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Time delay estimation in a spatially structured model using decoupled estimators for temporal and spatial parameters

Time delay estimation in a spatially structured model using ...

引用

ITG Workshop on Smart Antennas

作者： Felix Antreich Josef A. Nossek Gonzalo Seco A. Lee Swindlehurst German Aerospace Center (DLR) Inst. for Communications and Navigation Wessling Germany Inst. for Circuit Theory & Signal Processing Munich University of Technology (TUM) Germany Department of Telecommunication & Systems Engineering Universitat Authnòma de Barcelona Spain Dept. of Telecommunications & Systems Engineering Universitat Autonoma de Barcelona (UAB) Spain Dept. of Electrical Engineering & Computer Science The University of California Irvine CA U.S.A.

This paper deals with the joint estimation of time-delay and spatial (direction-of-arrival, DOA) parameters of several replicas of a known signal in an unknown spatially correlated field. Unstructured and structured models have been proposed for maximum likelihood (ML) estimators in the literature. The former suffers from a severe performance degradation in some scenarios, whereas the latter involves huge complexity. It is shown how the extended invariance principle (EXIP) can be applied to obtain estimates with the quality of those of the structured model, but with the complexity of the unstructured one. We present a method to improve the quality of the time-delay estimates obtained with an unstructured spatial model when an estimate of the DOAs is available. Exemplarily, simulation results for time-delay estimation for GPS (Global Positioning System) are included and confirm that our proposal approaches the Cramer-Rao lower bound (CRLB) of the structured model even when suboptimal DOA estimates obtained by ESPRIT are introduced.

关键词： Delay estimation Delay effects

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Correlation-based reconstruction of a 3D object from a single freehand sketch 07

Correlation-based reconstruction of a 3D object from a singl...

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ACM SIGGRAPH 2007 - International Conference on computer Graphics and Interactive Techniques

作者： Lipson, Hod Shpitalni, Moshe Cornell Computer Aided Design Lab. Mechanical and Aerospace Engineering Cornell University Ithaca NY 14853 United States NSF Engineering Research Center for Reconfigurable Machining Systems University of Michigan Ann Arbor MI 48109 United States Technion Israel Inst. of Technology Haifa Israel

ISBN: (纸本)9781450318235

We propose a new approach for reconstructing a three-dimensional object from a single two-dimensional freehand line drawing depicting it. A sketch is essentially a noisy projection of a 3D object onto an arbitrary 2D plane. Reconstruction is the inverse projection of the sketched geometry from two dimensions back into three dimensions. While humans can do this reverse-projection remarkably easily and almost without being aware of it, this process is mathematically indeterminate and is very difficult to emulate computationally. Here we propose that the ability of humans to perceive a previously unseen 3D object from a single sketch is based on simple 2D-3D geometrical correlations that are learned from visual experience. We demonstrate how a simple correlation system that is exposed to many object-sketch pairs eventually leams to perform the inverse projection successfully for unseen objects. Conversely, we show how the same correlation data can be used to gauge the understandability of synthetically generated projections of given 3D objects. Using these principles we demonstrate for the first time a completely automatic conversion of a single freehand sketch into a physical solid object. These results have implications for bidirectional human-computer communication of 3D graphic concepts, and might also shed light on the human visual system.

关键词： Image reconstruction

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An E-plane EBG waveguide for dispersion compensated transmission of short pulses

An E-plane EBG waveguide for dispersion compensated transmis...

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Antennas and Propagation Society International Symposium

作者： G. Goussetis N. Uzunoglou J.-L. Gomez-Tornero B. Gimeno V.E. Boria Inst. Integrated Systems Heriot-Watt University Edinburgh UK School of Electrical and Computer Engineering NTUA Athens Greece Technical University Cartagena Cartagena Spain Instituto de Ciencia de los Materiales Universidad de Valencia Spain ITEAM Universidad Politécnica de Valencia Valencia Spain

ISBN: (纸本)1424408776;97

The resolution of radar applications can significantly suffer from pulse broadening along the propagation in homogeneous hollow waveguides. The latter occurs due to the strongly dispersive nature of the fast waves in the waveguides. A low-cost solution to this problem is here proposed, employing an EBG type of waveguide, compatible with traditional E-plane fabrication techniques. By means of an example, here we demonstrate the reduction of the pulse spreading as it propagates along this type of waveguide.

