In this paper, we address the problem of multitarget tracking with unknown measurement noise variance parameters by the probability hypothesis density (PHD) filter. Based on the concept of conjugate prior distribution...
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ISBN:
(纸本)9781467357159
In this paper, we address the problem of multitarget tracking with unknown measurement noise variance parameters by the probability hypothesis density (PHD) filter. Based on the concept of conjugate prior distributions for noise statistics, the inverse-Gamma distributions are employed to describe the dynamics of the noise variance parameters and a novel implementation to the PHD recursion is developed by representing the predicted and the posterior intensities as mixtures of Gaussian-inverse-Gamma terms. As the target state and the noise variance parameters are coupled in the likelihood functions, the variational Bayesian approximation approach is applied so that the posterior is derived in the same form as the prior and the resulting algorithm is recursive. A numerical example is provided to illustrate the effectiveness of the proposed filter.
We report in this case-study paper our experience and success story with a practical approach and tool for unit regression testing of a SCADA (Supervisory control and Data Acquisition) software. The tool uses a black-...
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This paper presents the development of a rehabilitation robotic platform to research on the adaptation of the complexity of robot assisted therapy and the real-time displays of a virtual reality system in accordance w...
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ISBN:
(纸本)9781457711992
This paper presents the development of a rehabilitation robotic platform to research on the adaptation of the complexity of robot assisted therapy and the real-time displays of a virtual reality system in accordance with specific patient requirements. First, a kinematic analysis of the human arm during typical daily activities is presented to justify the design requirements of the robotic rehabilitation platform. Then, the other necessary components to monitor multi-sensory data from the subject and robotic side and to stimulate the subject during the task are described. Finally, first experimental results with the platform are presented to show that the therapy can be modulated in function of the patient state.
This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distribute...
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ISBN:
(纸本)9781479901777
This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.
In this paper we propose a distributed optimization algorithm to solving discrete linear model predictive control (MPC) problems for general networked systems. The new optimization algorithm is based on block coordina...
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ISBN:
(纸本)9781467320658
In this paper we propose a distributed optimization algorithm to solving discrete linear model predictive control (MPC) problems for general networked systems. The new optimization algorithm is based on block coordinate descent updates in parallel with very simple iteration complexity and using only local information. We show that for smooth objective functions it has sublinear rate of convergence, while for strongly convex objective functions it converges linearly. An MPC controller based on this distributed optimization method is derived, for which every subsystem in the network can compute feasible and stabilizing control inputs using distributed computations. For ensuring stability of the MPC scheme, we use a terminal cost formulation and we eliminate the need for a zero terminal state, which proves to be less conservative than some terminal cost - terminal set approaches. We provide a distributed synthesis for a terminal cost, which satisfy distributed invariance conditions for the whole system and guarantees stability of the closed-loop interconnected system.
This paper studies the problem of state estimation for jump Markov linear systems with uncompensated biases. By describing the state and the measurement biases as additive random variables, a suboptimal filter has bee...
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ISBN:
(纸本)9781479901777
This paper studies the problem of state estimation for jump Markov linear systems with uncompensated biases. By describing the state and the measurement biases as additive random variables, a suboptimal filter has been developed by applying the basic interacting multiple model (IMM) approach. To derive a precise representation of the biases contributions to the state estimation, three auxiliary matrices are introduced with respect to the correlation between the state estimation errors and the biases, which helps to derive mode-conditioned estimates in the framework of the IMM. A numerical example involving tracking a maneuvering target is provided to compare the performance of the proposed filter with that of the augmented state filter.
In this paper, the idea of implementing capacitors with DC/AC power converters (also called inverters) is proposed and demonstrated. Such capacitors are active capacitors. The voltage rating of an active capacitor is ...
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In this paper, the idea of implementing capacitors with DC/AC power converters (also called inverters) is proposed and demonstrated. Such capacitors are active capacitors. The voltage rating of an active capacitor is determined by the voltage rating of the power semiconductor devices used to build the inverter and the current rating of the capacitor is determined by the current rating of the power semiconductor devices used. The capacitance can be freely set in a very wide range and it is possible to have some special properties, e.g. to reduce harmonic current components. Experimental results are provided to demonstrate the design, implementation and performance of a prototype active capacitor. Active capacitors outperform passive capacitors in terms of tolerance, stability with respect to time and temperature.
In this paper we develop a randomized (block) coordinate descent method for solving singly linear equality constrained optimization problems that appear for example in resource allocation over networks. We show that f...
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ISBN:
(纸本)9781467320658
In this paper we develop a randomized (block) coordinate descent method for solving singly linear equality constrained optimization problems that appear for example in resource allocation over networks. We show that for strongly convex objective functions the new algorithm has an expected linear convergence rate that depends on the second smallest eigenvalue λ_2(Q) of a matrix Q that is defined in terms of the probabilities and the number of blocks. However, the computational complexity per iteration of our method is much simpler than of a method based on full gradient information. We also focus on how to choose the probabilities to make this randomized algorithm to converge as fast as possible and we arrive at solving a sparse SDP. Finally, we present some numerical results for our method that show its efficiency on huge sparse problems.
This paper presents current work on fuzzy adaptation of chemotactic step size of bacterial foraging algorithm and its application to optimisation of parameters of a neural network, i.e. weights, biases and slope param...
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This paper presents current work on fuzzy adaptation of chemotactic step size of bacterial foraging algorithm and its application to optimisation of parameters of a neural network, i.e. weights, biases and slope parameters of activation function, in modelling of a single-link flexible manipulator. Experimental input-output data pairs gathered from a laboratory-scale single-link flexible manipulator rig are used both in the modelling and validating phases. Moreover, a set of correlation tests is used to validate the resulted model. The objective of the work is to assess the performances of the improved bacterial foraging algorithms in comparison to standard one based on the cost function value achieved, convergence speed, and time-domain responses.
In this article, synchronization of FitzHugh-Nagumo (FHN) neurons is considered. Adaptive controller based on active compensation is adopted to drive the slave neuron to track the master neuron. Sufficient condition f...
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