When tracking people or other moving objects with a mobile robot, detection is the first and most critical step. At first most researchers focused on the tracking algorithms, but recently AdaBoost (supervised machine ...
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When tracking people or other moving objects with a mobile robot, detection is the first and most critical step. At first most researchers focused on the tracking algorithms, but recently AdaBoost (supervised machine learning technique) was used for people legs detection in 2D range data. The results are promising, but it is unclear if the obtained classifier could be used on the data from another sensor. As it would be a huge inconvenience having to train a classifier for every sensor (setup), we set out to find if, and when is a classifier trained on one sensor setup transferable to another sensor setup. We tested two sensors in five different setups. In total, we acquired 2455 range scans. Experiments showed that the classifier trained on noisier sensor data performed better at classification of data coming from other sensor setups. Classifiers trained on less noisy data were shown to be overconfident, and performed poorly on noisy data. Furthermore, experiments showed that classifiers learned on ten times smaller datasets performed as good as classifiers trained on larger datasets. Since AdaBoost is a supervised learning technique, obtaining same classifier efficiency with significantly smaller dataset means less hand labeling of the data for the same results.
The aeration is used in different operations at wastewater treatment plants. The biological processes that are carried out at require sufficiently high dissolved oxygen concentration in order to maintain microorganism...
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Development of fair and efficient algorithms for resource allocation to secondary users (SUs) is one of the key issues in the design of cognitive radio (CR) systems. In this paper, we present a two-step resource alloc...
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Network motion control system because of network bandwidth restriction, the sampling period must increase to lead to degrade motion accuracy. This paper regards TCP network as network infrastructure, and the tradition...
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This paper reviews various right/left inverses of polynomial matrices, introduced by the authors as a result of their research works on minimum variance control for LTI MIMO systems. In consequence, a new, general, Sm...
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This paper reviews various right/left inverses of polynomial matrices, introduced by the authors as a result of their research works on minimum variance control for LTI MIMO systems. In consequence, a new, general, Smith-factorization based inverse is presented. The problem of selection of stable inverses, in particular pole-free inverses, is also tackled. Applications in control, communications and vision, in particular concerning perfect signal transmission/recovery, are indicated.
An unknown input retrieving observer scheme is proposed which not only decouples unknown inputs in estimation but also gives an estimation of the decoupled input. The provided method benefits from its low computationa...
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The descriptor observer approach is improved further to a more suitable observer scheme which is applicable to a more general group of faults and systems. Also a disturbance decoupling scheme is added to the mentioned...
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This paper presents new results in modeling of linear open-loop stable systems by means of discrete-time finite fractional orthonormal basis functions, in particular the Laguerre functions. New stability conditions ar...
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This paper presents new results in modeling of linear open-loop stable systems by means of discrete-time finite fractional orthonormal basis functions, in particular the Laguerre functions. New stability conditions are offered and a useful modification to finite fractional derivative is introduced, called normalized finite fractional derivative. Simulation examples illustrate the usefulness of the new modeling methodology.
This paper addresses the dissolved oxygen tracking problem in multi-zone bioreactor. The proposed approach utilizes decentralized control system incorporating fuzzy multiregional PI controllers so that satisfactory co...
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This paper addresses the dissolved oxygen tracking problem in multi-zone bioreactor. The proposed approach utilizes decentralized control system incorporating fuzzy multiregional PI controllers so that satisfactory controller performance can be robustly and reliably achieved over a whole process operating range. A fuzzy supervisor of the completely decentralized control system is introduced in order to meet a global actuator capacity constraint. An overall control system can be implemented by using fairly standard equipment that is commonly available at a plant site.
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