关键词： Dispersion Periodic structures Metamaterials Hollow waveguides Pulse modulation Rectangular waveguides Space vector pulse width modulation Radar applications Cutoff frequency Pulse width modulation

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Improving Data Association in Vision-based SLAM

Improving Data Association in Vision-based SLAM

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Arturo Gil Oscar Reinoso Oscar Martinez Mozos Cyrill Stachniss Wolfram Burgard Department of Systems Engineering Miguel Hernández University Elche(Alicante) Spain Department of Computer Science University of Freiburg Freiburg Germany Eidgenössische Technische Hochschule (ETH) Inst. of Robotics and Intelligent Systems Zurich Switzerland

This paper presents an approach to vision-based simultaneous localization and mapping (SLAM). Our approach uses the scale invariant feature transform (SIFT) as features and applies a rejection technique to concentrate on a reduced set of distinguishable, stable features. We track detected SIFT features over consecutive frames obtained by a stereo camera and select only those features that appear to be stable from different views. Whenever a feature is selected, we compute a representative feature given the previous observations. This approach is applied within a Rao-Blackwellized particle filter to make the data association easier and furthermore to reduce the number of landmarks that need to be maintained in the map. Our system has been implemented and tested on data gathered with a mobile robot in a typical office environment. Experiments presented in this paper demonstrate that our method improves the data association and in this way leads to more accurate maps

关键词： Simultaneous localization and mapping Cameras Intelligent robots Euclidean distance Mobile robots Robot kinematics Robot vision systems Particle filters Gas insulated transmission lines Intelligent systems

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Electrical stimulation of a spinal central pattern generator for locomotion

Electrical stimulation of a spinal central pattern generator...

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2nd International IEEE EMBS Conference on Neural engineering, 2005

作者： Jacob Vogelstein, R. Thakor, Nitish V. Etienne-Cummings, Ralph Cohen, Avis H. Dept. of Biomedical Engineering Johns Hopkins University Baltimore MD Dept. of Electrical and Computer Engineering Johns Hopkins University Baltimore MD Dept. of Biology and Inst. for Systems Research University of Maryland College Park MD

We present data illustrating the effects of direct electrical stimulation on the spinal central pattern generator (CPG) for locomotion. Discrete current pulses were applied to isolated lamprey spinal cords during "fictive swimming", resulting in phase shifts in the underlying CPG rhythm. The impact of a given stimulus is shown to be a function of the phase at which it is applied, so effects are characterized by phase-transition curves (PTCs). Additionally, the shape and amplitude of the stimulus pulses are shown to control different aspects of the response. These preliminary results represent the first stage of a project to develop a neuroprosthetic device for restoring locomotion after severe spinal cord injury. The implication of these data is that a smart, closed-loop neuroprosthesis could control locomotion by monitoring the state of the CPG and applying the appropriate stimuli at appropriate times to effect a desired locomotor pattern. © 2005 IEEE.

关键词： Pattern recognition

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Lyapunov-based control of macro-micro manipulator considering bending and torsional vibrations

Lyapunov-based control of macro-micro manipulator considerin...

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International Workshop on Robot Motion and Control (RoMoCo)

作者： Y. Morita M. Kimata H. Ukai H. Kando F. Matsuno Nagoya Kogyo Daigaku Nagoya Aichi JP Dept. of Comput. Sci. & Eng. Nagoya Inst. of Technol. Japan Department of Computer Science & Engineering Nagoya Institute of Technology Nagoya Aichi Japan Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications Chofu Tokyo Japan

This paper presents a Lyapunov-based positioning controller for a macro-micro manipulator suppressing the bending and torsional vibrations of the macro arm. On the basis of the distributed parameter model, the output feedback controller is constructed using the Lyapunov method. The asymptotic stability in the neighborhood of the desired states of the closed-loop system is proven. The proposed controller consists of the PD feedback of the motor angles and a feedback of the torsional strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.

关键词： Vibration control Lyapunov method Manipulator dynamics Control systems Orbital robotics Output feedback Asymptotic stability Strain control Capacitive sensors Safety

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Control of discrete linear repetitive processes with uncertain sampling period and application to a physical example

Control of discrete linear repetitive processes with uncerta...

