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Improvement of convergence speed for subband adaptive digital filter using the multirate repeating method

ELECTRONICS AND COMMUNICATIONS IN JAPAN PART III-FUNDAMENTAL ELECTRONIC SCIENCE 1995年第10期78卷 37-45页

作者： Kiya, H Nishikawa, K Ashihara, K Faculty of Technology Tokyo Metropolitan University Hachioji Japan 192-03 Members Kiyoshi Nshikawa graduated in 1990 from the Department of Electrical Engineering Tokyo Metropolitan University where he completed the Master's Program in 1992 and affiliated with Nippon Steel Co. Computer Systems Laboratory. He was a Research Associate in 1993 in the Department of Elect. Inf. Eng. Tokyo Metropolitan University engaged in research onadaptive signal processing and information source coding. He is a member of the IEEE. Associate Member

The subband adaptive system, where the idea of the filter bank is applied to the adaptive filter, has a feature that a higher-order adaptation can be reduced to lower-order adaptations. The reduction of the order of the adaptive filter is related closely to the number of channels and the decimation ratio. The order of adaptive digital filter (ADF) is decreased greatly when the number of subbands is increased, and the decimation ratio is increased up to the maximum value. Then, however, the number of coefficient-updates per unit time is decreased, which results in the deterioration of the convergence Speed. From such a viewpoint, this paper discusses a method to improve the convergence speed, which is deteriorated in the subband adaptive system, due to the decimation. The idea of the proposed method is to utilize effectively the data which have been discarded in the decimation process and to improve the convergence speed. It is called the multirate repeating method. As the first step, the multirate repeating method is applied to the conventional subband adaptive system and the convergence speed is improved. Then a subband adaptive system is introduced in which the multirate repeating method can be utilized more effectively. As a result, a faster convergence is realized while retaining the ADF order-reduction effect, which is an advantage of the subband adaptive system.

关键词： adaptive signal processing subband adaptive system multirate repeating method rational decimation

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REDUCING POSITIONING UNCERTAINTY OF OBJECTS BY ROBOT PUSHING

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IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1994年第4期10卷 535-541页

作者： BALORDA, Z BAJD, T Faculty of Electrical and Computer Engineering. Laboratory for Robotics University of Ljubljana Ljubljana Slovenia

Robotic applications often involve manipulation of objects where position and orientation are not perfectly known. Pushing an object for instance by a fence, can be employed to accurately align parts, reducing uncertainty to only one degree of freedom. In this paper a pushing task involving two fingers that completely constrains an object in a plane is proposed. The stability of orientation and position of an object being pushed is discussed. The solution obtained is unique despite the fact that the distribution of forces supporting the object cannot, in general, be known. The proposed task of pushing is simple although some preliminary information about the initial position and orientation of an object is required. An approach to avoid the ambiguity in orientation, owing to the effect of friction between the object and the pusher, by introducing up and down movement of the pusher is also presented.

关键词： Uncertainty Friction Service robots Robot sensing systems Shape Fingers Stability Fixtures Costs Feedback

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SEPARATION OF DISCONNECTED MACHINING REGIONS ON THE BASIS OF A CSG MODEL

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computer-AIDED DESIGN 1994年第1期26卷 46-58页

作者： SHPITALNI, M FISCHER, A [a]Laboratory for Computer Graphics CAD Faculty of Mechanical Engineering Technion-Israel Institute of Technology Haifa 32000 Israel

The process of converting a given design into the form of a rawstock minus a series of machining features is known as machining-features extraction. One step towards automatic machining-features extraction is the extraction of machining regions. The paper is concerned with the extraction of machining regions from the constructive-solid-geometry representation of a given object. The proposed method for the extraction of machining regions is based on manipulating the original CSG tree, representing the object, evaluating the various machining regions by using octrees, and pruning the CSG tree accordingly. If necessary, an additional stage of compacting follows. As a result, each machining region is represented by a compact CSG tree offering the following advantages. The CSG tree to be analysed is reduced in size, and thus the problem of machining-features extraction is simplified. The information is compact and concise. Moreover, no information is lost (CSG representation is kept rather than boundary representation), and the designer's intensions are conveyed to the process planner more clearly. In the special case in which the machining regions are identical to machining features, the method does offer the automatic extraction of machining features. In addition, the nesting level of the various machining regions is determined when needed.

