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2013 IEEE International Conference on Robotics and Automation, ICRA 2013

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CH-1015 Lausanne Switzerland

ISBN: (纸本)9781467356411

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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A Multi-sensor Traffic Scene Dataset with Omnidirectional Video

A Multi-sensor Traffic Scene Dataset with Omnidirectional Vi...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Philipp Koschorrek Tommaso Piccini Per Öberg Michael Felsberg Lars Nielsen Rudolf Mester Computer Vision Laboratory Department of Electrical Engineering Linköping University Sweden Vehicular Systems Department of Electrical Engineering Linköping University Sweden Linkopings universitet Linkoping SE

The development of vehicles that perceive their environment, in particular those using computer vision, indispensably requires large databases of sensor recordings obtained from real cars driven in realistic traffic situations. These datasets should be time shaped for enabling synchronization of sensor data from different sources. Furthermore, full surround environment perception requires high frame rates of synchronized omnidirectional video data to prevent information loss at any speeds. This paper describes an experimental setup and software environment for recording such synchronized multi-sensor data streams and storing them in a new open source format. The dataset consists of sequences recorded in various environments from a car equipped with an omnidirectional multi-camera, height sensors, an IMU, a velocity sensor, and a GPS. The software environment for reading these data sets will be provided to the public, together with a collection of long multi-sensor and multi-camera data streams stored in the developed format.

关键词： Cameras Global Positioning System Synchronization Visualization Software computers Robot sensing systems

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Overlapping coalitional games for collaborative sensing in cognitive radio networks

Overlapping coalitional games for collaborative sensing in c...

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IEEE Conference on Wireless Communications and Networking

作者： Tianyu Wang Lingyang Song Zhu Han Walid Saad State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electrical Engineering and Computer Science Peking University China Electrical and Computer Engineering Department University of Houston Houston TX USA Electrical and Computer Engineering Department University of Miami Coral Gables FL USA

ISBN: (纸本)9781467359382

Collaborative spectrum sensing (CSS) has been shown to be able to highly improve the performance of spectrum sensing in cognitive radio networks. However, most existing works focused on either centralized approaches that rely on a global fusion center, thus requiring significant overhead, or on distributed approaches that rely on disjoint coalitions of secondary users (SUs) in which an SU can only cooperate with a single, selected coalition, hence limiting the performance gains of CSS. In this paper, a novel, coalition-based approach to CSS is proposed in which an SU can share its sensing results with more than one coalition. The problem is formulated using a novel class of cooperative games, known as overlapping coalitional games, which enables the SUs to decide, in a distributed manner, on the number of coalitions in which they wish to cooperate, depending on the associated benefit and cost tradeoffs. To solve this game, a novel, distributed algorithm is proposed using which the SUs can self-organize into a stable overlapping coalitional structure. Simulation results show that our proposed algorithm significantly improves the performance in terms of both the average probability of misdetection and the convergence time, relative to the noncooperative case and the state-of-art cooperative CSS with non-overlapping coalitions.

关键词： Sensors Cascading style sheets Games Partitioning algorithms Collaboration Fading Educational institutions

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$\varepsilon$-Constraint and Fuzzy Logic-Based Optimization of Hazardous Material Transportation via Lane Reservation

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IEEE Transactions on Intelligent Transportation systems 2013年第2期14卷 847-857页

作者： Zhen Zhou Feng Chu Ada Che MengChu Zhou Computing Integrative Biology and Complex Systems Laboratory University of Evry-Val dEssonne Evry France School of Management Northwestern Polytechnical University Xian China Key Laboratory of Embedded System and Service Computing of Ministry of Education Tongji University Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

With economic development, a great amount of hazardous material is shipped in the transport network every day. Hazardous material transportation is well known for its high potential risk. An accident can cause very serious economic damage and will have a negative impact on public health and the environment over the long term. Transporting hazardous materials on special lanes can reduce the risk. However, a lane reservation strategy may worsen traffic conditions for other vehicles. This paper investigates a hazardous material transportation problem with lane reservation. The problem lies in how to choose lanes to be reserved in the network and select the path for each hazardous material shipment from the reserved lanes. The goal is to obtain the best compromise between the impact on normal traffic and the transportation risk. A multiobjective integer programming model is presented for the new problem. Then, an algorithm is developed based on the ε -constraint method and a fuzzy-logic-based approach. Pareto optimal solutions are obtained by the former, and a preferred solution is selected by the fuzzy-logic-based approach. Computational results demonstrate the efficiency of the proposed algorithm using an instance based on a real network topology and randomly generated instances.

