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IEEE Workshop on Statistical Signal and Array Processing

作者： P. Stoica O. Besson A.B. Gershman Dept. of Syst. & Control Uppsala Univ. Sweden Department of Avionics and Systems ENSICA Toulouse France Department of Electrical and Computer Engineering McMaster University Hamilton Canada

In a number of array signal processing applications, such as underwater source localization, the propagation medium is not homogeneous, which causes a distortion of the wavefront received by the array. In this paper, we consider the direction-of-arrival (DOA) estimation problem for such distorted wavefronts. In previous approaches, the so-called multiplicative noise scenario is considered based on the assumption that the distortion is random and can be parameterized by a small number of parameters. To gain robustness against mismodelling we assume a scenario in which the wavefront amplitude is distorted in a completely arbitrary way. We derive the maximum likelihood (ML) estimator of the DOA and show it can be obtained by means of a simple 1D search. The Cramer-Rao bound (CRB) for the problem at hand is derived. Numerical simulations illustrate a good performance of the estimator and show that its accuracy is comparable with that of estimators which require knowledge of the form of amplitude distortions.

关键词： Maximum likelihood estimation Direction of arrival estimation Nonhomogeneous media Sensor arrays Amplitude estimation Integrated circuit noise Gaussian noise Covariance matrix control systems Aerospace electronics

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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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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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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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Some issues on AI techniques in RT process control

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Annual Reviews in control 1999年第0期23卷 125-137页

作者： Albertos, P. Picó, J. Navarro, J.L. Crespo, A. Dept. of Systems Engineering and Control Universidad Politécnica de Valencia Spain Dept. of Computer Engineering Universidad Politécnica de Valencia Spain

The use of AI techniques in control raises the problem of implementing operations with not well bounded and defined computing time, in a real time framework. In this paper, the combined used of conventional and AI control strategies at different levels of process control is analyzed. Each control activity is split into a number of tasks, involving mandatory and optional computations. The main time constraints as well as some structures, namely the integrated and the hierarchical control structures, are reviewed and some solutions to guarantee the response time are proposed. Two applications in the control of industrial kilns are also discussed.

关键词： Process control

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Integration of commercial Internet applications in a TINA environment

Integration of commercial Internet applications in a TINA en...

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1999 Telecommunications Information Networking Architecture Conference, TINA 1999

作者： Canal, Gianni Lago, Patricia Intelligent Network Dept. CSELT Torino Italy Dept. of Control and Computer Engineering Politecnico di Torino Torino Italy

ISBN: (纸本)078035785X

Services on the Internet rely on Internet applications, that is software applications distributed between clients and an Internet server relying on IP-based communication. This work demonstrates that they can benefit from the TINA (telecommunications information networking architecture) session concept, and especially from the service session. In detail, our objective was to study both the impact on, and the applicability of the TINA standard, whenever commercial applications are reengineered as TINA services. To achieve this objective, the work described here integrates two commercial conferencing applications in a TINA compliant telecommunication framework, and it extends the applications features to support distance education and traditional conference sessions in a flexible and intuitive way. This paper describes the solution implemented by the authors by showing its overall architecture, and the internal composition of each service component. For each of them, the internal behavior is mapped on a common example scenario. Also, the paper points out the problems encountered and the results achieved, by focusing especially on the enhancements brought by the integrated TINA/Internet solution, and on the benefits added by TINA. Some topics for further work are also discussed. © 1999 IEEE.

关键词： Application programs

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Generalized state-dependent scaling: Backstepping for local optimality, global inverse optimality, and global robust stability

Generalized state-dependent scaling: Backstepping for local ...

