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Marginal analysis on binary pairwise Gibbs random fields

Marginal analysis on binary pairwise Gibbs random fields

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Tung Le Christoforos N. Hadjicostis Manufacturing Execution and Control Group SIMTech AStar Singapore Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign IL USA

In this paper, we study marginal problems for a class of binary pairwise Gibbs random fields (BPW-GRFs). Given a BPW-GRF associated with a family of binary positive pairwise potentials, finding the exact marginal for each random variable is typically an NP-hard problem. In this paper, we develop upper and lower bounds of the true marginals in BPW-GRFs. Our bounds can be easily computed via an iteration on appropriate trees that are constructed from the corresponding BPW-GRF graphs. We prove that these marginal bounds outperform existing bounds. We also show via simulations that this improvement is significant on graphs with weak potentials.

关键词： Surface acoustic waves Vegetation Force Markov processes Random variables Probability distribution Algorithm design and analysis

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On the PD~(alpha)-Type Iterative Learning control for the Fractional-Order Nonlinear Systems

On the PD~(alpha)-Type Iterative Learning Control for the Fr...

引用

2011 American control Conference (ACC)

作者： Yan Li YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan Shandong China Electrical and Computer Engineering Department Utah State University Logan UT USA Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

In this paper, we discuss in time domain the convergence of the iterative process for fractional-order nonlinear systems. The PD~(alpha)-type iterative learning updating laws are considered. Most of the classical fractional-order cases for linear or nonlinear systems fall into the scheme of this paper. A number of numerical simulations are illustrated to validate the concepts.

关键词： Nonlinear systems Convergence Fractional calculus Equations Simulation Electronic mail

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FPGA implementation of a pipelined 2D-DCT and simplified quantization for real-time applications

FPGA implementation of a pipelined 2D-DCT and simplified qua...

引用

IEEE International Conference on Multimedia Computing and Systems (ICMCS)

作者： Hatim Anas Said Belkouch M. El Aakif Noureddine Chabini Embedded Systems and Digital Control Laboratory University of Cadi Ayyad Marrakech Morocco Department of Electrical and Computer Engineering Royal Military College of Canada Kingston ON Canada

The Discrete Cosine Transform (DCT) is one of the most widely used techniques for image compression. Several algorithms are proposed to implement the DCT-2D. The scaled SDCT algorithm is an optimization of the DCT-1D, which consists in gathering all the multiplications at the end. In this paper, in addition to the hardware implementation on an FPGA, an extended optimization has been performed by merging the multiplications in the quantization block without having an impact on the image quality. Tests using MATLAB environment have shown that our proposed approach produces images with quality comparable to the ones obtained using the JPEG standard. FPGA-based implementations of this proposed approach and the Loeffler's algorithm are proposed and compared in this paper using an Altera Startix FPGA family with the synthesis and implementation tool Quartus II. Results show that our approach outperforms the well known Loeffler's algorithm in terms of processing-speed and resources used.

关键词： Discrete cosine transforms Quantization PSNR Field programmable gate arrays Image coding Transform coding

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

引用

IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions control systems Feedforward neural networks Equations Adaptation models

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On the Non-Robustness of Inconsistent Quaternion-Based Attitude control Systems using Memoryless Path-Lifting Schemes

On the Non-Robustness of Inconsistent Quaternion-Based Attit...

引用

2011 American control Conference (ACC)

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Robert Bosch Limited Liability Company Palo Alto CA USA Department of AeroSpace and Mechanical Engineering University of Arizona Tucson Tucson AZ USA Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

The unit quaternion is a pervasive representation of rigid-body attitude used for the design and analysis of feedback control laws. Quaternion-based feedback control laws that are inconsistent (i.e. do not have a unique value for a given attitude) require an additional mechanism that lifts a continuous attitude trajectory to the unit quaternion space. Lifting mechanisms that are memoryless, for example, selecting the quaternion having positive scalar component, have a limited domain where they remain injective and, when used globally, introduce discontinuities into the closed-loop system. We show that such discontinuities can be exploited by an arbitrarily small measurement disturbance to stabilize attitudes far from the desired attitude and destroy "global" attractivity properties.

