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Information Theoretic Interpretation of Error Criteria

自动化学报 2009年第10期35卷 1302-1309页

作者： CHEN Ba-Dong HU Jin-Chun ZHU Yu SUN Zeng-Qi Institute of Manufacturing Engineering Department .of Precision Instruments and Mechanology Tsinghua University Beijing 100084 P.R. China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing 100084 P.R. China

Error criteria (or error cost functions) play significant roles in statistical estimation problems. In this paper, we study error criteria from the viewpoint of information theory. The relationships between error criteria and error's entropy criterion are investigated. It is shown that an error criterion is equivalent to the error's entropy criterion plus a Kullback-Leibler information divergence (KL-divergence). Based on this result, two important properties of the error criteria are proved. Particularly, the optimum error criterion can be interpreted via the meanings of entropy and KL-divergence. Furthermore, a novel approach is proposed for the choice of p-power error criteria, in which a KL-divergence based cost is minimized. The proposed method is verified by Monte Carlo simulation experiments.

关键词：误差标准误差成本函数估计熵 KL发散

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Capturability of a simple guidance law with angular acceleration input

Capturability of a simple guidance law with angular accelera...

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European Control Conference (ECC)

作者： Takateru Urakubo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of motion for a pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the gain parameters of the guidance law can be chosen so that the conditions are satisfied. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage.

关键词： Vectors Equations Acceleration Angular velocity Missiles Lyapunov methods Trajectory

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Optimal placement of a two-link manipulator for door opening

Optimal placement of a two-link manipulator for door opening

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Takateru Urakubo Tomoaki Mashimo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is *** show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

关键词： End effectors Numerical simulation Polynomials Mobile robots Manipulator dynamics Torque intelligent robots USA Councils Kinetic energy Refrigeration

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Time production and representation in a conceptual and computational cognitive model

Time production and representation in a conceptual and compu...

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2009 AAAI FAll Symposium

作者： Snaider, Javier McCall, Ryan Franklin, Stan Computer Science Department Institute for Intelligent Systems University of Memphis United States Argentina FedEx Institute of Technology #403H 365 Innovation Dr. Memphis TN 38152 United States FedEx Institute of Technology #312 365 Innovation Dr. Memphis TN 38152 United States

ISBN: (纸本)9781577354352

Time perception and inferences there from are of critical importance to many autonomous agents. But time is not perceived directly by any sensory organ. We argue that time is constructed by cognitive processes. Here we present a model for time perception that concentrates on succession and duration, and that generates these concepts and others, such as continuity, immediate present duration, and lengths of time. These concepts are grounded through the perceptual process itself. The LIDA cognitive model is used to illustrate these ideas. Copyright © 2009, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Autonomous agents

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Model-based bridge recognition in high resolution SAR image

Model-based bridge recognition in high resolution SAR image

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MIPPR 2009 - Automatic Target Recognition and Image Analysis: 6th International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Pei, Deli Sun, Fuchun Wang, Hongqiao Chen, Ning Department of Computer Science and Technology Tsinghua University Beijing 100084 China State Key Lab. of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing 100084 China Xi'an High Tech. Research Institute Xi'an Shanxi 710025 China

ISBN: (纸本)9780819478061

A new bridge recognition method in Synthetic Aperture Radar (SAR) image using bridge model and SVM is presented in this paper. Firstly, water region is extracted from original SAR image by self-adapt segmentation and mathematic morphological method. Then based on bridge model, the bridge candidates in water region can be found out and their texture feature can also be ***, with the usage of SVM, whether these objects are bridges or not can be identified and the real bridges can be mark ed in the SAR image, as well as the corresponding information such as position. Experiment results show that, with the help of water region segmentation and bridge model, the efficiency of the algorithm is greatly promoted, meanwhile, the recognition accuracy is guaranteed by high quality classifier of SVM. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Synthetic aperture radar

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Fuzzy inference system for vulnerability risk estimation of perimeter security

Fuzzy inference system for vulnerability risk estimation of ...

