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Self-Awareness for Autonomous systems

PROCEEDINGS OF THE IEEE 2020年第7期108卷 971-975页

作者： Dutt, Nikil Regazzoni, Carlo S. Rinner, Bernhard Yao, Xin Nikil Dutt (Fellow IEEE) received the Ph.D. degree from the University of Illinois at Urbana–Champaign Champaign IL USA in 1989.""He is currently a Distinguished Professor of computer science (CS) cognitive sciences and electrical engineering and computer sciences (EECS) with the University of California at Irvine Irvine CA USA. He is a coauthor of seven books. His research interests include embedded systems electronic design automation (EDA) computer architecture distributed systems healthcare Internet of Things (IoT) and brain-inspired architectures and computing.""Dr. Dutt is a Fellow of ACM. He was a recipient of the IFIP Silver Core Award. He has received numerous best paper awards. He serves as the Steering Committee Chair of the IEEE/ACM Embedded Systems Week (ESWEEK). He is also on the steering organizing and program committees of several premier EDA and embedded system design conferences and workshops. He has served on the Editorial Boards for the IEEE Transactions on Very Large Scale Integration (VLSI) Systems and the ACM Transactions on Embedded Computing Systems and also previously served as the Editor-in-Chief (EiC) for the ACM Transactions on Design Automation of Electronic Systems. He served on the Advisory Boards of the IEEE Embedded Systems Letters the ACM Special Interest Group on Embedded Systems the ACM Special Interest Group on Design Automationt and the ACM Transactions on Embedded Computing Systems. Carlo S. Regazzoni (Senior Member IEEE) received the M.S. and Ph.D. degrees in electronic and telecommunications engineering from the University of Genoa Genoa Italy in 1987 and 1992 respectively.""He is currently a Full Professor of cognitive telecommunications systems with the Department of Electrical Electronics and Telecommunication Engineering and Naval Architecture (DITEN) University of Genoa and a Co-Ordinator of the Joint Doctorate on Interactive and Cognitive Environments (JDICE) international Ph.D. course started initially as EU Erasmus Mundus Project and

Autonomous systems are able to make decisions and potentially take actions without direct human intervention, which requires some knowledge about the system and its environment as well as goal-oriented reasoning. In computer systems, one can derive such behavior from the concept of a rational agent with autonomy (“control over its own actions”), reactivity (“react to events from the environment”), proactivity (“act on its own initiative”), and sociality (“interact with other agents”) as fundamental properties \n[1]\n. Autonomous systems will undoubtedly pervade into our everyday lives, and we will find them in a variety of domains and applications including robotics, transportation, health care, communications, and entertainment to name a few. \nThe articles in this month’s special issue cover concepts and fundamentals, architectures and techniques, and applications and case studies in the exciting area of self-awareness in autonomous systems.

关键词： Special issues and sections Autonomous systems Self-aware Robot sensing systems Computational modeling

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Novel scheme of real-time direction finding and tracking of multiple speakers by robot-embedded microphone array

Novel scheme of real-time direction finding and tracking of ...

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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Su, Daobilige Sekikawa, Masashi Nakazawa, Kazuo Hamada, Nozomu Signal Processing Lab. School of Integrated Design Engineering Keio University Hiyoshi 3-14-1 Yokohama 223-8522 Japan Department of System Design Engineering Keio University Hiyoshi 3-14-1 Yokohama 223-8522 Japan

ISBN: (纸本)9783642373732

Recently, interest on artificial robot audition is growing for developing human-robot interaction. The main purposes of an artificial audio system mounted on mobile robot are localizing sound sources, separating speech signal that is relevant to a particular speaker such as robot's master, and processing speech sources to extract useful information such as master's uttering commands. This paper reports a novel proposed method of a speaker's direction tracking algorithm, and a realization of the real tracking system on a mobile robot. Basic approach of this study belongs to a category of direction finding known as sparseness-based one which employs time-frequency decomposition and disjoint property between different speech signals. The novel points in the proposed source tracking exist on a reliable data selection from time-frequency cells and the application of mean shift tracking to the kernel density estimator derived from these reliable time-frequency components. A wheel-based mobile robot is developed and built-in audio processing system. Experiments are conducted and demonstrate the ability to localize in real environments. © 2013 Springer-Verlag.

