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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Ahmad, Hamzah Namerikawa, Toru Division of Electrical Engineering and Computer Science Kanazawa University Kakuma Machi Kanazawa Ishikawa 920-1167 Japan Department of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan

ISBN: (纸本)9784907764296

KF-SLAM(Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H ∞ filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H∞ filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H∞ filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H ∞ filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H∞ filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM. © 2009 SICE.

关键词： Kalman filters

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Making applications more intelligent: A case study of optimizing route selection for emergency vehicles

Making applications more intelligent: A case study of optimi...

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Annual IEEE Symposium on computer-Based Medical systems

作者： Sandi Pohorec Mateja Verlic Milan Zorman Laboratory of system design Faculty of electrical engineering and computer science University of Maribor Slovenia

We present the results of a data mining research on the use of GPS positions and speed of travel of vehicles in urban areas to determine optimal travel routes for emergency vehicles. A new approach using predictive programming is presented. The approach focuses on using data mining of existing data as the key factor in the application logic where various decisions are to be made. The main appeal of such an approach is that the application logic evolves over time according to the application data. As the data changes the decisions soon follow. This gives the impression of intelligent behavior of the application.

关键词： Intelligent vehicles Global Positioning system Data mining Mobile handsets Poles and towers Logic programming Satellite navigation systems Roads Velocity measurement Earth

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Local search engine with global content based on domain specific knowledge

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WSEAS Transactions on Information Science and Applications 2009年第9期6卷 1544-1554页

作者： Pohorec, Sandi Verlič, Mateja Zorman, Milan Laboratory for System Design University of Maribor Faculty of Electrical Engineering and Computer Science Smetanova 17 2000 Maribor Slovenia

In the growing need for information we have come to rely on search engines. The use of large scale search engines, such as Google, is as common as surfing the World Wide Web. We are impressed with the capabilities of these search engines but still there is a need for improvment. A common problem with searching is the ambiguity of words. Their meaning often depends on the context in which they are used or varies across specific domains. To resolve this we propose a domain specific search engine that is globally oriented. We intend to provide content classification according to the target domain concepts, access to privileged information, personalization and custom ranking functions. Domain specific concepts have been formalized in the form of ontology. The paper describes our approach to a centralized search service for domain specific content. The approach uses automated indexing for various content sources that can be found in the form of a relational database, web service, web portal or page, various document formats and other structured or unstructured data. The gathered data is tagged with various approaches and classified against the domain classification. The indexed data is accessible through a highly optimized and personalized search service.

关键词： Search engines

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Impedance control for force - Reflecting teleoperation with communication delays based on IOS small gain theorem

Impedance control for force - Reflecting teleoperation with ...

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SICE Annual Conference

作者： Nam Duc Do Toru Namerikawa Division of Electrical Engineering and Computer Science Kanazawa University Japan Department of System Design Engineering Keio University Japan

This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact stability is achieved at the time while the slave robot contacts with the environment. In this work, the input-to-output stability (IOS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable (ISS). Several experimental results show the effectiveness of our proposed algorithm.

关键词： Force control Impedance Communication system control Delay Stability Proposals Control systems Reflection Time varying systems Communication channels

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Evaluating algorithms for the system state distribution of multi-state k-out-of-n:F system

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作者： Akiba, T. Yamamoto, H. Yamaguchi, T. Shingyochi, K. Tsujimura, Y. Yamagata College of Industry and Technology Information Management Engineering Yamagata Japan Faculty of System Design Tokyo Metropolitan University Tokyo Japan Faculty of Social Science and Computer Science Jumonji University Saitama Japan Department of Computer and Information Engineering Nippon Institute of Technology Saitama Japan

ISBN: (纸本)9780415485135

In traditional reliability theory, both the system and its components are allowed to take only two possible states: working or failed. On the other hand, in a multi-state system, both the system and the components are allowed to be in M + 1 states, i.e., 0 , 1 , 2 ,....M. A multi-state system reliability model provides more flexibility for the modeling of equipment conditions. In this study, we provide new recursive algorithm for evaluating the system state distribution of a generalized multi-state k-out-of-n:F system as applied to ideas of previous studies. This recursive algorithm is useful for any multi-state k-out-of-n:F system, including the decreasing, increasing and other non-monotonic multi-state k-out-of-n:F systems. We calculate and compare the order of computing time and memory capacity of our proposing algorithm with previous studies. © 2009 Taylor amp;Francis Group.

关键词： Reliability theory

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Battery-less electrostatic micro-power generator

Battery-less electrostatic micro-power generator

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Microsystems and Nanoelectronics Research Conference (MNRC)

作者： M.A.E. Mahmoud E.M. Abdel-Rahmany E.F. El-Saadany R.R. Mansour Electrical and Computer Engineering Department University of Waterloo ONT Canada System Design Engineering Department University of Waterloo ONT Canada

An electrostatic micro-power generator (MPG) designed to power wireless sensors is presented. The MPG does not need an initial charge source and produces 9µW using a 0.5g vibration source. The MPG is also characterized by wide energy collection band that can reach up to 10Hz. Optimization of a prototype shows the possibility of generating more than 190µW. A non-linear model for the proposed MPG is presented. The simulation results obtained from the model shows good agreement with the experimental results.