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IEEE International Workshop on intelligent Data Acquisition and Advanced Computing systems: Technology and Applications

作者： Pavlo Bykovyy Yuriy Pigovsky Anatoly Sachenko Arkadiusz Banasik Research Institute of Intelligent Computer Systems Ternopil National Economic University Ternopil Ukraine Department of Computer Science Silesian University of Technology Zabrze Poland

The methods estimating vulnerability of perimeter security systems are developed in the current study. Appropriate estimations are based on the fuzzy inference methods of intruder undetection risks on security zones s... 详细信息

关键词： Fuzzy systems Data security Sensor phenomena and characterization Information security Fuzzy sets Sensor systems computer security National security Costs Combinatorial mathematics

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Analysis of Gait Control of Wall-Climbing Caterpillar Robot

Analysis of Gait Control of Wall-Climbing Caterpillar Robot

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： G. H. Zong W. Wang K. Wang D. Z. Li X. Y. Ma H. X. Zhang Robotics Institute School of Mechanical Engineering and AutomationBeihang University100191Beijing Institute of Technical Aspects of Multimodal Systems Department of Computer ScienceUniversity of Ha

ISBN: (纸本)9781424447749

In order to verify the benefit of four links kinematical method, the mathematical model of four links kinematics is established. The kinematical parameters of passive joints can be calculated according to the rotation of active joint. Then the wall-climbing robot can climb the vertical wall through the coordinated rotation of active joint and passive joints. To testify the feasibility of the four links kinematical method, a wall-climbing caterpillar robot based on vibrating suction method is developed. An experiment of wall-climbing confirms the kinematical method mentioned above. The result shows that the four links kinematical method is simple and reliable although some errors exist. At last, the conclusions and future works are present.

关键词： CLIMBING WALL Gait control Caterpillar Joints Joints Robot Analysis kinematics

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Noncontact manipulation of Ni nanowires using a rotating magnetic field

Noncontact manipulation of Ni nanowires using a rotating mag...

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IEEE Conference on Nanotechnology

作者： Li Zhang Yang Lu Lixin Dong R. Pei Jun Lou Bradley E. Kratochvil Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering & Materials Science Rice University Houston TX USA Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)9781424448326

Ni nanowires (NWs) are driven in water using a rotating magnetic field. The NWs show various locomotion performances under different boundary conditions. Pure rotation occurs when the two ends of the NWs are homogenously constrained. However, if the boundary conditions are different at the two ends of the NWs, tumbling motion, i.e., rotation plus translation, will be generated, which leads to the propulsion of NWs near a wall. These motions of NWs can be steered by the magnetic field. In addition, we present that the two NWs self-assemble to form a single NW with the magnetic field. The results imply that magnetic field is a promising approach for noncontact manipulation of Ni NWs or other 1-D ferromagnetic nanostructures at low Reynolds number aqueous environment in a controllable fashion.

关键词： Nanowires Magnetic fields Nanostructures Propulsion Boundary conditions intelligent robots Biomedical optical imaging Optical sensors Magnetic liquids Electrodes

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Pedestrian Detection Fusion Method Based on Mean Shift

Pedestrian Detection Fusion Method Based on Mean Shift

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International Conference on Machine Vision (ICMV)

作者： Liping Yu Wentao Yao College of Computer Science and Technology Shandong Institute of Business and Technology Yantai China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science & Technology Tsinghua University Beijing China

Detecting pedestrians is a challenging task, which requires precise localization of pedestrians that appear in images and videos. Window-scanning based detection methods have demonstrated their promise by scanning the image densely with multi-scale detection window. However, an essential and critical issue, i.e., how to fuse these dense detections obtained through pedestrian detector and yield the final target detection, is not well addressed in the literature. This paper proposes and implements a general method for fusing pedestrian detections. In this method, detection fusion is regarded as a kernel density estimate and implemented through mean shift iterative procedure. Moreover, the notion of nearest neighbor consistency is adopted, which significantly accelerates the fusion procedure. Experimental results demonstrate the efficiency of the mean shift-based fusion method.

关键词： Phase detection Fuses Nearest neighbor searches Support vector machines Support vector machine classification computer science Detectors Object detection Shape Humans

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Decentralized adaptive control of a class of discrete-time multi-agent systems for hidden leader following problem

Decentralized adaptive control of a class of discrete-time m...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Shuzhi Sam Ge Chenguang Yang Yanan Li Tong Heng Lee Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering National University of Singapore Singapore

In this paper, adaptive control is investigated for a class of discrete-time nonlinear multi-agent systems (MAS). Each agent is of uncertain dynamics and is affected by other agents in its neighborhood. An agent is able to sense the outputs of the agents inside its neighborhood but is unable to sense those outside its neighborhood. Among all the agents, there is a hidden leader, which knows the desired tracking trajectory, but it is affected by and can only affect those agents inside its neighborhood while all other agents are not aware of its leadership. The decentralized adaptive control is designed for each agent by using the information of its neighbors. Under the proposed decentralized adaptive controls, both rigid mathematical proof and simulation studies are provided to show that all the agents are guaranteed to reach their common goal, i.e., following the desired reference.

关键词： Adaptive control Multiagent systems Automatic control Distributed control intelligent robots Control systems Trajectory computer architecture Robot kinematics Delay

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