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Ethologically inspired human-robot communication for monitoring support system in intelligent space

Ethologically inspired human-robot communication for monitor...

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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Ichikawa, Takuya Beppu, Wataru Kovács, Szilveszter Korondi, Peter Hashimoto, Hideki Niitsuma, Mihoko Dept. of Precision Mechanics Chuo University Tokyo Japan Department of Automation University of Miskolc Miskolc Hungary Computer and Automation Research Institute of the Hungarian Academy of Sciences Dept. of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Dept. of Electrical Electronic and Communication Engineering Chuo University Tokyo Japan

ISBN: (纸本)9783902823113

This paper presents human-robot communication for a monitoring support system in an Intelligent Space. An Intelligent Space (iSpace) is a space in which many intelligent devices are installed to observe the user's environment. In this paper, we apply the iSpace observation function to a monitoring system used for maintaining the safety of elderly persons receiving home-care support. In addition, we use a mobile robot as a tool to deliver monitoring results to care assistants. We focus on an ethological approach for designing robot behaviors for human-robot communication. The implementation of these robot behaviors based on an ethological approach, and the results of an experiment conducted to evaluate these behaviors, are then presented. © 2012 IFAC.

关键词： Monitoring

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Human-like dynamic walking for a biped robot using genetic algorithm 4th

Human-like dynamic walking for a biped robot using genetic a...

引用

4th International Conference on Evolvable Systems: From Biology to Hardware, ICES 2001

作者： Kim, Jin G. Noh, Kyung-Gon Park, Kiheon School of Electrical Engineering Inha University Inchon Korea Republic of Dept. of Automation Engineering Inha University Inchon Korea Republic of School of Electrical and Computer Engineering Sungkyunkwan University Suwon Korea Republic of

ISBN: (纸本)354042671X

This paper presents the smooth walking trajectory for a biped robot using genetic algorithm. Suitable velocities and accelerations at the via-points are required for dynamic smooth walking since the incorrect via-points data can cause the discontinuity on the trajectory and the unstable walking motion as a result. Optimal via-points data can be found by minimizing the sum of deviation of velocities and accelerations as well as jerks. Using genetic algorithm, we obtained the continuity on the entire trajectory interval and the energy distribution during the walking. In conclusion, it is shown that the proposed genetic algorithm guarantees a satisfactory smooth and stable walking through the experiment on the real biped robot. © Springer-VerlagBerlin Heidelberg2001.

关键词： Genetic algorithms

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Asymptotic Stability Preservation of Input Delayed Nonlinear Systems under Sampled-Data Feedback 63

Asymptotic Stability Preservation of Input Delayed Nonlinear...

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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Yu, Xin Lin, Wei Jiangsu Normal University School of Electrical Engineering and Automation Xuzhou221116 China Case Western Reserve University Dept. of Electrical Systems and Computer Engineering ClevelandOH United States

ISBN: (纸本)9798350316339

We study the problem of global asymptotic stability preservation (GASP) for C0 non-smoothly stabilizable systems with input delay under sampled-data feedback. With the aid of Halanay inequality and the notion of homogeneity, the following sampled-data control results are established under a fast sampling: 1) GAS is preservable if the nonlinear system is homogeneous of degree zero and globally asymptotically stabilizable by homogeneous feedback;2) As a consequence, GAS via sampled-data feedback is achieved for a class of non-smoothly stabilizable systems with input delay in a lower-triangular or upper-triangular form. © 2024 IEEE.

关键词： Delay control systems

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An efficient fast solver applied in electromagnetic finite element analysis

An efficient fast solver applied in electromagnetic finite e...

引用

IEEE Antennas and Propagation Society International Symposium, APS 2006

作者： Zhao, Y. Tian, Y. Udpa, L. Udpa, S. IEEE College of Electrical and Automation Engineering Nanjing Normal University Nanjing 210042 China Dept. of Electrical and Computer Engineering Michigan State University East Lansing 48824 United States

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Mathematical modeling of the two-stage chaotic colpitis oscillator 14

Mathematical modeling of the two-stage chaotic colpitis osci...