关键词： Quaternions Attitude control Manifolds Aerospace electronics Kinematics Feedback control Trajectory

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Application of wavelet analysis theory in storage energy system of lithium battery

Application of wavelet analysis theory in storage energy sys...

引用

Chinese control Conference (CCC)

作者： Xiaojuan Han Xiaojun Chen Jianlin Li Dong Hui Control and Computer Engineering College University of North China Electric Power Beijing 102206 China China Electrical Engineering & New Material Department China Electric Power Research Institute Beijing 100192 China

The group technology is the bottleneck of large-scale lithium battery storage energy system. The estimate of residual capacity of SOC (state of charge) is an important method to realize large-scale group technology and the resistance of battery is a major index evaluating SOC. Wavelet analysis theory is used for equivalent circuit model of lithium battery aiming at the characteristics of output signal with gaussian white noise when the lithium battery is discharged or charged. The output of current signal and voltage signals in lithium battery are decomposed into multi-scale functions by choosing the optimum wavelet base function to realize filter processing of noise signals, and then the filtered signals be reconstructed to obtain more accurate battery resistance. Compared with the traditional filtering method (LMS adaptive method), wavelet filtering method provided in this paper can effectively remove interference signals and realize accurately estimate of SOC for lithium battery in large-scale battery storage energy system with certain practical significance for group technology.

关键词： Batteries Lithium Wavelet analysis Filtering Signal to noise ratio Integrated circuit modeling Resistance

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Vision system for mobile robots for tracking moving targets, based on robot motion and stereo vision information

Vision system for mobile robots for tracking moving targets,...

引用

IEEE/SICE International Symposium on System Integration

作者： Tae-Il Kim Wook Bahn Changhun Lee Tae-jae Lee Muhammad Muneeb Shaikh Kwang-soo Kim Automation and Systems Research Institute (ASRI) and School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Control and Instrumentation Engineering Hanbat National University Daejeon South Korea

This paper presents a vision-tracking for mobile robots, which tracks a moving target based on robot motion and stereo vision information. The proposed system controls pan and tilt actuators attached to a stereo camera, using the data from a gyroscope, robot wheel encoders, pan and tilt actuator encoders, and the stereo camera. Using this proposed system, the stereo camera always faces the moving target. The developed system calculates the angles of the pan and tilt actuators by estimating the relative position of the target with respect to the position of the robot. The developed system estimates the target position using the robot motion information and the stereo vision information. The movement of the robot is modeled as the transformation of the frame, which consists of a rotation and a translation. The developed system calculates the rotation using 3-axis gyroscope data and the translation using robot wheel encoder data. The proposed system measures the position of the target relative to the robot, combining the encoder data of pan and tilt actuators and the disparity map of the stereo vision. The inevitable mismatch of the data, which occurs from the asynchrony of the multiple sensors, is prevented by the proposed system, which compensates for the communication latency and the computation time. The experimental results show that the developed system achieves excellent tracking performance in several motion scenarios, including combinations of straights and curves and climbing of slopes.

关键词： Cameras Mobile robots Robot vision systems Actuators Instruction sets

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Evaluation of functional connectivity in control and ADHD subjects by generalized Canonical Correlation and Probabilistic Independent Component Analysis

Evaluation of functional connectivity in control and ADHD su...

