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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Miyakoshi M. Yamakita K. Furuta Department of Systems Science Tokyo Institute of Technology Okayama Tokyo Japan Department of Information and Computer Sciences Toyohashi University of Technology Toyohashi Japan Department of Control and Systems Engineering Tokyo Institute of Technology Okayama Tokyo Japan

In this paper we discuss pattern generations and switching for robot manipulators to perform tasks under qualitative changes of the dynamic environment. The approach is to compose continuous type artificial neural elements as an oscillator based on mutual entrainment and generate trajectories for the manipulators. Using the neural oscillator, juggling control of manipulators is considered as a concrete task, and a method to alternate patterns of the trajectories according to the change of the desired value and environment is proposed. Some numerical examples show the efficiency of the proposed method.< >

关键词： Oscillators Legged locomotion Manipulator dynamics control systems Kinetic energy Service robots Nonlinear equations Switches Robotics and automation systems engineering and theory

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Stochastic interpretation of H/sub /spl infin// and robust estimation

Stochastic interpretation of H/sub /spl infin// and robust e...

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IEEE Conference on Decision and control

作者： R.S. Mangoubi B.D. Appleby G.C. Verghese Control and Decision Systems Division C. S. Draper Laboratory and Aeronautics and Astronautics Control and Decision Systems Division C. S. Draper Laboratory Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology USA

H/sub /spl infin// and robust estimation methods are discussed from a deterministic as well as a stochastic point of view. The relationship between H/sub /spl infin// and risk sensitivity for systems with known plant dynamics is reviewed. This relationship is extended to the more general case of estimators that are robust to noise and plant model uncertainties. Specifically, it is shown that a stochastic equivalent to the robust H/sub /spl infin// estimator exists. An example is used to compare the estimators in the deterministic sense, using the frequency response of the transfer function between the inputs and the error, as well as in the stochastic sense, using the probability density function of the output error residual.< >

关键词： Stochastic processes Robustness Estimation error Aerodynamics State estimation Extraterrestrial measurements Noise measurement Minimax techniques Riccati equations Stochastic systems

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Using Laplace transforms to compute performance of mobile radio links

Using Laplace transforms to compute performance of mobile ra...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： R.F. Diesta J.-P.M.G. Linnartz Department of Electrical Engineering and Computer Sciences Cory Hall University of California Berkeley CA USA Telecommunications and Traffic Control Systems Delft University of Technnology Delft Netherlands

This paper reviews progress in developing a mathematical framework to evaluate the performance of mobile radio links. It takes into account multi-ray multipath fading with Rician or Nakagami probability density, lognormal shadowing and path loss of wanted and interfering transmitters, additive white Gaussian noise, man-made burst noise and discontinuous transmission. The method uses Laplace transforms of the PDF of the power of each interfering signal. This method is computationally efficient and allows inclusion of a wide range of link aspects. We also show that, in contrast to common belief, it is not realistic to approximate the Rician fading of the wanted signal by a Nakagami model. New results are given for microcells along highways.

关键词： Land mobile radio Rician channels Additive white noise Fading Shadow mapping Propagation losses Radio transmitters Gaussian noise Microcell networks Road transportation

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Packet-switched cellular communication architecture for IVHS using a single radio channel

Packet-switched cellular communication architecture for IVHS...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： J.-P.M.G. Linnartz Telecommunication&Traffic Control Systems Delft University슠of슠Technology Delft Netherlands Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

This paper proposes a radio architecture that offers two-way transmission services essential to intelligent vehicle highway systems (IVHS) using only a single (30 kHz) radio channel. Within this bandwidth multiple communication services can be supported, including datacasting, packet switched transmission to and from vehicles, collection of traffic data from probe vehicles and transmission of emergency messages. The design is based on theoretical investigations reported at PIMRC '93 and VTC '94 on packet-switched downlink transmissions and ALOHA random access for traffic reports from probe vehicles, respectively. These analyses revealed that contiguous frequency reuse gives optimum packet delay and highest spectrum efficiency. New results are included for datacasting messages to groups of vehicles.