关键词： Hazardous materials Accidents Roads Linear programming Vectors Optimization

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Epileptic Seizure Identification from Electroencephalography Signal Using DE-RBFNs Ensemble

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Procedia computer Science 2013年 23卷 84-95页

作者： Satchidanada Dehuri Alok Kumar Jagadev Sung-Bae Cho Department of Systems Engineering Ajou University San 5 Woncheon-dong Suwon 443-749 South Korea Department of Computer Science and Engineering SOA University Bhubaneswar India Soft computing Laboratory Department of Computer Science Yonsei University Seoul 120-749 South Korea

In this paper, an ensemble of radial basis function neural networks (RBFNs) optimized by differential evolution (DE) (DE- RBFNs) is presented for identification of epileptic seizure by analyzing the electroencephalography (EEG) signal. The ensemble is based on the bagging approach and the base learner is DE-RBFNs. The EEGs are decomposed with wavelet transform into different sub-bands and some statistical information is extracted from the wavelet coefficients to supply as the input to ensemble of DE-RBFNs. A benchmark publicly available dataset is used to evaluate the proposed method. The classification results confirm that the proposed ensemble of DE-RBFNs has greater potentiality to identify the epileptic disorders.

关键词： EEG classification radial basis function neural networks differential evolution bagging

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New Blind Multiuser Detection in DS-CDMA Using H-DE and ICA Algorithms

New Blind Multiuser Detection in DS-CDMA Using H-DE and ICA ...

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International Conference on Intelligent systems, Modelling and Simulation (ISMS)

作者： Zaid Albataineh Fathi Salem Circuits Systems and Neural Networks Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

Hyper Differential Evolution (H-DE)is a new optimization technique. We develop a novel blind Detection algorithm based on H-DE in conjunction with Independent Component Analysis (ICA). We then apply the algorithm to the multi-user symbol estimation problem in Direct Sequence Code Division Multiple Access (DS-CDMA) systems. Blind detection is to estimate multiple symbol sequences associated with all users in the downlink of the DS-CDMA communication system using only the received wireless data and without any knowledge of the user spreading codes. Bit error rate (BER) simulation evidence of the improved performance of this novel algorithm are shown for different number of users, signal to noise ratio (SNR) and different number of symbols per user. The performance is compared with the traditional FAST ICA Detector. The results show that the proposed algorithm performs well and outperforms the FAST ICA Detector in estimating the symbol signals from the mixed CDMA received signals.

关键词： Multiaccess communication Vectors Signal to noise ratio Bit error rate Detectors Covariance matrices Independent component analysis

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Radar Power Amplifier Circuit and Waveform Optimization for Spectrally Confined, Reconfigurable Radar systems

Radar Power Amplifier Circuit and Waveform Optimization for ...

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IEEE Radar Conference

作者： Charles Baylis Josh Martin Matthew Fellows David Moon Matt Moldovan Lawrence Cohen Robert J. Marks Wireless and Microwave Circuits and Systems Program Department of Electrical and Computer Engineering Baylor University Naval Research Laboratory Radar Division

ISBN: (纸本)9781467357920

Increasingly stringent spectral spreading constraints are motivating a paradigm shift in the spectrum engineering of radar systems. Future spectrum requirements will likely dictate narrower spectral masks that will change based on geography. The desire to operate radar systems efficiently with waveforms that will provide desired detection capabilities must mesh with the need to meet spectral mask criteria. To this end, a collaborative research effort between Baylor University and the U.S. Naval Research laboratory has resulted in the design of reconfigurable circuit and waveform approaches to optimize spectral confinement, power efficiency, and detection capabilities. This paper surveys the joint optimization approach and describes innovations by the authors in circuit and waveform reconfiguration that will be useful in future flexible radar transmitters.