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A DLL-regulated SIMO power converter for DVS-enabled power-aware VLSI systems

A DLL-regulated SIMO power converter for DVS-enabled power-a...

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： Rajdeep Bondade Dongsheng Ma Integrated System Design Laboratory Department of Electrical & Computer Engineering University of Arizona Tucson Tucson AZ USA

A delay-locked loop (DLL) regulated single-inductor multiple-output (SIMO) power converter is presented. It takes advantage of the fast phase locking property of a DLL to identify the SIMO converter's regulation errors between the output voltages and their corresponding references. In response to these errors, an adaptive peak current modulation technique is proposed to adjust the instantaneous duty ratios, and thus minimize the regulation errors in the converter. The DLL acquires locking within 350 ns, allowing it to respond to load dynamics promptly, which is very desirable for DVS-enabled power-efficient VLSI systems. The system was designed and simulated in IBM 130-nm CMOS process. Fully transistor-based HSPICE simulations show that, with a 1.8 V nominal input supply, the converter precisely regulates two independent output voltages at 0.9 V and 1.5 V, respectively. It achieves the maximum efficiency of 87.2% at a total power of 104.8 mW and a switching frequency of 500 kHz.

关键词： Very large scale integration Pulse width modulation Error correction Voltage control Delay Inductors Integrated circuit noise DC-DC power converters Network-on-a-chip Power dissipation

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Identification of contact condition based on modal motion stiffness by bilateral motion control

Identification of contact condition based on modal motion st...

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Annual Conference of Industrial Electronics Society

作者： Tomoyuki Shimono Kouhei Ohnishi Division of Electrical and Computer Engineering Yokohama National University Yokohama Japan Department of System Design Engineering Keio University Yokohama Japan

This paper proposes a recognition method of contact condition based on the concept of modal motion stiffness in bilateral control system. The acceleration control-based bilateral control method with modal decomposition can divide complicated human motion into the independent motion elements. Since it can transmit vivid force sensation from the real environment, precise environmental information can be abstracted as well. This paper presents a novel concept of modal motion stiffness. The modal motion stiffness expresses stiffness in each independent motion element which is called as a mode. Then, the identification of contact constraint can be realized from the proposed modal motion stiffness. The experimental results are shown in this paper in order to confirm the validity of the proposed method.

关键词： Motion control Humans Haptic interfaces Matrix decomposition Control systems Discrete Fourier transforms Impedance Contacts design engineering Acceleration

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Modeling and Characterizing User Experience in a Cloud Server Based Mobile Gaming Approach

Modeling and Characterizing User Experience in a Cloud Serve...

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GLOBECOM 2009 - 2009 IEEE Global Telecommunications Conference

作者： Shaoxuan Wang Sujit Dey Mobile System Design Laboratory Department of Electrical and Computer Engineering University of California Los Angeles San Diego USA

With the evolution of mobile devices and networks, and the growing trend of mobile Internet access, rich, multi-player gaming using mobile devices, similar to PC-based Internet games, has tremendous potential and interest. However, the current client-server architecture for PC-based Internet games, where most of the storage and computational burden of the game lies with the client device, does not work with mobile devices, constraining mobile gaming to either downloadable, single player games, or very light non-interactive versions of the rich multi-player Internet games. In this paper, we study a cloud server based approach, termed Cloud Mobile Gaming (CMG), where the burden of executing the gaming engines is put on cloud servers, and the mobile devices just communicate the users' gaming commands to the servers. We analyze the factors affecting the quality of user experience using the CMG approach, including the game genres, video encoding factors, and the conditions of the wireless network. Based on the above analysis, we develop a model for Mobile Gaming User Experience (MGUE), and develop a prototype for real-time measurement of MGUE that can be used in real networks. We validate MGUE model using controlled subjective testing, and then use it to characterize user experience achievable using the CMG approach in wireless networks.

关键词： Clouds Web server Network servers IP networks Internet Mobile computing Wireless networks computer architecture Search engines Games

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H∞ filtering convergence and it's application to SLAM

H∞ filtering convergence and it's application to SLAM

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SICE Annual Conference

作者： Hamzah Ahmad Toru Namerikawa Division of Electrical Engineering and Computer Science Kanazawa University Kanazawa Ishikawa Japan Department of System Design Engineering Keio University Yokohama Japan

KF-SLAM (Kalman filter-SLAM) have been used as a popular solution by researchers in many SLAM application. Nevertheless, it shortcomings of assumption for Gaussian noise limited its efficiency and demand researcher to consider better filter and algorithm to achieve a promising result of estimation. In this paper, we proposed one of its family, the H infin filter-based SLAM to determine its competency for SLAM problem. Unlike Kalman filter, H infin filter able to work in an unknown statistical noise behavior and thus more robust. It rely on a guess that the noise is in bounded energy and does not require a priori knowledge about the system. Therefore, we proposed the H infin filter as other available technique to infer the location for both robot and landmarks while simultaneously building the map. From the results of simulation, H infin filter produces better outcome than the Kalman filter especially in the linear case estimation. As a result, H infin filter may provides another available estimation methods with the capability to ensure and improve estimation for the robotic mapping problem especially in SLAM.

关键词： Simultaneous localization and mapping Filters Application software Robots Convergence Electronic mail Gaussian noise Noise robustness Space exploration Performance analysis

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