引用

Iranian Conference of Biomedical engineering (ICBME)

作者： AmirEhsan Lashkari Hamid Soltanian-Zadeh GholamAli Hosseinzadeh Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department Faculty of Engineering University of Tehran Tehran Iran Radiology Image Analysis Laboratory Henry Ford Health System Detroit MI USA

Functional connectivity can be evaluated by temporal correlation between spatial neurophysiologic events or correlation between neural activities of brain regions. Unlike anatomical connectivity which represents physical connections between two brain regions, functional connectivity investigates interactions between brain regions. In this study, we implemented and evaluated Probabilistic Independent Component Analysis (PICA) and generalized Canonical Correlation Analysis (gCCA) on resting state data of healthy subjects and subjects with ADHD disorders from NITRC database. This was done to detect brain functional connectivity and compare the results in normal and diseased subjects. In addition, speed of the methods was compared. Our study shows that relative to PICA, gCCA has higher precision and accuracy and lower computational complexity and run time in addition to capability of extracting more reproducible statistical maps in both control and ADHD subjects.

关键词： Correlation Magnetic resonance imaging Independent component analysis Educational institutions Biomedical engineering Probabilistic logic Basal ganglia

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Synergistic Lyapunov functions and backstepping hybrid feedbacks

Synergistic Lyapunov functions and backstepping hybrid feedb...

引用

2011 American control Conference (ACC)

The notion of synergistic potential functions has been introduced recently in the literature and has been used as the basis for the design of hybrid feedback laws that achieve global asymptotic stabilization of a point on a compact manifold (without boundary) such as S~(1), S~(2), and SO(3). Here, synergistic potential functions are generalized--to synergistic Lyapunov functions--and are shown to be amenable to backstepping. In particular, if an affine control system admits a (weak) synergistic Lyapunov function and feedback pair then the system with an integrator added at the input also admits a synergistic Lyapunov and feedback pair. This fact enables "smoothing" hybrid feedbacks, or implementing them through a chain of integrators. In this way, hybrid control designed at a kinematic level can be redesigned for control through forces, torques, or even the derivative of these quantities. We demonstrate the backstepping procedure for attitude stabilization of a rigid body using a quaternion parametrization.

关键词： Lyapunov methods Backstepping control systems Asymptotic stability Time domain analysis Quaternions Electric potential

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Voxel based treatment prediction using diffusion anisotropy indices and spatial information in Glioblastoma Multiform tumor

Voxel based treatment prediction using diffusion anisotropy ...

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2011 18th Iranian Conference of Biomedical engineering, ICBME 2011

作者： Sabahi, Hadi Soltanian-Zadeh, Hamid Scarpace, Lisa Mikkelsen, Tom Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran 14395-515 Iran Image Analysis Laboratory Radiology Department Henry Ford Hospital Detroit MI 48202 United States Hermelin Brain Tumor Research Center Neurosurgery Department Henry Ford Health System Detroit MI 48202 United States

ISBN: (纸本)9781467310055

In this paper, we propose a method to predict the outcome of Bevacizumab therapy on Glioblastoma Multiform (GBM) tumors. The method uses diffusion anisotropy indices (DAI) and spatial information to predict the treatment response of each tumor voxel. These DAIs are Fractional Anisotropy, Mean Diffusivity, Relative Anisotropy, and Volume Ratio, extracted from Diffusion Tensor Imaging (DTI) data before treatment. The spatial information is considered as the distance of each tumor voxel from the tumor center, extracted from pre-treatment post-contrast T1-weighted Magnetic Resonance Images (pc-T1-MRI). DAIs and spatial information of each tumor voxel are considered as feature vector. DTI and pc-T1-MRI are gathered before and after the treatment of seven GBM patients. First, DAIs of all brain voxels and the distance of each tumor voxel from the tumor center are calculated. Second, the method registers pre-treatment DAI maps and post-treatment pc-T1-MRI to pre-treatment pc-T1-MRI. Next, the tumor is segmented using thresholding technique from pc-T1-MRI. Then, Gd-enhanced voxels of the pre- and post-treatment pc-T1-MRI are compared to label the feature vectors. Three classifiers were evaluated, including Support Vector Machine, K-Nearest Neighbor, and Artificial Neural Network. Classification results show a preference for K-Nearest Neighbor based on well-established performance measures. © 2011 IEEE.

关键词： Tumors

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