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International Joint Conference on Neural Networks (IJCNN)

作者： Furao Shen Hui Yu Wataru Kasai Osamu Hasegawa State Key Laboratory for Novel Software Technology Jiangyin Information Technology Research Institute Nanjing University Nanjing China Department of Computer Intelligence and Systems Science Tokyo Institute of Technology Yokohama Japan Imaging Science and Engineering Laboratory Tokyo Institute of Technology Yokohama Japan

An associative memory (AM) system is proposed to realize incremental learning and temporal sequence learning. The proposed system is constructed with three layer networks: The input layer inputs key vectors, response vectors, and the associative relation between vectors. The memory layer stores input vectors incrementally to corresponding classes. The associative layer builds associative relations between classes. The proposed method can incrementally learn key vectors and response vectors; store and recall both static information and temporal sequence information; and recall information from incomplete or noise-polluted inputs. Experiments using binary data, real-value data, and temporal sequences show that the proposed method works well.

关键词： Associative memory Training Context Indexes Prototypes Humans Topology

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Performance Tuning Towards a KVM-Based Low Latency Virtualization System

Performance Tuning Towards a KVM-Based Low Latency Virtualiz...

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International Conference on Information engineering and computer science (ICIECS)

作者： Baojing Zuo Kai Chen Alei Liang Haibing Guan Jun Zhang Ruhui Ma Hongbo Yang School of Software Shanghai Jiaotong University Shanghai China School of Information Security Engineering Shanghai Jiaotong University Shanghai China Department of Computer Science and Engineering Shanghai Key Laboratory of Scalable Computing and Systems Shanghai Jiaotong University Shanghai China

Utilizing virtualization technology to combine real-time operating system(RTOS)and off-the-shelf time-sharing general purpose operating system (GPOS)is attracting much more interest *** combination has the potential to provide a large application base,and to guarantee timely deterministic response to real-time applications,yet there is no convincible experimental result about its real-time *** this paper,we analyze the interrupt latency of RTOS running on Linux KVM based on some preliminary tunings,and find out System Management Interrupt (SMI) is the main factor which makes the maximum latency unideal, so we propose a method to limit the worst-case interrupt latency in an acceptable ***,we also find out that boosting priority may result in wastes of CPU resources when RTOS is not executing real-time tasks,so we design a co-scheduling mechanism to improve the CPU throughput of the GPOS system.

关键词： Linux Real time systems Kernel Tuning Throughput Hardware

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A Translation Framework for Virtual Execution Environment on CPU/GPU Architecture

A Translation Framework for Virtual Execution Environment on...

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International Symposium on Parallel Architectures, Algorithms and Programming (PAAP)

作者： Guoxing Dong Kai Chen Erzhou Zhu Yichao Zhang Zhengwei Qi Haibing Guan School of Software Shanghai Jiaotong University Shanghai China School of Information Security Engineering Shanghai Jiaotong University Shanghai China Department of Computer Science and Engineering Shanghai Key Laboratory of Scalable Computing and Systems Shanghai Jiaotong University Shanghai China

GPUs are many-core processors with tremendous computational power. However, as automatic parallelization has not been realized yet, developing high-performance parallel code for GPUs is still very challenging. The paper presents a novel translation framework designed for virtual execution environment based on CPU/GPU architecture. It addresses two major challenges of taking advantage of general purpose computation on graphics processing units (GPGPU) to improve performance: no rewriting the existing source code and resolving binary compatibility issues between different GPUs. The translation framework uses semi-automatic parallelization technology to port existing code to explicitly parallel programming models. It not only offers a mapping strategy from X86 platform to CUDA programming model, but also synchronizes the execution between the CPU and the GPUs. The input to our translation framework is parallelizable part of the program within binary code. With an additional information related to the parallelizable part, the translation framework transforms the sequential code into PTX code and execute it on GPUs. Experimental results on several programs from CUDA SDK Code Samples and Parboil Benchmark Suite show that our translation framework could achieve very high performance, even up to several tens of times speedup over the X86 native version.

关键词： Graphics processing unit Registers Kernel Instruction sets Driver circuits Programming computer architecture

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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Observer-Based L_(2)-L_(infinity) Control for a Class of Stochastic systems with Time-Varying Delay

Observer-Based L_(2)-L_(infinity) Control for a Class of Sto...

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2010 49th IEEE Conference on Decision and Control

作者： Lin Li Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424477456

This paper is devoted to the problem of L_(2)-L_(infinity) control for a class of stochastic time-delay systems via observer-based feedback control. The considered observer contains no time-delay. The purpose is to design an observer-based feedback stabilizing controller such that the augmented closed-loop system is stochastically asymptotically stable with a prescribed L_(2)-L_(infinity) performance satisfied. Based on the stochastic stability theory, a delay-dependent sufficient condition is derived in terms of linear matrix inequalities (LMIs). The observer and controller design method is proposed, while the corresponding explicit expression for the observer and controller gain matrices is also given. Finally, numerical examples and simulation results are included to illustrate the effectiveness of the proposed results.