关键词： Data communication Broadcasting Probes Intelligent vehicles Road transportation Bandwidth Packet switching Communication switching Downlink Frequency

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H/sub /spl infin// control and estimation problems with delayed measurements: state space solutions

H/sub /spl infin// control and estimation problems with dela...

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American control Conference (ACC)

作者： K.M. Nagpal R. Ravi Electrical & Computer Engineering Department University of Iowa Iowa IA USA GE Cor rate Research & Development Control Systems and Electronic Technologies Laboratory Schenectady NY USA

Necessary and sufficient conditions for existence of estimators and controllers meeting desired H/sub /spl infin// performance criterion are given for the case where the finite sensor delays exist. A complete characterization of such controllers is also presented. The necessary and sufficient conditions are computable and are framed in terms of two algebraic Riccati equations and one finite-horizon Riccati differential equation. The controllers and estimators that are obtained here have a linear periodic structure and are easily implementable. At the foundation of these results lies a modified Nehari problem, the state space solution for which may be of independent interest.

关键词： Delay estimation State estimation State-space methods Riccati equations Sufficient conditions Differential equations control systems Sensor phenomena and characterization Differential algebraic equations Periodic structures

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Fuzzy sequential circuit based on weight-added fuzzy flip-flop

Fuzzy sequential circuit based on weight-added fuzzy flip-fl...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： N. Ikoma K. Ozawa K. Hirota W. Pedrycz Department of Statistical Mathematics. Graduate University Tokyo Japan Faculty of Economics HOSEI University Machida Tokyo Japan Department of Systems Control Engineering College of Engineering. HOSEI University Koganei Tokyo Japan Department of Electrical and Computer Engineering University of Manitoba Winnipeg Canada

The fuzzy sequential circuit and its learning algorithm are proposed. The circuit consists of the weight-added fuzzy flip-flops. The weight-added fuzzy flip-flop is constructed by weight-added AND/OR elements. To illustrate the modeling process of the fuzzy sequential circuit, the circuit is applied to part of a small economic model. In this example, each economical variable corresponds to the weight-added fuzzy flip-flop identically, and the relationships of cause and effect are realized by supplementary using of the ordinary AND/OR elements. The topology of fuzzy sequential circuit is defined by the relationships of cause and effect. The weight parameters of each weight-added fuzzy flip-flop are estimated by the learning algorithm proposed.< >

关键词： Sequential circuits Flip-flops Fuzzy control Fuzzy systems Mathematical model Biological system modeling Difference equations Feedback control Adders Fuzzy logic

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ERROR PERFORMANCE OF SYNCHRONOUS MULTIUSER CODE-DIVISION MULTIPLE-ACCESS DETECTOR WITH MULTIDIMENSIONAL ADAPTIVE CANCELER

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EUROPEAN TRANSACTIONS ON TELECOMMUNICATIONS 1994年第6期5卷 719-724页

作者： SIVESKI, Z BARNESS, Y CHEN, DW Center for Communications and Signal Processing Electrical and Computer Engineering Department New Jersey Institute of Technology University Heights Newark NJ 07102 - USA Was on sabbatical with Delft University of Technology Faculty of Electrical Engineering Telecommunications and Traffic-Control Systems Group Delft - The Netherlands.

A code division multiple access detector that employs a combination of a decorrelator and a multidimensional interference canceler is considered. The weights of the canceler are adaptively controlled using a steepest descent algorithm. The probability of error is evaluated and compared to those of the decorrelating detector and a similar, fixed-weights scheme that requires an estimation of received signal energies. It is shown that the proposed two-stage detector provides substantial improvement over the decorrelating detector, particularly in the presence of strong interfering signals. This is especially noticeable in the high bandwidth efficiency cases. It is also observed that in the presence of weak interferers, the proposed scheme performs better than its fixed-weights counterpart.

