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Rotating sonar and a differential encoder data fusion for map-based dynamic positioning

Journal of Intelligent and Robotic systems: Theory and Applications 2000年第3期29卷 211-232页

作者： Yang, Haeyong Park, Kyucheol Lee, Jang Gyu Chung, Hakyoung Automatic Control Research Center School of Electrical Engineering Seoul National University Seoul 151-742 Korea Republic of Dept. of Contr. and Instrum. Eng. Seoul Natl. University of Technology Seoul 139-743 Korea Republic of

In this paper, a dynamic positioning system using a rotating sonar and a differential encoder is proposed. The method is implemented by employing an indirect feedback Kalman filter. The state equation is written for encoder propagation and its error characteristic. A measurement equation describes a map-based measurement equation based on rotating sonar sensor data. In other words, sonar data compensates for the system and navigation errors of the differential encoder. The positioning system calculates the position and headings of a mobile robot. The real-time calculation is performed by a map-based measurement update utilizing wide-angle beam characteristics of the sonar sensor and the Kalman filter. In addition, an observability analysis for the positioning system is performed. Experimental results show that the proposed hybrid positioning system successfully provides accurate position and headings in real-time. The position and heading errors arc bounded within few centimeters and within few degrees, respectively.

关键词： Robotics

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Speech recognition using stochastic phonemic segment model based on phoneme segmentation

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systems and Computers in Japan 2000年第10期31卷 89-98页

作者： Furuichi, Chieko Aizawa, Katsura Inoue, Kazuhiko Faculty of Engineering Toin University of Yokohama 1614 Kurogane Midori Yokohama 225-8502 Japan Department of Physics Faculty of Science Ochanomizu Women's University Res. Lab. of Precision Engineering Tokyo Institute of Technology Dept. of Control System Engineering Faculty of Engineering Toin Yokohama University Acoustic Society of Japan Department of Control Systems Faculty of Engineering Toin Yokohama University

This paper discusses speech recognition based on a new statistical phoneme segment model which is trained by phoneme parameters derived from automatically extracted phoneme segments. The proposed system operates as follows. In preprocessing before recognition, the phoneme boundaries are detected by segmentation. The phonemes are discriminated using a stochastic phoneme segment model, and a phoneme segment lattice with scores is constructed. Next the speech recognition is performed by matching of symbol sequences to dictionary items. The segmentation system that is employed can infer phoneme boundaries with high accuracy. This helps to eliminate unnecessary parameters, leaving the feature parameters which are effective in separating phonemes. In other words, the phoneme recognition problem in continuous speech can be reduced to a discrimination problem and thus a speaker-independent model can be constructed from a relatively small number of training data. The stochastic phoneme segment model is trained with training samples extracted from a phoneme-balanced word set of 4920 words uttered by 10 speakers. In a recognition experiment with 6709 words uttered by 63 nontraining speakers, a recognition rate of 92.6% was obtained as the average for all speakers, using a word dictionary of 212 words.

关键词： Speech recognition

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Algorithm for Three-Step Estimation of Transfer Function with Unknown Delay Steps and Order

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IFAC Proceedings Volumes 2000年第15期33卷 373-378页

作者： Mitsuki Mashino Fujio Ohkawa Kazushi Nakano Masayoshi Tomizuka Mechanics & Electronics Research Institute Fvkuoka Industrial Technology Center 3-6-1 Norimatsu Yahatanishi-ku Kitakyushu 807-0831 JAPAN Dept. of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology Kawazu Iizuka 820-8502 JAPAN Dept. of Electronic Engineering The University of Electro- Communicatons 1-5-1 Chofu-ga-oka Chofu Tokyo 182-8585 JAPAN Dept. of Mechanical Engineering University of California at Berkeley 5100 B Etcheverry Hall Berkeley CA 94720-1740 USA

This paper deals with the estimation of an unknown process transfer function in the presence of colored measurement noise. A three-step estimation procedure has been previously developed for transfer functions, the delay steps and the orders of which are known in advance. The procedure is extended to deal with transfer functions with unknown delay steps and orders. The auto-correlation function of the error between the process output and model output is utilized for evaluating the model fitness. The effectiveness of the proposed method is demonstrated by a simulation study using a sample set of data in MATLAB.

关键词： colored noise I/O correlation information BCLS estimates parameter transformation MSE

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Potential of Fraser-Hipel-Kilgur Technique and Game Theory for Balkan conflicts: Pt. 1 Modelling Theory

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IFAC Proceedings Volumes 2000年第8期33卷 49-57页

作者： Yuanwei Jing Georgi M. Dimirovski Dept. of Automatic Contr. & Contr. Eng. at School of Information Science & Engineering Noretheastern University Shenyang Liaoning P.R. of China Department of ASE at Faculty of Electr. Eng. SS. Cyril and Methodius University P.o. Box 574 MK-91000 Skopje Republic of Macednia Fax. # +389-91-36-42-62 Dept. of Automatic Control and Electrical Drives Johannes Kepler University Altengergerstr. 69 A-4040 Linz Austria Fax.# +43-732-2468-9734

In this paper, the potential applications of Fraser-Hipel-Kilgur methodology for conflict modelling and resolution, based on the theory of non-cooperative games theory, to the modelling analysis of Balkan conflicts is exploerd through the case study on the conflicting interests over R. Macedonia by the end of the twentieth century. Particular attention was devoted to the use of its advanced variant based on theory of digraphs and adjacent reachability matrices. The graph form takes game outcomes rather than individual decisions as the basic units for modelling conflicts, described in sufficient detail. A number of solution concepts can be formulated and employed for both two-player and multi-player games, the latter being of primary interst in here. The taxonomy of graph based solution concepts of the original methodology has been employed to account for certain anticipation horizon by each of the players. This methodology makes essential use of the fundamental axioms of game theory defined by posulates of the individual rationality, the players inertia, the limited-move stability, and the minimum effect for the opponents.

