method for detecting multiple frontal faces in still images using multi-scale processing. The main characteristic of this algorithm is its stability in detecting faces with seldom false detections and a high correct detection rate. The novelty of this work comes from the utilization of multiscale detection and using two classifiers to reduce false detections. The algorithm generally has two stages: in the first stage, a face is detected in a unique scale and in the second stage, only the faces that are located in the neighbor scales are accepted as real faces. Consequently, a still image is first resized and scanned block wise, and then each enhanced block is tested for being face. One dimensional Harr wavelet is used for feature extraction, which gives appropriate discriminating features between the face and nonface classes. Detection results at each scale are accumulated in an internal database, so the ultimate detection is prepared based on the mutual detection information between consequent scales. To parameterize both the Bayesian and the simple proposed classifier, 2,643 faces were congregated from famous face databases and more than 10,000 non-face samples were selected from nature images. Experimental results using images gathered from known databases like MIT-CMU show great ability of the proposed algorithm in detecting faces.

关键词： Face detection Robustness Image databases Bayesian methods Humans Application software Stability Feature extraction Spatial databases computer vision

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