关键词： FEATURE RECOGNITION CONSTRUCTIVE SOLID GEOMETRY CSG MODELS OCTREES CUTTER-PATH GENERATION

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Multiagent fault‐diagnosis expert system in power systems

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European Transactions on electrical Power 1995年第5期5卷 341-347页

作者： Wang, J.P. Trécat, J. Dr. Jianping Wang is a doctor fellow in the Faculte Polytechnique de Mons in Belgium. His current research field is parallel processing applications in power systems. Dr. Wang obtained his BS degree from Southwest Jiaotong University in P.R. Chinain 1982. From 1982 to 1990 he was appointed as an assistant lecturer. lecturer and associate professor respectively in the electrical engineering department of Southwest Jiaotong University. He obtained his Ph.D in the FacultC Polytechnique de Mons in July of 1993. (BD Dolez 3 1 FPMS B-7000 Mons Belgium T +32-65/37 41 87 Fax +32-65/37 43 00) Professor J. Trécat is a director in the power system laboratory in the Faculty Polytechnique de Mons. He obtained his Ph.D in the University of Manchester Institute of Science and Technology(UM1ST) in U.K. in 1970. He has been working in the fields of power system automation artificial intelligence application and computer vision in the Facult6 Polytechnique de Mons since 1970. He is a senior member of IEEE and he has made much contribution both in electrical engineering education and research. (BD Dolez 3 I FPMS B-7000 Mons T +32-651374185. Fax +32-6513743 00)

In order to solve the speed problem and shallow reasoning problem met in current research in fault diagnosis expert system, this paper presents a model based parallel fault diagnosis expert system for energy management systems (EMS). The Petri net model, which corresponds to the relationship between power system components and their protection systems, has been used for the inference in fault diagnosis. A multiagent parallel processing expert system, which is based on five transputers in Sun workstation, has been built for fault diagnosis purposes. The test results show that this expert system is not only fast but also has better performances. Copyright © 1995 John Wiley & Sons, Ltd.

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Planning the optimal set of views using the max-min principle 3rd

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3rd European Conference on computer Vision, ECCV 1994

作者： Maver, Jasna Leonardis, Aleš Solina, Franc Computer Vision Laboratory Faculty of Electrical Engineering and Computer Science University of Ljubljana Tržaška 25 Ljubljana61001 Slovenia

ISBN: (纸本)9783540579571

We present an approach to a typical task of active sensing, namely how to successively position the sensor in order to accomplish a given task. The approach is data driven since it is only the data that provides the information for planning the next views, and no a priori knowledge about the constituents of the scene is necessary. We applied our approach to the task of determining the 3-D coordinates of vertices of object silhouettes in the image under orthographic projection. © Springer-Verlag Berlin Heidelberg 1994.

关键词： computer vision

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A direct recovery of superquadric models range images using recover-and-select paradigm 3rd

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3rd European Conference on computer Vision, ECCV 1994

作者： Leonardis, Aleš Solina, Franc Macerl, Alenka Computer Vision Laboratory Faculty of Electrical Engineering and Computer Science University of Ljubljana Tržiaška 25 Ljubljana61001 Slovenia Hermes-Soft d.o.o. Ljubljana Slovenia

ISBN: (纸本)9783540579564

We present a novel approach to reliable and efficient recovery of part-descriptions from range images. We show that a set of superquadric models can be directly recovered from unsegmented range data, as opposed to methods which attempt the recovery of volumetric models only after the data has been pre-segmented using extensive pre-processing. The approach is based on the recover-and-select paradigm which consists of two intertwined stages: model-recovery and model-selection. At the model-recovery stage a redundant set of superquadrics is initiated in the image and allowed to grow, which involves an iterative procedure combining data classification and parameter estimation. All the recovered models are passed to the model-selection procedure where only the models resulting in the simplest overall description are selected. © Springer-Verlag Berlin Heidelberg 1994.

