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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Jian Li P. Stoica Zhisong Wang Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Department of Systems and Control University of Uppsala Uppsala Sweden

Whenever the knowledge of the array steering vector is imprecise (as is often the case in practice), the performance of the Capon beamformer may become worse than that of the standard beamformer. Diagonal loading (including its extended versions) has been a popular approach to improve the robustness of the Capon beamformer. In this paper we show that a natural extension of the Capon beamformer to the case of uncertain steering vectors also belongs to the class of diagonal loading approaches but the amount of diagonal loading can be precisely calculated based on the uncertainty set of the steering vector. The proposed robust Capon beamformer can be efficiently computed at a comparable cost with that of the standard Capon beamformer. Its excellent performance is demonstrated via a number of numerical examples.

关键词： Robustness Array signal processing Uncertainty Sensor arrays Interference constraints Vectors control systems Costs Signal resolution Calibration

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Maximum likelihood double differential detection clarified

Maximum likelihood double differential detection clarified

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IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)

作者： P. Stoica Jianhua Liu Jian Li Department of Systems and Control University of Uppsala Uppsala Sweden Department of Electrical and Computer Engineering University of Florida Gainesville FL USA

The maximum likelihood detector (MLD) for single differential modulation is easy to derive. On the other hand, the MLD problem associated with double differential modulation is much more complicated and solving it was deemed to require a computationally unattractive nonlinear search. Consequently a simple heuristical detector was usually preferred to the MLD, on computational grounds. In this paper we prove the somewhat unexpected result that the aforementioned heuristical detector coincides with the exact MLD.

关键词： Maximum likelihood detection Detectors Equations Frequency Transmitters control systems Baseband Gaussian noise Doppler shift Councils

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Optimal Tuning of PID controllers for First Order Plus Time Delay Models Using Dimensional Analysis

Optimal Tuning of PID Controllers for First Order Plus Time ...

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International Conference on control and Automation (ICCA)

作者： S. Tavakoli M. Tavakoli Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Department of Electrical and Computer Engineering University of Western Ontario London ONT Canada

Using dimensional analysis and numerical optimisation techniques, an optimal method for tuning PID controllers for first order plus time delay systems is presented. Considering integral square error (ISE), integral absolute error (IAE) and integral time absolute error (ITAE) performance criteria, optimal equations for obtaining PID parameters are proposed. Simulation results show that the proposed method has a considerable superiority over conventional techniques. In addition, the closed loop system shows a robust performance in the face of model parameters uncertainty.

关键词： Three-term control Optimal control Delay effects Integral equations Optimization methods control systems Closed loop systems Robustness Uncertain systems

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Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm

Forcefree control with independent compensation for inertia ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Goto N. Nakamura N. Kyura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Electcal and Computer Engineering Kinki University in Kyushu Iizuka Japan

Forcefree control can realize the flexible motion of industrial articulated robot arms without any change of the built-in controller. In this paper, the forcefree control was extended to realize flexible motion emulating operational circumstance free of inertia, friction and gravity through the independent compensation of inertia, friction and gravity. The property of the forcefree control with independent compensation was also investigated by experimental study of an actual industrial articulated robot arm, where the external force was measured with a force sensor which was attached to the tip of the robot arm.

关键词： Force control Friction Gravity Industrial control Service robots Motion control Defense industry Robot sensing systems Force measurement Force sensors

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Fuzzy clustering of short time-series and unevenly distributed sampling points

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5th International Symposium on Intelligent Data Analysis, IDA 2003

作者： Möller-Levet, Carla S. Klawonn, Frank Cho, Kwang-Hyun Wolkenhauer, Olaf Control Systems Centre Department of Electrical Engineering and Electronics UMIST Manchester United Kingdom Department of Computer Science University of Applied Sciences WolfenbüttelD-38302 Germany School of Electrical Engineering University of Ulsan Ulsan680-749 Korea Republic of Department of Computer Science University of Rostock Albert Einstein Str. 21 Rostock18051 Germany

ISBN: (纸本)3540408134

This paper proposes a new algorithm in the fuzzy-c-means family, which is designed to cluster time-series and is particularly suited for short time-series and those with unevenly spaced sampling points. Short time-series, which do not allow a conventional statistical model, and unevenly sampled time-series appear in many practical situations. The algorithm developed here is motivated by common experiments in molecular biology. Conventional clustering algorithms based on the Euclidean distance or the Pearson correlation coefficient are not able to include the temporal information in the distance metric. The temporal order of the data and the varying length of sampling intervals are important and should be considered in clustering time-series. The proposed short time-series (STS) distance is able to measure similarity of shapes which are formed by the relative change of amplitude and the corresponding temporal information. We develop a fuzzy time-series (FSTS) clustering algorithm by incorporating the STS distance into the standard fuzzy clustering scheme. An example is provided to demonstrate the performance of the proposed algorithm. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Fuzzy clustering

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Wideband relax and wideband clean for aeroacoustic imaging

Wideband relax and wideband clean for aeroacoustic imaging

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9th AIAA/CEAS Aeroacoustics Conference and Exhibit, 2003

作者： Wang, Yanwei Li, Jian Stoica, Petre Sheplak, Mark Nishida, Toshikazu Department of Electrical and Computer Engineering University of Florida P. O. Box 116130 Gainesville FL 32611 United States Department of Systems and Control Uppsala University P. O. Box 337 SE-75105 Uppsala Sweden Department of Mechanical and Aerospace Engineering University of Florida Gainesville FL 32611 United States

