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Outlier detection by weighted mercer-kernel based fuzzy clustering algorithm

Iranian Journal of Electrical and Computer engineering 2005年第2期4卷 129-136页

作者： Shen, Hongbin Yang, Jie Dong, Yifei Wang, Shitong College of Computer and Information Engineering Hohai University Changzhou Jiangsu China Department of Image Processing and Pattern Recognition Jiaotong University Shanghai China School of Computer Science and Engineering University of New South Wales Australia School of Information Southern Yantze University Wuxi Jiangsu China Institute of Image Processing and Pattern Recognition Shanghai Jiaotong University China IEEE Institute of National Automation Department of Information Southern Yangtse University Polytechnic University of Hongkong Advanced Computing Research Center Bristol University United Kingdom

Outliers are data values that lie away from the general cluster of other data values. Detecting the outliers of a dataset is an important research topic for data cleaning and finding new useful knowledge in many research areas, i.e. data mining, pattern recognition, etc. In the past decades, many useful algorithms were proposed in the literature. In this paper, a new fuzzy kernel-clustering algorithm with outliers (FKCO) is presented to locate critical areas that are often represented by only a few outliers. Theoretic analysis also shows that FKCO can converge to a local minimum of the objective function. Finally, based on the information theory, a new criterion for finding outliers is also proposed. Simulations of different types of datasets demonstrate the feasibility of this new method. © 2005 JD.

关键词： Fuzzy control

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Approaches to modeling converters with current programmed control

Approaches to modeling converters with current programmed co...

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IEEE Workshop on Power Electronics Education

作者： F.J. Azcondo Ch. Bracas R. Casanueva D. Maksimovic Department of Electronics Technology University of Cantabria System and Automation Engineering Santander Spain Department of Electrical and Computing Engineering Colorado Power Electronics Center University of Colorado Boulder CO USA

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SHAPING THE MECHATRONICS COURSES FOR THE CONTROL CURRICULUM

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IFAC Proceedings Volumes 2005年第1期38卷 182-187页

作者： George E. Chamilothoris Michail G. Papoutsidakis Intelligent Systems Laboratory Department of Automation Technological Institute of Piraeus Athens Greece Engineering and Mathematical Sciences University of the West of England Bristol United Kingdom Intelligent Autonomous Systems Laboratory Faculty of Computing

Five years of field practice in developing and delivering Mechatronics courses in the context of a Control education curriculum, have shaped the didactic approaches in place and delivered a number concrete results from hands-on experience. The paper reports on some of the main outcomes of this undertaking, presented within an integrating framework that brings together curriculum content, didactic methods, teaching tools and organizational aspects.

关键词： control education microprocessor education mechatronics

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Teaching advanced test issues in digital electronics

Teaching advanced test issues in digital electronics

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： R. Ubar E. Orasson J. Raik H.-D. Wuttke Computing Engineering Department Tallinn University of Technology Tallina Estonia Engineering Student Services Center University of Pittsburgh Pittsburgh PA USA Faculty of Informatics and Automation Ilmenau Technical University Ilmenau Germany

An environment targeted to e-learning is presented for teaching advanced test issues in digital electronics. Digital circuits and systems are getting more and more complex, and in the same time the requirements for the quality of systems are getting higher and higher. This is the reason why the importance of testing as an engineering task has started to grow extremely fast. An environment which consists of a set of Java applets has been created to help the students to improve their understanding of test. The tools support university courses on digital electronics, computer hardware, testing and design for testability to learn by hands-on exercises how to generate test patterns, and how to analyze their quality. The tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity.

关键词： Electronic equipment testing Education Circuit testing Electronic learning Digital circuits Java Hardware Design for testability Test pattern generators Pattern analysis

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Handling Data Sparseness in Gene Network Reconstruction

Handling Data Sparseness in Gene Network Reconstruction

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IEEE Symposium on Computational Intelligence and Bioinformatics and Computational Biology (CIBCB)

作者： G.B. Bezerra T.V. Barra F.J. von Zuben L.N. de Castro Laboratory of Bioinformatics and Bio-Inspired Computing (LBiC) Department of Computer Engineering and Industrial Automation State University of Campinas-UNICAMP Sao Paulo Brazil Graduate Program on Informatics Catholic University of Santos Sao Paulo Brazil

One of the main problems related to regulatory network reconstruction from expression data concerns the small size and low quality of the available dataset. When trying to infer a model from little information it is necessary to give much more precedence to generalization, rather than specificity, otherwise, any attempt will be fated to overfitting. In this paper we address this issue by focusing on data sparseness and noisy information, and propose a density estimation technique that achieves regularized curves when data is scarce. We first compare the proposed method with the EM algorithm for mixture models on density estimation problems. Next, we apply the method, together with Bayesian networks, on realistic simulations of static gene networks, and compare the obtained results with the standard discrete Bayesian network model. We intend to demonstrate that adopting a discrete approach is not justifiable when only a small amount of information is available.

关键词： Intelligent networks Bayesian methods Genetics Bioinformatics Computer networks Reverse engineering Cellular networks Noise robustness Laboratories Data engineering

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Research and training environment for digital design and test

Research and training environment for digital design and tes...

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34th Annual Frontiers in Education: Expanding Educational Opportunities Through Partnerships and Distance Learning - Conference Proceedings, FIE

作者： Ubar, Raimund Wuttke, Heinz-Dietrich Tallinn University of Technology Computing Engineering Department Raja 15 12618 Tallinn Estonia Ilmenau Technical University Faculty of Informatics and Automation post box 10 0565 D-98684 Ilmenau

An environment directed to e-learning is presented for teaching test generation and fault diagnosis in digital circuits. The environment consists of a set of Java applets for learning basics of test preliminary and of a set of low-cost tools for research oriented training in more advanced topics of test. The tools support university courses on digital electronics, computer hardware, testing and design for testability. They help to learn by hands-on exercises how to generate tests, how to build self-testing systems, how to analyze the quality of tests or testing hardware and how to localize faults in hardware. The tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity. © 2004 IEEE.

关键词： engineering education

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning Control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Improved basic planar algorithm of vehicle guidance through ...

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International Symposium on Communications Control and Signal Processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction Control engineering Automatic control Control engineering computing Automotive engineering automation

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Improved line-of-sight guidance for cruising underwater vehicles

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IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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