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International Workshop on Multidimensional (nD) systems

作者： B. Cichy K. Gatkowski E. Rogers A. Kummert D.H. Owens Insti1tute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Inst. of Control & Comput. Eng. Zielona Gora Univ. Poland School of Electronics and Computer Science University of Southampton Southampton UK Bergische Universität Wuppertal Wuppertal Germany Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper considers the problem of stabilizing an uncertain discrete linear repetitive process where the model uncertainty is a result of the choice of the sampling period. The results obtained are applied to the engineering example of a material rolling process. The required computations to determine the control law are undertaken using LMIs.

关键词： Sampling methods Linear matrix inequalities Symmetric matrices Automatic control Process control State-space methods Control engineering computing Physics computing systems engineering and theory computer science

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Enhanced polyharmonic broadcasting scheme for popular videos

Enhanced polyharmonic broadcasting scheme for popular videos

引用

2004 IEEE International Symposium on Consumer Electronics - Proceedings

作者： Chand, Satish Lobiyal, D.K. Om, Hari Sch. of Comp. and Systems Sciences Jawaharlal Nehru University Delhi India Computer Engineering Division Netaji Subhas Inst. of Technology Delhi India

ISBN: (纸本)0780385276

The polyharmonic broadcasting scheme, a variant of the harmonic scheme, supports better user's latency than those of cautious and quasi-harmonic schemes, besides delivering the video data in time to the users unlike the harmonic scheme. However, its storage requirement at the client's site is very large that may counteract its performance for user's latency. Basically this scheme works by constraining a user for a fixed delay after receiving his/her request. During that delay period, some appropriate portion of the video data is downloaded and stored in the buffer storage at the client's site and it can be read from the buffer, whenever it is needed. In this paper, the enhanced polyharmonic scheme has been proposed, which requires less storage space than the polyharmonic scheme without affecting the user's latency.

关键词： Television broadcasting

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S-band high power solid-state amplifier design and development

S-band high power solid-state amplifier design and developme...

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作者： Stratakos, Yorgos Betzios, Panayotis National Technical University Athens Greece Microwaves/Fiber Optics Laboratory Inst. of Commun./Computer Systems NTUA Greece Department of Electrical Engineering Natl. Technical University of Athens Greece

The design and development of a 230 W power amplifier operating at S-band (2,35 to 2.45 GHz) is described. The motivation behind this development is the need for a microwave driver amplifier to be used in the linear accelerator facility at the inst.tute of Accelerating systems and Applications at the University of Athens. It will replace the magnetron currently being used at low microwave power. The need for extremely stable microwave power for the electron beam pre-acceleration and chopping cavities makes it imperative to use a solid-state high power GaAs amplifier. The design technology uses microstrips, fabricated on RO4003 substrates, and special care has been taken to protect the amplifier from over temperature and overload. The amplifier is composed of three stages. The first is a MMIC and the other two use GaAs MESFETs. The amplifier also has forward and reflected signal indicators that can be used for remote amplifier control to shut it down if the VSWR is too high, for example, or to check the RF output level and provide automatic gain control. The amplifier was designed using a CAD program, which gave the flexibility to use robust optimizer tools for the complete design of the RF chain. Finally, test results are presented that show excellent agreement with the theoretical predictions.

关键词： Solid state devices

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Cognitive microsystems: Geometry of computation and sensing

Cognitive microsystems: Geometry of computation and sensing

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2004 5th Asian Control Conference

作者： Schmitt, H.A. Barker, D.L. Shah, N.N. Rosenwald, R.D. Waagen, D.E. Barbastathis, G. Jurga, S.M. Hidrovo-Chavez, C.H. Buchner, T. Streinu, I. Cognitive Systems Directorate Raytheon Company Missile Systems Tucson AZ 85734 United States Department of Mechanical Engineering Massachusetts Inst. of Technology Cambridge MA 02139 United States Department of Computer Science Smith College Northampton MA 01063 United States

ISBN: (纸本)0780388739

We describe one possible approach for the development of generation-after-next microsystems that will have on-the-fly sensing and processing adaptivity. These microsystems should be viewed as the lowest level in a multi-tiered network. Ideas for the design, manufacture and integration of these microsystems borrow heavily from several evolving fields, including origami folding, computational geometry, topology, photonic band gap structures and three-dimensional nanofabrication techniques. This work is driven by the "geometry of computation and sensing." In other words, how do the spatial structures of computational and sensing devices define their properties, and, more importantly, can we use geometry as a design tool? Ultimately we envision families of microbots, built from cell-like modules analogous to stem cells, which can not only learn and adjust to their environment but furthermore can adapt their form and function to accommodate possibly changing environments.

关键词： Cognitive systems

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