关键词： system analysis game theory graph theory graph models conflict analysis conflict of interests

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Implementation of short-term load forecasting expert systems in a real environment

International Journal of Engineering Intelligent Systems for...

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International Journal of engineering Intelligent systems for Electrical engineering and Communications 2000年第3期8卷 139-144页

作者： Kim, Kwang-Ho Park, Jong-Keun Hwang, Kab-Ju Kim, Sung-Hak Han, Hak-Guhn Kang, Sang-Hee Dept. of Electrical Eng. Kangwon National Univ. Chuncheon 200-701 Korea Republic of School of Electrical Eng. Seoul National Univ. Seoul 151-742 Korea Republic of Dept. of Electrical Eng. Univ. of Ulsan Ulsan 680-749 Korea Republic of Power System Control Dept. Korea Electric Power Corporation Seoul 135-791 Korea Republic of School of Electrical Engineering Dongyang Technical College Seoul 152-714 Korea Republic of Dept. of Electrical Eng. Myongji University Youngin 449-728 Korea Republic of

This paper presents the Short-term Load Forecasting Expert system (LoFES) which was developed and implemented for adopting artificial intelligence (Al) techniques in short-term load forecasting and supporting the human forecaster. This system had been developed from 1993 to 1995 in Korea Electric Power Corp. (KEPCO), and it has been operated in a real environment since 1996. LoFES is intended to provide user-oriented features with a Graphical User Interface(GUI), and all the forecasting procedures of this system are carried out with a GUI. The forecasting methods of the system include an exponential smoothing method, a multiple regression method, and a neural network based method for ordinary day load forecasting;and fuzzy inference method for special day load forecasting. In the actual operation in 1996, this system provided good forecasting accuracy with the mean absolute percentage error below 1.6%, and it outperformed the conventional method used in KEPCO and effectively supported the human forecaster in forecasting process.

关键词： Artificial intelligence

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Modelling and Identification with Rational Orthogonal Basis Functions

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IFAC Proceedings Volumes 2000年第15期33卷 445-455页

作者： Paul Van den Hof Bo Wahlberg Peter Heuberger Brett Ninness Jozsef Bokor Tomás Oliveira e Silva Department of Applied Physics Delft University of Technology Lorentzweg 1 2628 CJ Delft The Netherlands S3 - Automatic Control Royal Institute of Technology S-100 44 Stockholm Sweden. Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1502 Budapest Hungary Dept. Electrónica e Telecommunicações University of Aveiro 3810-183 Aveiro Portugal

Decomposing dynamical systems in terms of orthogonal expansions enables the modelling/approximation of a system with a finite length expansion. By flexibly tuning the basis functions to underlying system characteristics, the rate of convergence of these expansions can be drastically increased, leading to highly accurate models (small bias) being represented by few parameters (small variance). Additionally algorithmic and numerical aspects are favourable. A recently developed general theory for basis construction will be presented, that is a generalization of the classical Laguerre theory. The basis functions are applied in problems of identification, approximation, realization, uncertainty modelling, and adaptive filtering, particularly exploiting the property that basis function models are linearly parametrized. Besides powerful algorithms, they also provide useful analysis tools for understanding the underlying identification/approximation algorithms.

关键词： system identification orthogonal basis functions series expansions model reduction parametrization

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Guaranteed Quadratic Stabilization of Certain Time-Varying Large-Scale Delay Ito Stochastic systems

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Journal of systems engineering and Electronics 2000年第3期11卷 35-3页

作者： Jin Yansheng & Xu Yumin (dept. of Mathematics and Physics Yanshan University Qinhuangdao 066004 P. R. China) Deng Feiqi (dept. of automatic control engineering South China University of Technology Guangzhou 510641 P. R. China) Dept. of Mathematics and Physics， Yanshan University， Qinhuangdao 066004， P. R. China Dept. of Automatic Control Engineering， South China University of Technology，Guangzhou 510641， P. R. China

In this paper, we investigate the decentralized stabilization of some time-varying uncertain large-scale stochastic systems with delays under matching conditions. A type of decentralized controllers with guaranteed st... 详细信息

关键词： Stochastic systems Uncertainty Stabilization

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Three statistical batch algorithms for tracking manoeuvring targets

Three statistical batch algorithms for tracking manoeuvring ...

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1999 European control Conference, ECC 1999

作者： Bergman, N. Gustafsson, F. Diviston of Automatic Control Dept. of Electrical Engineering Linköping University LinköpingSE-58183 Sweden

ISBN: (纸本)9783952417355

The EM algorithm and two MCMC algorithms are applied to manoeuvre detection in target tracking. These statistical methods are off-line and the intended use is to compute upper performance limits of on-line algorithms as well as for off-line analysis. A consequence of the MCMC theory is that an approximation of the a posteriori distribution for the manoeuvre times is obtained. © 1999 EUCA.

关键词： Target tracking

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Comments on `Some robustness measures for a class of discrete-time systems'

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IMA Journal of Mathematical control and Information 1999年第4期16卷 309-313页

作者： Halická, Margaréta Rosinová, Danica Institute of Applied Mathematics Faculty of Mathematics and Physics Comenius University 842 15 Bratislava Slovakia Dept. of Automatic Control Systems Faculty of Electrical Engineering Slovac Technical University 812 19 Bratislava Slovakia

The incorrectness of several results concerning robustness measures introduced by M. S. Mahmoud in the paper `Some robustness measures for a class of discrete-time systems' is discussed. Some confusing issues are ... 详细信息

关键词： Discrete time control systems

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