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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： T. De Mulder J.P. Martens M. Lesaffre M. Leman B. De Baets H. De Meyer Department of Electronics and Information Systems (ELIS) Ghent University Ghent Belgium Institute for Psychoacoustics and Electronic Music (IPEM) Ghent University Ghent Belgium Department of Applied Mathematics Biometrics and Process Control Ghent University Ghent Belgium Department of Applied Mathematics and Computer Science Ghent University Ghent Belgium

In this paper recent improvements of an existing acoustic frontend for the transcription of vocal (hummed, sung) musical queries is presented. Thanks to the addition of a new second pitch extractor and the introduction of a novel multi-stage segmentation algorithm, the application domain of the front-end could be extended to whistled queries, and on top of that, the performance on the other two query types could be improved. Experiments have shown that the new system can transcribe vocal queries with an accuracy ranging from 76 % (whistling) to 85 % (humming), and that it clearly outperforms other state-of-the art systems on all three query types.

关键词： Frequency Music information retrieval Mathematics Pattern matching Pattern analysis Performance analysis Low pass filters Psychoacoustic models Information systems Electronic music

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Optimizing Supervision and control for Industrial Furnaces: Predictive control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Optimization of block-floating-point realizations for digital controllers with finite-word-length considerations

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Journal of Zhejiang University-science A(Applied Physics & Engineering) 2003年第6期4卷 30-36页

作者：吴俊胡协和陈生褚健 Department of Electronics and Computer Science Zhejiang University Southampton SO17 1BJ National Key Laboratory of Industrial Control Technology National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control China Hangzhou 310027 UK University of Southampton

The closed loop stability issue of finite precision realizations was investigated for digital controllers implemented in block floating point format. The controller coefficient perturbation was analyzed resulting from using finite word length (FWL) block floating point representation scheme. A block floating point FWL closed loop stability measure was derived which considers both the dynamic range and precision. To facilitate the design of optimal finite precision controller realizations, a computationally tractable block floating point FWL closed loop stability measure was then introduced and the method of computing the value of this measure for a given controller realization was developed. The optimal controller realization is defined as the solution that maximizes the corresponding measure, and a numerical optimization approach was adopted to solve the resulting optimal realization problem. A numerical example was used to illustrate the design procedure and to compare the optimal controller realization with the initial realization.

关键词： Digital controller Finite word length Block floating point Closed loop stability Optimization

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A real-time Java system on a multithreaded Java microcontroller

A real-time Java system on a multithreaded Java microcontrol...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： M. Pfeffer S. Uhrig T. Ungerer U. Brinkschulte Institute for Computer Science University of Augsburg Augsburg Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a real-time Java hardware and software system for use in embedded applications. The system includes a multithreaded Java microcontroller, an adapted Java Virtual Machine (JVH) and an extended application programming interface (API). The microcontroller core is designed with a multithreaded pipeline and hardware support for real-time scheduling algorithms. The Java Virtual Machine consists of trap routines for complex Java byte-codes, real-time garbage collection and a class loader for creating real-time data structures. On a higher level, the application programming interface provides easy real-time thread management and access to hardware components like serial interfaces and timer/counter units.

关键词： Java Real time systems Microcontrollers Hardware Application software Virtual machining Software systems Algorithm design and analysis Pipelines Scheduling algorithm

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

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IEEE International Conference on Systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots robotics and automation Humans Graphics Virtual environment Machine vision computer science Augmented virtuality

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Optimal floating-point realizations of finite-precision digital controllers

Optimal floating-point realizations of finite-precision digi...

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IEEE Conference on Decision and control

作者： Jun Wu Sheng Chen J.F. Whidborne Jian Chu National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK Department of Mechanical Engineering King''s College London UK

ISBN: (纸本)0780375165

The paper investigates the closed-loop stability issue of finite-precision realizations for digital controllers implemented in floating-point arithmetic. Unlike the existing methods which only address the effect of the mantissa bits in floating-point format to the sensitivity of closed-loop stability, the sensitivity of closed-loop stability is analyzed with respect to both the mantissa and exponent bits of floating-point format. A computationally tractable finite word length (FWL) closed-loop stability measure is defined, and the optimal controller realization problem is posed as searching for a floating-point realization that maximizes the proposed measure. A numerical optimization approach is adopted to solve for the resulting optimization problem. Simulation results show that the proposed design procedure yields computationally efficient controller realizations with enhanced FWL closed-loop stability performance.

关键词： Optimal control Digital control Stability Floating-point arithmetic Length measurement Design methodology Uncertainty Laboratories Industrial control process control

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Interactive simulation of teeth cleaning

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International Congress Series 2001年第C期1230卷 682-688页

作者： Gockel, T. Salb, T. Weyrich, T. Burgert, O. Dillmann, R. Department for Computer Science Institute for Process Control Robotics Universität Karlsruhe (TH) 76128 Karlsruhe Germany

In this paper, an interactive simulation system for teeth cleaning is presented. This simulation system offers assistance for optimizing design and manufacturing of new toothbrushes. Data acquisition and pre-processing techniques for the model generation are shown, an editor for modelling of the elastic behaviour of the toothbrush parts is presented and the mathematical method for modelling of flexible parts of the toothbrush is explained. After the introduction of the PHANToM haptoid and the explanation of a new approach to collision detection, first results of the project are shown. © 2001, Elsevier science B.V. All rights reserved.

关键词： Interactive simulation system Teeth cleaning Toothbrush

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A volume-based process model for computer-assisted surgery

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International Congress Series 2001年第C期1230卷 8-13页

作者： Däuber, S. Krempien, R. Schorr, O. Brief, J. Hassfeld, S. Wörn, H. Department of Computer Science University of Karlsruhe (TH) Institute for Process Control and Robotics 76128 Karlsruhe Kaiserstraße 12 Germany Department of Clinical Radiology University of Heidelberg Hedelberg Germany Department of Oral and Maxillofacial Surgery University of Heidelberg Hedelberg Germany

computer systems, which assists surgical procedures, are more and more leaving the status of being mere prototypes [1-4]. It is increasingly necessary for the surgeons and developers to ensure the quality, accuracy and security of their systems. Standards may help to achieve these objects. In this work, we present a standard which deals with the inaccuracies emerging in the particular steps of a CAS procedure. It is based on the definition of radiotherapy procedures as provided by the International Commission on Radiation Units and Measurements (ICRU) [5]. © 2001 Elsevier science B.V.

关键词： Accuracy computer-assisted surgery Standardization

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Automated generated collision-free time optimized robot movements in industrial environments based on rounding

Automated generated collision-free time optimized robot move...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： B. Hein M. Salonia H. Worn Computer Science Department Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)078037004X

This paper presents a new approach to optimized notion planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The collision-free result path is then optimized in execution time using rounding, a common command of every standard robot controller in the industry.

关键词： Service robots robotics and automation Industrial control Orbital robotics Robot control computer industry Defense industry process planning Robot programming computer science

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Remotely controllable mobile microrobots acting as nano positioners and intelligent tweezers in scanning electron microscopes (SEMs)

Remotely controllable mobile microrobots acting as nano posi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Schmoeckel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.

关键词： Scanning electron microscopy Electron mobility Piezoelectric actuators Intelligent control Intelligent sensors Intelligent actuators Open loop systems control systems Sensor systems User interfaces

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