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IEEE Global Conference on Signal and Information Processing (GlobalSIP)

作者： Sabina Zejnilović João Gomes Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA Institute for Systems and Robotics Universidade de Lisboa Portugal

Identifying the source of network diffusion is an important task in applications such as epidemics management and understanding the trend propagation over social networks. As observing each node carries a cost, we study the problem of sequential selection of observed nodes from two aspects: which nodes to observe such that the source is localized with the lowest cost, and for a pre-specified number of time-steps, which nodes to observe such that the resulting number of possible source candidates is the lowest. We show that both problems can be framed, under a simple propagation scenario, as dynamic programing with imperfect state knowledge. The proposed approach is optimal, but computationally intensive, hence we propose two simple greedy strategies. Using adaptive submodularity, we provide performance guarantees for one greedy algorithm. We evaluate the proposed approaches through simulation.

关键词： Observers Dynamic programming Measurement Conferences Information processing Social network services Computational modeling

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A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation

A trajectory tracking LQR controller for a quadrotor: Design...

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IEEE Region 10 International Conference TENCON

作者： Xie Heng David Cabecinhas Rita Cunha Carlos Silvestre Xu Qingsong Department of Electromechanical Engineering Avenida da Universidade Taipa Macau China Department of Electrical and Computer Engineering Institute for Systems and Robotics (ISR/IST) Macao China Electrical and Computer Engineering Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Lisbon Macao China

ISBN: (纸本)9781479986422

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant dynamics for the error system. The controller synthesis problem is then formulated as a linear quadratic regulator problem for LTI systems. The control strategy adopts the D-methodology integrated with the anti-windup technique in order to achieve zero static error for the integral states and to avoid actuator saturation. Experimental results where a quadrotor follows a trimming trajectory are presented to illustrate the performance of the proposed controller.

关键词： Vehicles Trajectory Aerospace electronics Vehicle dynamics Force Aerodynamics Angular velocity

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COLREGS-compliant target following for an Unmanned Surface Vehicle in dynamic environments

COLREGS-compliant target following for an Unmanned Surface V...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： P. Agrawal J. M. Dolan The Robotics Institute Carnegie Mellon University PA USA Department of Electrical and Computer Engineering Carnegie Mellon University PA USA

This paper presents the autonomous tracking and following of a marine vessel by an Unmanned Surface Vehicle in the presence of dynamic obstacles while following the International Regulations for Preventing Collisions at Sea (COLREGS) rules. The motion prediction for the target vessel is based on Monte-Carlo sampling of dynamically feasible and collision-free paths with fuzzy weights, leading to a predicted path resembling anthropomorphic driving behavior. This prediction is continuously optimized for a particular target by learning the necessary parameters for a 3-degree-of-freedom model of the vessel and its maneuvering behavior from its path history without any prior knowledge. The path planning for the USV with COLREGS is achieved on a grid-based map in a single stage by incorporating A* path planning with Artificial Terrain Costs for dynamically changing obstacles. Various scenarios for interaction, including multiple civilian and adversarial vessels, are handled by the planner with ease. The effectiveness of the algorithms has been demonstrated both in representative simulations and on-water experiments.

关键词： History Angular velocity Monte Carlo methods Trajectory Motion estimation Sea surface

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Parallel LMS-based adaptive algorithms of echo cancellation 18

Parallel LMS-based adaptive algorithms of echo cancellation

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18th IEEE Signal Processing Algorithms, Architectures, Arrangements, and Applications, SPA 2014

作者： Dobrucki, Andrzej Walczyński, Maciej Bozejko, Wojciech Wroclaw University of Technology Faculty of Electronics Department of Acoustic and Multimedia Wyb. Wyspiańskiego 27 Wroclaw50-370 Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wyb. Wyspiańskiego 27 Wroclaw50-370 Poland

ISBN: (纸本)9788362065189

This paper deals with a number of parallel LMS family algorithms in the context of their use in the acoustic echo cancellation. The most complex parts of the LMS-based algorithms were determined and parallelized. A number of parallelization methods were designed taking under consideration varied types of architectures of modern concurrent computing environment, such as GPUs, clusters of workstations and cloud computing. © 2014 Division of Signal Processing and Electronic Systems, Poznan University of Technology.