ISBN: (纸本)9781624101021

Microphone arrays can be used for acoustic source localization and characterization in wind tunnel testing. In this paper, we present the wideband RELAX (WB-RELAX) and the wideband CLEAN (WB-CLEAN) algorithms for aeroacoustic imaging using an acoustic array. WB-RELAX is a parametric approach that can be used efficiently for point source imaging without the sidelobe problems suffered by the delay-and-sum beamforming approaches. WB-CLEAN does not have sidelobe problems either but it behaves more like a nonpara-metric approach and it can be used for both point source and distributed source imaging. Moreover, neither of the algorithms suffers from the severe performance degradations encountered by the adaptive beamforming methods when the number of snapshots is small and/or the sources are highly correlated or coherent with each other. The performance of WB-RELAX and WB-CLEAN is demonstrated by applying them to measured data obtained at the NASA Langley Quiet Flow Facility using a small aperture directional array (SADA). Somewhat surprisingly, using these approaches, we were not only able to accurately determine the parameters of the dominant source, but also discovered a highly correlated multipath of the dominant source. © 2003 by Jian Li.

关键词： Aeroacoustics

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Document clustering using hierarchical SOMART neural network

Document clustering using hierarchical SOMART neural network

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International Joint Conference on Neural Networks (IJCNN)

作者： M.F. Hussin M. Kamel Department of Computer Science & Automatic Control Alexandria University Alexandria Egypt Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

Availability of large full-text document collections in electronic form has created a need for tools and techniques that assist users in organizing these collections. Document clustering is one of the popular methods used for this purpose. In this paper, we propose the neural network based document clustering method by using a hierarchically organized network built up from independent Self-Organizing Map (SOM) and Adaptive Resonance Theory (ART) neural networks. We present clustering results using the REUTERS corpus and show an improvement in clustering performance using both entropy and F-measure as evaluation measures.

关键词： Neural networks Subspace constraints Artificial neural networks Organizing Clustering methods computer science Automatic control Entropy Information retrieval Search engines

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H/sub 2/ and H/sub /spl infin// robust nonrational filtering for linear delay systems

H/sub 2/ and H/sub /spl infin// robust nonrational filtering...

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IEEE Conference on Decision and control

作者： M.C. de Oliveira J.C. Geromel Department of Telematics Brazil School of Electrical and Computer Engineering University of Campinas Av. Campinas SP Brazil Department of Energy Control and Systems

This paper addresses the problem of robust filtering for uncertain linear signal models affected by time delays in the state. Uncertainty is structured and the model is assumed to lie in a given bounded polyhedral set. The main innovation is the use of a nonrational filter, that is, a filter that also contains delays in the filter state. Robust filtering performance is evaluated using the H/sub 2/ or the H/sub /spl infin// norm. The performance conditions are delay independent, and provide convex filtering design problems, which are convex optimization problems with linear matrix inequalities constraints.

关键词： Nonlinear filters Filtering Delay systems Noise robustness Delay effects Uncertainty Hydrogen Delay estimation Linear matrix inequalities Signal design

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Database Technology and Industrial Transaction Techniques in control Education

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IFAC Proceedings Volumes 2003年第10期36卷 327-332页

作者： Jana Flochová Miroslav Galbavý Department of Automatic Control Systems Department of Computer Science Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3812 19 Bratislava Slovak Republic

New developments in computer networks and communications provide new possibilities for control purposes. control systems for highly complex plants are themselves very complex and heterogeneous. A new software infrastructure is needed that exploits these new emerging software technologies. An essential activity to be pursued is that of education and of including new technology in control education. The aim of this paper is to describe some of our activities and experiences in teaching of information techniques and technologies included in open control platforms of complex control systems.

关键词： Information technology Database management systems Relational databases control education Human-machine interface

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A simulator for line-of-sight missile control and guidance systems: Object-oriented design

A simulator for line-of-sight missile control and guidance s...

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2003 IEEE Aerospace Conference

作者： Dimirovski, Georgi M. Mohenski, Darko D. Deskovski, Stoyce M. Dogus University Dept. of Computer Engineering and Information Technologies Acibadem Zeamet Sk. No: 21 Kadikoy TR-8 1080 Istanbul Turkey SS Cyril and Methodius University Institute of Automation and Systems Engineering at FEE Karpos 2 Rugjer Boskovic b.b. MK-1000 Skopje Macedonia Dept. of Information and Control Systems Military Academy of RM General M. Apostolski MK-1000 Skopje Macedonia

ISBN: (纸本)078037651X

A standard PC platform based simulator system for personnel training in anti-tank guided missile (ATGM) systems has been designed and implemented;its operation is managed through instructor-trainee interaction. It makes use of object-oriented simulation modeling, 6 degree-offreedom (6DOF) missile model and mask modeling of terrain and weather conditions. The main topic of research are the short-range and line-of-sight (CLOS) missiles as well as their guidance and control and target selection and tracking in combat situation. The simulation model specifications are built around the set of concurrent cooperating objects, including representation model of the system's environment. The set of compatible models and software implementations for missiles and moving ground targets, involving their interrelated kinematics, has been elaborated by own research entirely. An appropriate designed user-system interface employing Visual Basic enhances the instructor-trainee co-operation. Its significance stems fiom being usable for personnel training and simulating all typical combat situations given country's landscapes, and being amenable to adjustments to serve a combat command and control instrument if endowed with some hardware-in-the-loop (HIL) elements and interface to launching platform. In addition, it is aimed for investigating new tracking algorithms in multi-target environment. © 2003 IEEE.

关键词： Target tracking

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