关键词： Mobile robots

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The resolving integer ambiguity cycle of GPS carrier phase difference using GA-GSO

The resolving integer ambiguity cycle of GPS carrier phase d...

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International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： C. Tatiyaworanun S. Purivigraipong The Electrical Engineering Graduate Program Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

This paper presents an approach to resolve integer ambiguity of GPS carrier phase difference between two antennas separated by the baseline length. An approached algorithm based on Gram-Schmidt Orthonormalisation associated with Genetic Algorithm (GA), is proposed for medium length baseline observations. The proposed approach was exploited to reduce the dimensional search space and number of search. The implemented algorithms are tested with a simulated data of minisatellite orbiting in low Earth orbit. The results showed that a carrier phase difference can be recovered.

关键词： Global Positioning system Extraterrestrial measurements Antenna measurements Vectors Genetic algorithms Space vehicles Satellites

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An operational algorithm for satellite attitude determination from GPS carrier phase

An operational algorithm for satellite attitude determinatio...

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2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012

作者： Tatiyaworanun, C. Purivigraipong, S. Department of Control and Instrumentation and Mechatronics Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9781467320245

This paper presents an operational approach for determining satellite attitude from carrier phase GPS (Global Positioning system) measurements. A conventional recursive least square (RLS) estimator was implemented without requiring spacecraft dynamics. The proposed approach can be applicable for general space missions, particularly for real-time operation onboard-spacecraft. The attitude angles and electrical path difference (line bias) between antenna chains caused an offset error in GPS observables, can be estimated. The implemented estimator was tested with a simulated data, and the flight data collected onboard a mini-satellite orbiting in low Earth orbit. © 2012 IEEE.

关键词： Global positioning system

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A model update scheme of color-based particle filter for multi-color object tracking

A model update scheme of color-based particle filter for mul...

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IEEE International Symposium on Intelligent signal processing and Communication systems (ISPACS)

作者： Satoshi Hirose Nozomu Hamada Signal Processing Laboratory Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781467350839

Color-invariance property of objects is effectively employed for developing non-rigid object tracking algorithms in the field of computer vision. This paper develops a novel color-based tracking algorithm for non-rigid 3-D objects with multiple colors. Especially, the proposed particle filter method can track the targets even if the appearance /disappearance of color regions were occurred by self-occlusion and pose variation like self-rotation. The basic idea is closely related to the rules of proximity and common fate in grouping mechanism in human psychology, and a new model updating scheme is introduced. The effective results by the proposed method are obtained by comparing it with other color-based particle filters.

关键词： Target tracking Image color analysis Histograms Particle filters Color Vectors signal processing algorithms

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An operational algorithm for satellite attitude determination from GPS carrier phase

An operational algorithm for satellite attitude determinatio...

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International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： C. Tatiyaworanun S. Purivigraipong Department of Control and Instrumentation and Mechatronics Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

关键词： Global Positioning system Position measurement Space vehicles Vectors Satellites Extraterrestrial measurements Antenna measurements

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An Interdisciplinary Approach to designing Adaptive Lighting Environments

An Interdisciplinary Approach to Designing Adaptive Lighting...

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International Conference on Intelligent Environments (IE)

作者： Remco Magielse Philip Ross Sunder Rao Tanir Ozcelebi Paola Jaramillo Oliver Amft Designing Quality in Interaction (DQI) Group Department of Industrial Design Intelligent Lighting Institute (ILI) Eindhoven University of Technology Eindhoven Netherlands System Architecture and Networks (SAN) Group Department of Mathematics and Computer Science Intelligent Lighting Institute (ILI) Eindhoven University of Technology Eindhoven Netherlands Signal Processing Systems (SPS) Group Department of Electrical Engineering Intelligent Lighting Institute (ILI) Eindhoven University of Technology Eindhoven Netherlands

Due to advancements in lighting technologies new opportunities for application emerge. In this paper an interdisciplinary study towards the development of adaptive lighting environments is presented. An implementation of an adaptive lighting environment is made in the domain of office work. For evaluation, experts from the domains of human-system interaction, activity and context recognition, and system architecture design are interviewed. Contributions are made with regard to the implementation of the adaptive lighting in office environments and an evaluation method that is in line with the interdisciplinary approach. From the evaluation method insights in the fields of human-computer interaction, activity and context recognition and system architecture and (wireless) networking and in topics that span across these fields are gained.