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14th International Conference on Advanced Trends in Radioelectronics, Telecommunications and computer engineering, TCSET 2018

作者： Semenov, Andriy O. Savytskyi, Anton Yu. Bisikalo, Oleg V. Kulakov, Pavlo I. Dept. of Radio-Frequency Engineering Vinnytsia National Technical University Vinnytsia Ukraine Faculty for Computer Systems and Automation Vinnytsia National Technical University Vinnytsia Ukraine

ISBN: (纸本)9781538625569

The mathematical modeling of the Chaotic Colpitts Oscillator with two stages is carried out in the paper. The following results of mathematical modeling are obtained: oscillator's phase portrait in the planes of normalized dynamic variables;oscillator's phase portraits in the spaces of normalized dynamic variables;time diagrams of generated chaotic oscillations;amplitude-frequency and phase-frequency characteristics of generated chaotic oscillations. © 2018 IEEE.

关键词： Oscillators Mathematical model Oscillators mathematical modeling Mathematical Model Amplitude plane Colpitts oscillator

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New genetic optimization strategies in efficient off-line traffic engineering for simulating multi-service UMTS Cellular networks 29

New genetic optimization strategies in efficient off-line tr...

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29th European Conference on Modelling and Simulation, ECMS 2015

作者： Pasias, Vasilios Karras, Dimitrios A. Papademetriou, Rallis C. Department of Electronic and Computer Engineering University of Portsmouth Portsmouth United Kingdom Sterea Hellas Institute of Technology Automation Dept. Psachna Evia Hellas34400 Greece

ISBN: (纸本)9780993244001

This paper presents new strategies for offline traffic engineering, when designing multiservice-UMTS networks, based on an efficient modification of basic genetic optimization techniques. More specifically, the problem setup includes Mobile Internet access as the most emergent trade in the telecommunications industry due to the advancement of cellular smartphones, tablets, notebooks and netbooks based computing and communicating technologies. In this real world set-up, the integration of deployed wireless networks with the Internet and the transparent interworking among different wireless technologies, namely EDGE/GPRS/CDMA2000 cellular and Wireless LAN (WLAN), appears to be a demanding objective for mobile communications service providers. The mixture and convergence of mobile and fixed infrastructures related services make it urgent to tackle quality of service and traffic engineering for mobile networks at the fundamental transport level with regards to OSI network analysis. A good solution to address such issues is the Multi-Protocol Label Switching (MPLS) technology providing a fused control instrument with connectionless multiprotocol capabilities, functioning over different communication media while supporting traffic engineering and quality of service (QoS) offering smooth traffic over the complex network of mobile and fixed communication infrastructures. Therefore, the MPLS architecture offers the required capacity to integrate different services over wired and wireless infrastructures in a unified convergent approach. Based on these concepts, this research proposal investigates traffic engineering solutions in MPLS involved wireless cellular networks. In this paper, two new methods for the solution of the off-line Traffic engineering (TE) problem in multi-service wireless networks based on a certain efficient modification of basic genetic optimisation are presented. In the first method the off-line TE problem is formulated as an optimisation model with lin

关键词： multi-protocol label switching

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Combining c-signature with path dictionary for query processing of nested objects in OODBS 10th

Combining c-signature with path dictionary for query process...

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10th International Conference on Database and Expert Systems Applications, DEXA 1999

作者： Shin, Hakgene Chang, Jaewoo Dept. Of Office Automation Chonju Kijeon Women's College Chonju Chonbuk560-701 Korea Republic of Dept. Of Computer Engineering Chonbuk National University Chonju Chonbuk560-756 Korea Republic of

ISBN: (纸本)3540664483

Since an object-oriented database system (OODBS) dealing with composite objects requires expensive traversal costs to process user queries, query processing and indexing have become important issues in the success of object-oriented database systems. In this paper, we propose a new signature-based indexing scheme entitled c-signature. The c-signatures are abstracted from objects in a path in concatenation and are stored in a class-oriented way, so as to reduce search space. By positioning the c-signature file before the path dictionary, we can avoid expensive scanning of the database. Also, the c-signatures pointing to an s-expression in the path dictionary make it possible to avoid the sequential scanning of the path dictionary. Based on the proposed scheme, we develop implement the c-signature and its competitors such as path index, path signature, path dictionary, class unit signature, path dictionary index, and s-signature schemes. Using the experimental results, we compare the c-signature with the competitors under different degrees of reference sharing and in terms of the page I/Os of each scheme. Finally, we show that our c-signature scheme achieves significant improvements in the retrieval operation. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Query processing

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A New Robust Hybrid Active Noise Control System 8

