We consider the performance of short constraint-length convolutional codes in conjunction with coherent BPSK modulation in impulsive or burst noise channels when an imperfect erasure mechanism is used to exorcise symb...
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We consider the performance of short constraint-length convolutional codes in conjunction with coherent BPSK modulation in impulsive or burst noise channels when an imperfect erasure mechanism is used to exorcise symbols contaminated by noise hits. The erasure mechanism is a simple holepuncher operating on the sampled matched filter outputs and is characterized by a fixed false alarm probability, P F , and a miss probability, P M . This scheme is representative of a large number of erasure declaration strategies. Some general conclusions are drawn on the basis of cutoff rate arguments under an idealized channel modeling assumption. For short constraint-length convolutional codes we provide tight upper bounds on bit error probability performance under the same idealized channel modeling assumptions. These bounds compare favorably with simulation results for both randomly occurring and periodic noise hits. Departures from idealized channel modeling assumptions are investigated through simulation. Results indicate an important distinction between the case of random and periodic noise hits and has implications for the use of interleaving an impulsive or burst noise channels.
The problem of recognizing an object from a partially occluded boundary image is considered, and the concept of saliency of a boundary segment is introduced. Saliency measures the extent to which the boundary segment ...
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The problem of recognizing an object from a partially occluded boundary image is considered, and the concept of saliency of a boundary segment is introduced. Saliency measures the extent to which the boundary segment distinguishes the object to which it belongs from other objects which might be present. An algorithm is presented which optimally determines the saliency of boundary segments of one object with respect to those of a set of other objects. An efficient template matching algorithm using templates weighted by boundary segment saliency is then presented and employed to recognize partially occluded parts. The results of these experiments illustrate the effectiveness of the new technique.","doi":"10.1109/TPAMI.1985.4767680","publicationTitle":"IEEE Transactions on Pattern Analysis and Machine Intelligence","startPage":"410","endPage":"421","rightsLink":"http://***/AppDispatchServlet?publisherName=ieee&publication=0162-8828&title=Recognizing+Partially+Occluded+Parts&isbn=&publicationDate=July+1985&author=Jerry+L.+Turney&ContentID=10.1109/TPAMI.1985.4767680&orderBeanReset=true&startPage=410&endPage=421&volumeNum=PAMI-7&issueNum=4","displayPublicationTitle":"IEEE Transactions on Pattern Analysis and Machine Intelligence","pdfPath":"/iel5/34/4767672/***","keywords":[{"type":"IEEE Keywords","kwd":["Spatial databases","Image segmentation","Design automation","Layout","Geometry","Robots","Computer aided manufacturing","Image recognition","Least squares methods","Belts"]},{"type":"Author Keywords ","kwd":["weighted template matching","Hough transform","least squares","occluded parts","saliency"]}],"allowComments":false,"pubLink":"/xpl/***?punumber=34","issueLink":"/xpl/***?isnumber=4767672","standardTitle":"Recognizing Partially Occluded Parts
Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot ...
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作者：
Turney, J.L.Mudge, T.N.Volz, R.A.Robot Systems Division
Center for Robotics and Integrated Manufacturing Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48101 United States
In this paper, an approach is described for recognizing and locating partially hidden objects in an image. The method is based upon matching pairs of boundary segments of the template of an object with pairs of bounda...
A distributed testbed designed to support the development of a multi-sensory (vision and tactile) system for investigations in "active perception" of three dimensional objects is presented. Active perception...
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An integrated multi-robot system (IMRS) consists of two or more robots, machinery and sensors, and is capable of executing almost all industrial processes with efficiency, flexibility and reliability. In order to supp...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy
Computer-aided design (CAD) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD pac...
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Computer-aided design (CAD) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD packages and languages. Through these software tools, even a novice computer programmer can take advantage of powerful computational and numerical algorithms for control systems problems. In this paper a CAD language for control and Kalman filtering will be presented. The language, called CONTROL. lab is written in FORTRAN/77 and can run under UNIX or VMS on a DEC 11/780 VAX computer system.
Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
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