关键词： stochastic systems system clock time varying stability theory Stochastic delay systems controller gain Closed loop systems

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L_(2)-L_(infinity) Filter Design for Neutral Stochastic Time-Delay systems

L_(2)-L_(infinity) Filter Design for Neutral Stochastic Time...

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2010 49th IEEE Conference on Decision and Control

ISBN: (纸本)9781424477456

This paper is concerned with the problem of L_(2)-L_(infinity) filtering for a class of neutral stochastic systems with both discrete and distributed time-varying delays. The purpose is focusd on the design of a full order filter such that the resulting filtering error system is stochastically asymptotically stable in the mean square with a prescribed L_(2)-L_(infinity) disturbance attenuation level satisfied. By employing Lyapunov functional and stochastic stability theory, a delay-dependent sufficient condition for the existence of such a filter is obtained in terms of linear matrix inequalities (LMIs). The desired filter can be obtained by solving two LMIs.

关键词： Stochastic delay systems Filters mean square filter design stochastic systems error system stability theory Delay systems Filtration

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Analysis of Two Robust Learning Control Schemes in the Presence of Random Iteration-Varying Noise

Analysis of Two Robust Learning Control Schemes in the Prese...

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American Control Conference

作者： Deyuan Meng Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper deals with the design problem of robust iterative learning control (ILC), in the presence of noise that is varying randomly from iteration to iteration. Two ILC schemes are considered: one adopts the previous iteration tracking error (PITE) and the other adopts the current iteration tracking error (CITE), in the updating law. For both schemes, the convergence results are obtained by using a frequency-domain approach, and a comparison between them is presented from the viewpoints of the convergence condition, robustness against plant uncertainty, and delay compensation. It shows that sufficient conditions can be derived to bound the tracking error and make its expectation monotonically convergent in the sense of L_(2)-norm, which work effectively with robustness for all admissible plant uncertainties. Furthermore, the sufficient conditions for both schemes can also be formulated in terms of two complementary functions, which do not depend on the delay time as well as the plant uncertainty and, thus, make them convenient to be checked and solved using the frequency-domain tools. Numerical simulations are included to illustrate the effectiveness of the two proposed ILC schemes.

关键词： Iterative learning control monotonic convergence previous iteration tracking error current iteration tracking error random iteration-varying noise delay compensation delay compensation monotone convergence iterative methods Iterative learning control follow error Scheme design problems Delay time Sufficient conditions learning control

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Model Matching Control for MIMO systems with Multiple Time Delays and Its Applications in Adaptive Scheme

Model Matching Control for MIMO Systems with Multiple Time D...

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American Control Conference

作者： Haixia Su Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper considers the model matching problem of multiple-input multiple-output (MIMO) systems with multiple time delays. The reference model is chosen to be the diagonal delay transfer function matrix. A controller is designed for nominal systems. Furthermore, an adaptive control scheme is proposed for uncertain systems with parameter variation. The resulting scheme can guarantee the global stability of the closed-loop systems and the convergence of the tracking errors. A simulation example is included to illustrate the proposed scheme.

关键词： Control system synthesis MIMO Delay effects Programmable control Adaptive control Transfer functions Control systems Uncertain systems Stability Convergence

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A New Resampling Algorithm for Generic Particle Filters

A New Resampling Algorithm for Generic Particle Filters

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American Control Conference

作者： X. Fu Y. Jia J. Du F. Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the resampling problem of particle filters. We firstly demonstrate the performance of classical Resampling algorithm (also called as systematic resampling algorithm) using a novel metaphor, through which the existing defects of Resampling algorithm is vividly reflected simultaneously. In order to avoid these defects, the exquisite resampling (ER) algorithm is induced which involves some exquisite actions such as comparing the weights by stages and generating the new particles based on quasi-Monte Carlo method. Simulations indicate that the proposed ER algorithm can reduce the sample impoverishment effectively and improve the accuracy of estimation evidently, which confirm that ER algorithm is a competitive alternative to Resampling algorithm.

关键词： resampling algorithm Particle filters

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Non-Fragile Control for Trajectory Tracking of Nonholonomic Mobile Robots

Non-Fragile Control for Trajectory Tracking of Nonholonomic ...

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American Control Conference

作者： Na Ni Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.

关键词： Trajectory Mobile robots Control systems Tracking Robot kinematics Orbital robotics State feedback Error correction Sliding mode control Laboratories

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