关键词： Radar systems waveforms detection capability configurability laboratory Research spectrum requirement Power amplifiers Technological Innovations Radar transmitters

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Dynamic performance model of wind turbine generators

Dynamic performance model of wind turbine generators

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IEEE Symposium on Computational Intelligence Applications In Smart Grid (CIASG)

作者： Prajwal K. Gautam Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University Clemson SC USA

To characterize the power performance of wind turbine generators (WTGs), the International Electrotechnical Commission provides a power curve for each one based on ten minutes average. This approach causes the problem of systematic errors because of the nonlinear relationship between power and wind speed. In this paper, recurrent neural networks are introduced as an alternative approach to model this nonlinear relationship. Based on actual wind speed input and wind power output, an input-output relationship is established for a permanent magnet synchronous machine based wind power generator. Experimental studies are carried out to the develop power curve that characterize dynamic power performance of the wind turbine generator. These dynamic power performance models of wind turbine generators can be used as operational and planning models in control centers. Some preliminary results on the integration of a neural network wind generator model in a micro-grid simulation is presented.

关键词： Wind turbines Wind speed Wind power generation Generators Neural networks Testing

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RBF-based Compensation Method on Displacement and Thermal Error

RBF-based Compensation Method on Displacement and Thermal Er...

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IEEE International Conference on Mechatronics and Automation

作者： Kok Kiong Tan Rui Yang Poi Voon Er Arthur Tay Chek Sing Teo SIMTech-NUS Joint Laboratory (Precision Motion Systems) Department of Electrical and Computer Engineering National University of Singapore Singapore 117576

ISBN: (纸本)9781467355599

With rapid development in the technologies of high precision machining and the ever increasing demand for high accuracy in the automation industry, addressing accuracy problems due to geometric and thermal errors are becoming more critical in recent years, especially thermal errors which may contribute up to 75% of the overall errors in the system. Retrofitting the mechanical design or maintaining the operational temperature may not be feasible and can significantly increase cost. An error compensation method is more efficient and cost effective. In this paper, a displacement and thermal error compensation approach is proposed and developed based on radial basis functions. Feedback control is designed in both position control subsystem and temperature control subsystem. Raw position data is measured using the laser interferometer and the raw temperature data is measured using a thermistor. The overall geometric errors are related to both movement positions and the machine operating temperatures, so a 2-D RBF network is designed and trained to model and estimate the geometric errors. The RBFs are then used to compensate the error. The experimental results showed that the proposed approach can help improve the system performance and accuracy effectively.

关键词： Error Compensation Thermal Compensation Radial Basis Function

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New Blind Multiuser Detection in DS-CDMA Based on Extension of Efficient Fast Independent Component Analysis (EF-ICA)

New Blind Multiuser Detection in DS-CDMA Based on Extension ...

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International Conference on Intelligent systems, Modelling and Simulation (ISMS)

作者： Zaid Albataineh Fathi Salem Circuits Systems and Neural Networks Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

This Paper develops a novel blind Detection algorithm based on Extension of Efficient FAST Independent Component Analysis (EF-ICA). classifying the received data to many parts in order to use a fit non-quadratic function to separate a non-Gaussian source. Blind detection is to estimate multiple symbol sequences associated with all users in the downlink of the DS-CDMA communication system using only the received wireless data and without any knowledge of the user spreading codes. Bit error rate (BER) simulation evidence of the improved performance of this novel algorithm are shown for different number of users, signal to noise ratio (SNR) and different number of symbols per user. The performance is compared with several Blind Detectors based on Efficient FastICA and Fast ICA algorithms. The results show that the proposed algorithm performs well and outperforms the other Detectors in estimating the symbol signals from the mixed CDMA received signals.

关键词： Signal to noise ratio Bit error rate Multiaccess communication Algorithm design and analysis Detectors Vectors Independent component analysis

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