A New Robust Hybrid Active Noise Control System

引用

8th International Conference on Signal and Image Processing, ICSIP 2023

作者： Wang, Z. Xiao, Y. Ma, Y. Ma, L. Khorasani, K. Prefectural University of Hiroshima Dept. of Management & Information Systems Hiroshima734-8558 Japan Institute of Automation Jiangnan University Wuxi214122 China Concordia University Dept. of Electrical & Computer Engineering Montreal Canada

ISBN: (纸本)9798350397932

The conventional hybrid active noise control (ANC, HANC) may significantly degrade if the reference signal for the feedforward ANC (FFANC) subcontroller consists of not only a broadband component but also a low-frequency sinusoidal component that is uncorrelated or partially correlated with the narrowband noise component that is attenuated by the feedback ANC (FBANC) subcontroller. In this paper, a new robust HANC system is proposed to mitigate the performance degradation resulting from the low-frequency sinusoidal component. A band-pass filter bank (BPFB) is applied to the FFANC reference signal to separate the low-frequency sinusoidal component from the broadband one and each of them is fed to an FFANC subcontroller that solely focuses on a single noise component. A supporting filter takes the extracted broadband component and the residual error as its input and desired signal, respectively. The same BPFB is then applied to the supporting filter error in order to separate the remaining low-frequency sinusoidal component from the narrowband component that persists in the residual error. The use of the two BPFBs and the supporting filter allows the three HANC subcontrollers to operate practically independently, each taking care of one of the pre-processed noise components which are uncorrelated with each other irrespective of the relationship between the two original noise sources. Extensive simulations are provided to demonstrate the improved effectiveness and robust capability of the proposed HANC as compared to its counterpart, even in a case that the low-frequency sinusoidal component in the FFANC reference signal is partially corrected with the primary narrowband noise component that is targeted by the FBANC. © 2023 IEEE.

关键词： Filter banks

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The tie-zone watershed: Definition, algorithm and applications

The tie-zone watershed: Definition, algorithm and applicatio...

引用

IEEE International Conference on Image Processing 2005, ICIP 2005

作者： Audigier, Romaric Lotufo, Roberto De A. Couprie, Michel Dept. of Computer Engineering and Industrial Automation FEEC - State University of Campinas SP Brazil Laboratoire A2SI - ESIEE Noisy-Le-Grand France

ISBN: (纸本)0780391349

In this work, a new type of watershed transform is introduced: the Tie-Zone Watershed (TZWS). This region-based watershed transform does not depend on arbitrary implementation and provides a unique and optimal solution. Indeed, many solutions are sometimes possible when segmenting an image with a watershed algorithm. In this case, the TZWS assigns each pixel to a catchment basin (CB) if in all solutions it belongs to this CB. Otherwise, the pixel is said to belong to a tie-zone (TZ). We propose an efficient algorithm based on Image Foresting Transform (IFT) which computes the TZWS transform as a shortest-path forest. Finally, two applications of this TZWS are presented: bounding intervals for segmented objects' extensions and a progressive segmentation procedure. © 2005 IEEE.

关键词： Image segmentation

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Contrastive Learning for Context-aware Neural Machine Translation Using Coreference Information 6

Contrastive Learning for Context-aware Neural Machine Transl...

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6th Conference on Machine Translation, WMT 2021

作者： Hwang, Yongkeun Yun, Hyungu Jung, Kyomin Dept. of Electrical and Computer Engineering Seoul National University Seoul Korea Republic of Automation and Systems Research Institute Seoul National University Seoul Korea Republic of

ISBN: (纸本)9781954085947

Context-aware neural machine translation (NMT) incorporates contextual information of surrounding texts, that can improve the translation quality of document-level machine translation. Many existing works on context-aware NMT have focused on developing new model architectures for incorporating additional contexts and have shown some promising results. However, most existing works rely on cross-entropy loss, resulting in limited use of contextual information. In this paper, we propose CorefCL, a novel data augmentation and contrastive learning scheme based on coreference between the source and contextual sentences. By corrupting automatically detected coreference mentions in the contextual sentence, CorefCL can train the model to be sensitive to coreference inconsistency. We experimented with our method on common context-aware NMT models and two document-level translation tasks. In the experiments, our method consistently improved BLEU of compared models on English-German and English-Korean tasks. We also show that our method significantly improves coreference resolution in the English-German contrastive test suite. © 2021 Association for Computational Linguistics

关键词： Neural machine translation

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