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IEEE International Conference on Robotics and Automation (ICRA)

作者： W.F. Carriker P.K. Khosla B.H. Krogh Laboratory for Automated Systems and Information Processing Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The planning problem is considered for a mobile manipulator system which must perform a sequence of tasks defined by position, orientation, force, and moment vectors at the end effector. Each task can be performed in multiple configurations due to the redundancy introduced by mobility. The planning problem is formulated as an optimization problem in which the decision variables for mobility (base position) are separated from the manipulator joint angles in the cost function. The resulting numerical problem is nonlinear with nonconvex, unconnected feasible regions in the decision space. Simulated annealing is proposed as a general solution method for obtaining near-optimal results. The problem formulation and numerical solution by simulated annealing are illustrated for a positioning system with five degrees of freedom. These results are compared with results obtained by conventional nonlinear programming techniques customized for the particular example system.< >

关键词： Simulated annealing Path planning Mobile computing Manipulators Robots Computational modeling computer simulation Laboratories Information processing Process planning

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Fault detection and diagnosis in manufacturing systems: a behavioral model approach

Fault detection and diagnosis in manufacturing systems: a be...

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International Conference on computer Integrated Manufacturing

作者： L.E. Holloway B.H. Krogh Laboratory for Automated Systems and Information Processing Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

An approach to online fault detection and diagnosis in automated manufacturing systems with discrete controls and sensing is described. The approach is based on the concept of behavioural models of the individual system components. These models, which can be developed while the system is being designed, characterize the responses of the devices in the system to arbitrary input signals over the range of acceptable operating conditions. The expected flow of signals through the system, from control inputs to sensor outputs, is captured in the behavioural model dynamics. This model provides the basis for online fault detection by generating expected system response signals which are compared online, in real-time, to the actual sensor signals from the system. Fault diagnosis is accomplished by maintaining a current set of operational assumptions which identify the system components which could cause deviations from the expected behavior.< >

关键词： Fault detection Fault diagnosis Manufacturing systems Sensor systems Automatic control Control systems Signal design Control system synthesis Sensor phenomena and characterization Signal generators

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Stability, projection, and convergence of SMM for insufficient order adaptive IIR filters

Stability, projection, and convergence of SMM for insufficie...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： M. Nayeri H. Fan Department of Electrical Engineering Adaptive Signal Processing Laboratory Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering University of Cincinnati Cincinnati OH USA

The stability of the SMM (Steiglitz-McBride method) in the underparameterized case is studied. It is shown that the offline SMM can potentially produce intermediate unstable estimates. A projection technique is introduced and analytically shown to overcome such instability. The existence of multiple stable equilibria for the SMM in the underparametrized case is demonstrated.< >

关键词： Stability Convergence IIR filters Adaptive filters Signal processing algorithms Iterative algorithms System identification Adaptive signal processing Filtering algorithms Postal services

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Digital processing of color images

Digital processing of color images

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Human Vision, Visual processing, and Digital Display 1989

作者： Mitra, Sanjit K. Zarrinnaal, Iraj Wang, Yao Signal and Image Processing Laboratory Department of Electrical and Computer Engineering University of California Santa BarbaraCA93106 United States

Digital processing of black and white images has received most attention during the last 25 years, and has led to various algorithms for the enhancement, smoothing, and zooming of images. Due to the decreasing cost and increasing availability of color image acquisition and display equipment along with the computing systems of higher performance, it is expected that the digital processing of color images will rapidly grow in demand. In this paper we review our experiences with the processing of color images. In particular, algorithms for the contrast enhancement, smoothing and zooming of color images are investigated. The effects of applying these methods in color coordinates other than RGB are examined and considerations with respect to performance, time efficiency and compatibility with some popular algorithms developed for monochrome images are discussed. © 1989 SPIE. All rights reserved.

关键词： Color

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Image segmentation using human visual system properties with applications in image compression

Image segmentation using human visual system properties with...

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Human Vision, Visual processing, and Digital Display 1989

作者： Peterson, Heidi A. Rajala, Sarah A. Delp, Edward J. Computer Vision and Image Processing Laboratory School of Electrical Engineering Purdue University West LafayetteIN47907 United States Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695 United States

Many image compression techniques involve segmentation of a gray level image. With such techniques, information is extracted that describes the regions in the segmented image, and this information is then used to form a coded version of the image. In this paper we present a region-growing-based segmentation technique that incorporates human visual system properties, and describe the use of this technique in image compression. We also discuss the effect of requantizing a segmented image. Requantization of a segmented image is useful because it can lead to a reduction in the number of bits required to code the description of the regions in the segmented image. This results in a lower data rate. We show that the number of gray levels in a segmented image can be reduced by a factor of at least twelve, without noticeable degradation in the quality of the segmented image. This result is attributable to human visual system properties having to do with contrast sensitivity, and to the fact that requantization of a segmented image does not usually reduce significantly the number of distinct segments in the image. In addition, in this paper we explore the relationship between the number of segments in an image, and the extent of requantization possible before noticeable degradation occurs in the image. Finally, we discuss the impact of the above results on image compression algorithms, and present some experimental results. © 1989 SPIE. All rights reserved.