关键词： Recovery

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A direct part-level segmentation of range images using volumetric models

A direct part-level segmentation of range images using volum...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Solina A. Leonardis A. Macerl Computer Vision Laboratory Faculty of Electrical Engineering and Computer Science University of Ljubljana Ljubljana Slovenia

Volumetric part models play an important part in robotic applications such as grasping, path planning, object avoidance, and modeling kinematic chains. The authors present a novel method for reliable and efficient recovery of part-descriptions in terms of superquadric models from range images. In contrast to usual approaches which perform the recovery of volumetric models in several steps (from curves, surfaces to volumes), the authors show that a direct recovery is possible. This is achieved by combining two existing methods: recover-and-select paradigm and recovery of superquadric models. A redundant set of superquadratics is initiated in the image and only the recovered models resulting in the simplest overall description are selected. The author show the results on several real range images.< >

关键词： Image segmentation Kinematics Shape Grasping Manipulators Robot vision systems Robot sensing systems Legged locomotion Orbital robotics Robot control

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Real-time frame-to-frame automatic contour detection on echocardiograms

Real-time frame-to-frame automatic contour detection on echo...

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computers in Cardiology (CinC)

作者： J.G. Bosch G. van Burken S.S. Schukking R. Wolff A.J. van de Goor J.H.C. Reiber Laboratory for Clinical and Experimental Image Processing Department of Diagnostic Radiology University Hospital Leiden Netherlands Department of Computer Architecture Faculty of Electrical Engineering Delft University of Technnology Netherlands

A PC-based system for real-time left ventricular endocardial contour detection on echocardiographic images has been developed in our laboratories. The system consists of an IBM-compatible PC equipped with a commercially available frame grabber and the special-purpose Minimum Cost Contour Detector (MCCD) board developed for this project. The MCCD board uses 1 or 2 Intel i960 processors and receives digital images (512*512*8 bit) from the frame grabber over a digital video bar in real time. The contour detection algorithm is based on dynamic programming. Detected contours and other results are transferred to the host via the AT-bus. Processing time is short enough for real-time performance in a practical situation. Area of contours and regional areas in 8 segments are calculated in real time and displayed in graphs on the host system. The MCCD board is fully programmable and may be used for similar real-time contour detection applications, e.g. for X-ray angiography and intravascular ultrasound.< >

关键词： Real time systems Laboratories Costs Digital images Detection algorithms Dynamic programming X-ray detection X-ray detectors Angiography Ultrasonic imaging

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Flexible automation of hardware design tasks using software process technology

Flexible automation of hardware design tasks using software ...

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Symposium on Assessment of Quality Software Development Tools

作者： B.J. Kramer B. Dinler W.A. Halang A.D. Stoyenko Faculty of Electrical Engineering Fern Universität Hagen Hagen Germany GMD Institut SET Sankt Augustin Germany Faculty of Electrical Engineering Fern Universitat Hagen Hagen Germany Computer & Inforamtion Science New Jersey Institute of Technology Real-Time Computing Laboratory Newark NJ USA

This paper describes a hybrid approach towards design management. It was applied in a case study linking automated software development and behavioral synthesis. The process-centered software development environment MARVEL is combined with the ALLIANCE design tool box to provide a flexible hardware design management environment. It automatically activates tools according to the design flow, checks access rights of designers, and maintains consistency of design data. Some lessons learned from the experiment are reported.< >

关键词： Design automation Hardware Software design Programming Process design Environmental management Application software Laboratories Information science Software development management

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Meeting the strict real-time requirements of distributed continuous multimedia applications

Meeting the strict real-time requirements of distributed con...

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IEEE International Conference on Systems, Man and Cybernetics

作者： W.A. Halang P.A. Laplante A.D. Stoyenko Faculty of Electrical Engineering FernUniversität Hagen Hagen Germany Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ USA Real Time Computing Laboratory Department of Computer and Information Sciences New Jersey Institute of Technology Newark NJ USA

In this paper we discuss synchronization techniques-and specifically their implementation at the hardware, operating system and high-level language levels-that can be used to achieve deadline satisfaction. In particular, it is shown that by endowing process control computers with fully parallel input and output mechanisms making use of exact time specifications, synchronization and deadline satisfaction can be achieved at the same time without any jitter. Continuous multimedia applications require accurate synchronization of the clocks in different processors. The available solutions have considerable accuracy or applicability. Local clock synchronization by radio transmitted time information turns out to be the only general purpose and high accuracy technique that is applicable with reasonable effort.< >

关键词： Application software Synchronization Multimedia computing Virtual reality Colored noise Hardware Operating systems TV Clocks Multimedia systems

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