关键词： Indexes

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Multi-modal speech recognition using correlativity between modality

Multi-modal speech recognition using correlativity between m...

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18th International Symposium on Intelligent signal processing and Communication systems, ISPACS 2010

作者： Sato, Yuki Hamada, Nozomu Signal Processing Lab. Department of System Design Engineering Keio University 3-14-1 Hiyoshi Yokohama 223-8522 Japan

ISBN: (纸本)9781424473717

In recent years, to achieve robust speech recognition against noises, Audio-Visual Speech Recognition (AVSR) system utilizing not only audio but also visual information of lip has been studied. This paper proposes a decision method of the weight called stream exponent representing reliability ratio of audio and visual features. The method focuses on the correlation between audio and visual modality in order to estimate the optimal stream exponent. Furthermore, we modified the stream exponent using periodicity of speech, such as pitch, to handle abrupt noises. An audio-visual database is comprised of specific speaker's lip image sequences and audio sequences. The contents of the utterance are Japanese counting numbers and sound-alike words. Using this database we constructed the AVSR system and performed an evaluation experiment. The obtained results verify the availability of the proposed method under a variety of noisy environment. © 2010 IEEE.

关键词： Acoustic noise

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Multi-modal speech recognition using correlativity between modality

Multi-modal speech recognition using correlativity between m...

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IEEE International Symposium on Intelligent signal processing and Communication systems (ISPACS)

作者： Yuki Sato Nozomu Hamada Signal Processing Laboratory Department of System Design Engineering Keio University Yokohama Japan

In recent years, to achieve robust speech recognition against noises, Audio-Visual Speech Recognition(AVSR) system utilizing not only audio but also visual information of lip has been studied. This paper proposes a decision method of the weight called stream exponent representing reliability ratio of audio and visual features. The method focuses on the correlation between audio and visual modality in order to estimate the optimal stream exponent. Furthermore, we modified the stream exponent using periodicity of speech, such as pitch, to handle abrupt noises. An audio-visual database is comprised of specific speaker's lip image sequences and audio sequences. The contents of the utterance are Japanese counting numbers and sound-alike words. Using this database we constructed the AVSR system and performed an evaluation experiment. The obtained results verify the availability of the proposed method under a variety of noisy environment.

关键词： Noise Computational modeling

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Adaptive Forgetting-factor Gauss-Newton inverse QR-RLS per-tone equalisation for discrete multitone systems

Adaptive Forgetting-factor Gauss-Newton inverse QR-RLS per-t...

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International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Suchada Sitjongsataporn Peerapol Yuvapoositanon Centre of Electronic System Design and Signal Processing (CESdSP) Department of Electronic Engineering Mahanakom University of Technology Bangkok Thailand

Adaptive Forgetting-factor Gauss-Newton inverse Square-Root Recursive Least Squares (AFGN-iQRRLS) algorithm is introduced for Per-tone Equalisers in Discrete Multitone systems. We describe shortly about the inverse Square-Root RLS algorithm which preserves the Hermitian symmetry of the inverse autocorrelation matrix by virtue of the product of square-root matrix and its Hermitian transpose. Such symmetrical property lends the benefit to the parallel implementation. By using the nonlinear algorithm, Gauss-Newton method is presented for the forgetting-factor optimisation with inclusion of RLS-based equalisation in each tone separately. Simulation results reveal that signal to Noise Ratio and Bit Rate performance of the proposed algorithm can be ameliorated as compared to the existing Adaptive Forgetting-factor RLS algorithm.

关键词： signal processing algorithms signal to noise ratio Equalizers Bit rate Correlation Frequency domain analysis AWGN

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