关键词： Image compression

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Synthesis of Feedback Control for Forbidden State Problems in Discrete Manufacturing Systems

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IFAC Proceedings Volumes 1989年第14期22卷 11-16页

作者： L.E. Holloway B.H. Krogh Laboratory for Automated Systems and Information Processing Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 USA

This paper concerns the supervisory coordination and control of concurrent activities in an automated manufacturing facility. In contrast to commonly used simulation models which integrate the control policy with the system model, the subsystem state transition logic is represented by a class of controlled Petri nets (CPNs) with external inputs to be determined by the control synthesis algorithm. We formulate the forbidden state control problem in the CPN context and present a computationally efficient algorithm for generating maximally permissive controls which guarantee the system will avoid the forbidden states while permitting a maximal amount of flexibility in the system operation. The problem formulation and control synthesis algorithm is illustrated for an example of AGV coordination, and several classes of manufacturing control problems which can be addressed within this framework are identified.

关键词： computer control control system synthesis discrete systems manufacturing processes supervisory control synthesis methods

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A nonlinear spectrum compression algorithm for the hearing impaired

A nonlinear spectrum compression algorithm for the hearing i...

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Annual Northeast Bioengineering Conference

作者： L.D. Paarmann M.D. Guiher Signal Processing Laboratory Department of Electrical and Computer Engineering Drexel University Philadelphia PA USA

A technique is proposed for increasing the speech intelligibility of persons with profound sensorineural hearing loss. The processing is based on a modification of the chirp-z transform that allows for nonlinear sampling along an arbitrary contour of the z-plane. Although the theory allows the nonlinear sampling to be arbitrary, an example showing that it is appropriate for nonlinear spectrum compression to aid the hearing-impaired is given. Samples are linearly spaced along the unit circle for a specified low-frequency segment; beyond the break-point the samples are nonlinearly spaced, perhaps spiraling inward to enhance spectral peaks, with the spacing width increasing with increasing frequency following an exponential function. A standard inverse DFT of these frequency samples returns the spectrum-compressed sequence. processing of continuous speech requires windowing and processing of data in a manner similar to the short-time Fourier transform (STFT). The authors present the theoretical basis for, and development of, the algorithm.< >

关键词： Compression algorithms Auditory system Sampling methods Speech processing Frequency Signal processing algorithms Deafness Chirp Laboratories Signal sampling

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A model for monitoring and debugging parallel and distributed software

A model for monitoring and debugging parallel and distribute...

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IEEE Annual International computer Software and Applications Conference (COMPSAC)

作者： D.C. Marinescu J.E. Lumpp T.L. Casavant H.J. Siegel Computer Science Department Purdue University West Lafayette IN USA School of Electrical Engineering Parallel Processing Laboratory Purdue University West Lafayette IN USA Department of Electrical snd Computer Engineering University of Iowa Iowa IA USA Purdue Univ. West Lafayette IN USA

Several aspects of the multidimensional problem of providing monitoring support for the debugging and performance analysis of distributed and parallel systems and parallel applications are presented. The key elements of the solution to the problem are a formal event-action model at the process level and a layered architectural model. The application of the event-action model to the development of the abstract layered architectural model is shown, as well as a proposed implementation sketch of a nonintrusive monitor for the PASM parallel processing system.< >

关键词： Software debugging Yarn Probes Hardware Instruments computerized monitoring parallel processing Application software Timing Condition monitoring

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Partial shape recognition: a landmark-based approach

Partial shape recognition: a landmark-based approach

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IEEE International Conference on Systems, Man and Cybernetics

作者： N. Ansari E.J. Delp Center for Communications and Signal Processing Electrical and Computer Engineering Department New Jersey Institute of Technology Newark NJ USA Computer Vision and Image Processing Laboratory School of Electrical Engineering Purdue University IN USA

A technique to guide landmark matching known as hopping dynamic programming is described. The location of the model in the scene is estimated with a least-squares fit. A heuristic measure is then computed to decide if the model is in the scene. The shape features of an object are the landmarks associated with the object. The landmarks of an object are defined as the points of interest of the object that have important shape attributes. Examples of landmarks are corners, holes, protrusions, and high-curvature points.< >

关键词： Shape measurement Layout computer vision Pattern recognition Signal processing Image processing Laboratories Performance evaluation Least squares approximation Feature extraction

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Adaptive line enhancement using multirate techniques

Adaptive line enhancement using multirate techniques

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

作者： V.S. Somayazulu S.K. Mitra J.J. Shynk Signal & Image Processing Laboratory Department of Electrical & Computer Engineering University of California Santa Barbara CA USA

A novel structure for multirate adaptive filtering with lower computational complexity and improved performance of the adaptive algorithm is introduced. It uses auxiliary subbands and a modified filter bank with decimated subbands. It avoids the aliasing distortions encountered in critically decimated overlapping filter banks as well as the spectral gaps in nonoverlapping filter banks. The authors show that this structure has a lower computational complexity than previously reported structures. computer simulations are included showing the improvement in performance that can be achieved with the new structure operating as an adaptive line enhancer (ALE) compared with the conventional ALE.< >

关键词： Adaptive filters Finite impulse response filter Filter bank Computational complexity Convergence Line enhancers Narrowband Adaptive algorithm Echo cancellers Teleconferencing

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