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1999 European control Conference, ECC 1999

作者： Itot, Hiroshi Freeman, Randy A. Dept. of Control Engineering and Science Kyushu Institute of Technology 680-4 kawazu Iizuka Fukuoka820-8502 Japan Dept. of Electrical and Computer Engineering Northwestern University 2145 Sheridan Road EvanstonIL60208-3118 United States

ISBN: (纸本)9783952417355

This paper addresses the inverse optimal robust control problem for uncertain nonlinear systems. A new version of robust backstepping is proposed in which inverse optimality is achieved through the selection of generalized state-dependent scaling factors. The design procedure is always successful for uncertain nonlinear systems in strict-feedback form. The class of cost functionals allowed in the inverse optimal design is such that the uncertainty structure and desired level of global robustness can be prescribed a priori. Furthermore, the inverse optimal control law can always be designed such that its linearization is identical to a linear optimal control law for the linearized system with respect to a prescribed cost functional. © 1999 EUCA.

关键词： Backstepping

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Speed sensorless control of saturated induction motor using a hybrid speed estimator

Speed sensorless control of saturated induction motor using ...

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1999 IEEE Region 10 Conference, TENCON 1999

作者： Kim, Young-Jo Choi, Jung-Soo Kim, Young-Seok Dept. of Control and Instrumentation Engineering Yuhan College 1 SS-34Gyean-Dong Sosa-Ku Pucheon-Si Kyunggi-Do Korea Republic of School of Electrical and Computer Engineering Inha University 253 Yonghyun-Dong Nam-Ku Incheon402-75 1 Korea Republic of

ISBN: (纸本)0780357396

When the air-gap flux is saturated, the conventional adaptive speed estimator cannot remove the influence of the nonlinear inductance variation. Without speed sensors, it is difficult to identify inductance variation using a reactive power model because the model contains a rotor speed term in itself In this paper, we propose a novel speed estimator having hybrid architecture in order to estimate both the rotor speed and the inductance variation simultaneously when the induction motor is operated under the saturation condition. The proposed estimator consists of the error between the flux induced from the stator voltage equation and the flux estimated from the rotor flux observer. Introducing the correction term into the estimator increases the estimation ability of the conventional speed estimator even though the motor flux is saturated. The convergence of the speed estimation error is examined by simulation. Furthermore, the experimental results show the validity of the proposed method. © 1999 IEEE.

关键词： Induction motors

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A Reliable control System for an Underwater Hidrojet Explorer Camera

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IFAC Proceedings Volumes 1999年第2期32卷 8261-8266页

作者： J. Amat R. Villà J. Aranda Institut de Robòotica Industrial IRI (UPC-CSIC) Dept. Automatic Control and Computer Engineering (UPC). Pau Gargallo 5. 08028 Barcelona Spain

Access to restricted spaces underwater requires a small unencumbered camera. A low cost solution has been envisaged. It consists of an hermetic capsule enclosing the camera and lights, joined to the host by an umbilical. Along the umbilical go six water carrying ducts. Three of them end at backwards pointing nozzles located at the capsule body. The jets of water flowing from the nozzles are controlled and their forces allow some restricted positioning of the camera. Another three ducts end at nozzles located some distance up the umbilical, and allow greater maneuverability.

关键词： Marine systems stereovisions tracking systems

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D-step-ahead nonlinear predictors using neural networks

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IFAC Proceedings Volumes 1999年第2期32卷 8584-8589页

作者： Yonghong Tan Achiel R. Van Cauwenberghe School of Computer Sciences Guilin Institute of Electronic Technology 541004 Guilin P.R. China Dept. of Control Engineering and Automation University of Ghent Technologiepark 9 B-9052 Ghent Belgium

In this paper, three neural network based d-step-ahead prediction strategies, i.e. a recursive d-step-ahead neural predictor, a non-recursive d-step-ahead neural predictor, and a Smith type neural predictor are presented for time-delay compensation for nonlinear systems. Both the recursive and the non-recursive predictors have been extended to the case of long-range prediction. Finally, the proposed neural network based predictors are applied to the prediction of the manifold pressure process in an automotive engine. The predictive result of the corresponding first principles model based nonlinear predictor is also illustrated for comparison. The experimental results show that the neural network based predictive methods have obtained better performance.

关键词： Neural networks prediction nonlinearity time delay modelling

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