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Bootstrapped decorrelating algorithm for adaptive interference cancelation in synchronous CDMA communications systems

Bootstrapped decorrelating algorithm for adaptive interferen...

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IEEE International Symposium on Spread Spectrum Techniques and Applications

作者： Y. Bar-Ness Z. Siveski D.W. Chen Faculty of Electrical Engineering Telecommunications and Traffic-Control Systems Group Delft University of Technnology Delft Netherlands Center for Communications and Signal Processing Electrical and Computer Engineering Department New Jersey Institute of Technology Newark NJ USA

A code division multiple access detector that employs a combination of a correlation detector and a multiuser adaptive interference canceler was previously proposed by the authors. The weights of the canceler are adaptively controlled by the steepest descent algorithm using the minimum power criterion of the canceler outputs. It was shown that such a canceler substantially outperforms the decorrelating detector and has almost the same error probability as a canceler that uses reliable estimates of the received signal energies. In this paper, a different weight control criterion based on minimizing the correlation between the signals at the outputs of the canceler is used, and its performance is compared to that obtained with the minimum power criterion. It is shown that both cancelers have almost the same performance, particularly when SNR is modestly high. Although it is not shown in this paper, we believe that minimizing correlation rather than power outputs is a more suitable criterion when dealing with highly dispersive channels.< >

关键词： Decorrelation Interference cancellation Code division multiplexing Multiaccess communication Detectors Signal processing algorithms Filters Impedance matching Communication system traffic Telecommunication traffic

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Error performance of the blind decision feedback equalizer using decorrelation

Error performance of the blind decision feedback equalizer u...

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MILCOM, Military Communications Conference

作者： R.E. Kamel Y. Bar-Ness Center for Communications and Signal Processing Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Telecommunications & Traffic-Control Systems Group Delft University of Technnology Delft Netherlands

The decision feedback equalizer has the advantage of compensating for channel amplitude distortion without enhancing noise. Conventional decision feedback equalizers require a training sequence to help them adapt to unknown channel characteristics. Training sequences are not always appropriate. In such situations blind equalizers are more suitable. The blind decision feedback equalizer inherits from the conventional the advantage of not enhancing noise, while compensating for severe ISI. It is thus superior over the blind linear equalizer. On the other hand the blind decision feedback equalizer also suffers from error propagation. In this paper we study the transient behavior of the blind DFE. This is done by deriving an upper bound on the probability of error due to residual ISI and show that it vanishes for the noiseless case. We also determine lower and upper bounds on the probability of error for the additive white Gaussian noise case. The upper bound obtained is the same as that of Duttweiler, et al. (1974). Using a different approach from that of Duttweiler, et al., we derive a lower bound. This bound is tighter than tile "no ISI" lower bound.< >

关键词： Decision feedback equalizers Decorrelation Upper bound Blind equalizers Intersymbol interference Additive white noise Steady-state Convergence Gaussian noise AWGN

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A new discrete-time algorithm for simple adaptive control and its application to motor control

A new discrete-time algorithm for simple adaptive control an...

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International Conference on Industrial Electronics, control and Instrumentation

作者： H. Shibata G. Maruoka K. Yasaki B. Zhang Department of Computer and Systems Sciences College of Engineering University of Osaka Prefecture Osaka Osaka Japan OE Control Technology Research & Development Center Institute of Optics and Electronics Chinese Academy and Sciences Chengdu China

A discrete-time algorithm for simple adaptive control (SAG) was proposed by Shibata and Kurebayashi (1993). The algorithm solves the problem of additional time delay arising in discretization of continuous-time algorithm, and therefore becomes reliable in theoretical strictness. This paper applies the algorithm to the position control of a DC motor with variable load, Experimental results illustrate satisfactory performance even if the load is largely changed.< >

关键词： Adaptive control Motor drives control systems Sampling methods Programmable control Stability Application software Delay effects Position control DC motors

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