关键词： Adaptive algorithms

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DWT-DCT based individuals identification using robust gait feature images

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2015年第4期8卷 113-124页

作者： Ibrahim Khalilullah, K.M. Hossain, Delowar Hamid, Ekramul Department of Computer Science and Engineering Bangladesh University of Business and Technology Dhaka Bangladesh Intelligent Robotics Lab Department of Electrical and Electronics System Engineering University of Toyama Japan Department of Computer Science and Engineering University of Rajshahi Rajshahi Bangladesh

Individual identification at a distance using gait features has newly gained growing interest from biometrics researchers. Most of the researchers have been shown that different covariate factors can affect different parts of the human body. In this paper, we propose a new approach that minimizes these difficulties, especially for carrying objects by combining static, dynamic, and part-based features. The Gait Features of the walking sequences are extracted by selecting only four sub bands of the Discrete Wavelet Transform (DWT) of the individual images. Moreover, Discrete Fourier Transform (DFT) and Discrete Cosine Transform (DCT) are implemented to extract lowest and middle frequency components that are used to create robust gait feature images (RGFIs). Then we select effective parts of the body from the Robust Gait Feature Images. After that, these parts of the body are trained using Principal Component Analysis (PCA) and Multiple Discriminant Analysis (MDA) to identify individuals. Experimental result shows promising performance in comparison with other methods. © 2015 SERSC.

关键词： Discrete cosine transforms

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Boundary Control Design and Stability Analysis of an Euler-Bernoulli Beam System with Input Backlash

Boundary Control Design and Stability Analysis of an Euler-B...

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第三十四届中国控制会议

作者： Xiuyu He Wei He Hui Qin Chang Liu Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China Department of Mathematics and Computer Science Eindhoven University of Technology

ISBN: (纸本)9781467374439

This paper investigates the vibration control of an Euler-Bernoulli Beam with nonlinear backlash input. Based on the dynamical model of the flexible beam, the boundary control law and the disturbance observer are designed to suppress the vibration of the system and reduce the effect of the backlash. The stability of the closed-loop system is proved and the uniform boundness of the states of the system is achieved. The proposed boundary control with appropriate parameters is proved to be effective by the performance of numerical simulations of the flexible beam system.

关键词： Input Backlash Flexible Beam Distributed Parameter Systems Vibration Control

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ADRC Based Attitude Control of a Quad-rotor Robot

ADRC Based Attitude Control of a Quad-rotor Robot

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2015年中国智能自动化学术会议

作者： Yi Li Zengqiang Chen Mingwei Sun Zhongxin Liu Qing Zhang Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University College of Science Civil AviationUniversity of China

In this paper,active disturbance rejection control(ADRC) technique is described in *** algorithms for each component are given as *** order to control the attitudes of a quad-rotor robot as we desired,two kinds of continuous ADRC controllers are *** satisfactory real-time control experimental results indicate that the continuous ADRC can not only meet the control accuracy requirement but also can achieve rapid and effective response for the nonlinear coupled ***,the advantages and scopes of application of the two controllers are summarized.

关键词： ADRC Extended state observer Quad-rotor Nonlinear dynamics

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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OCEANS

作者： Yu Tian Wei Li Fumin Zhang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source.

关键词： Chemicals Chemical and biological sensors Position measurement Chemical sensors Trajectory Robots

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Distributed formation control for a multi-agent system with dynamic role assignment

Distributed formation control for a multi-agent system with ...

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第三十四届中国控制会议

作者： Zhengguang Ma Zhongxin Liu Zengqiang Chen Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781467374439

This paper investigates the dynamic role assignment and collision avoidance for the discrete-time system without global information. Based on the traditional formation control protocol, the formation control algorithm with dynamic role assignment is proposed. To make each agent act efficiently, we give an assignment transformation matrix by solving an optimal problem with distributed auction algorithm. Modified formation control algorithm with derivation of an avoidance function is presented, which can guarantee collision-free movement for each agent. Mathematical theory and simulation verify the effectiveness of the proposed algorithms.

关键词： Multi-agent system,formation,distributed auction algorithm,dynamic role assignment

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A pilot study assessing ipsilateral vs. contralateral feedback in EMG-force models of the wrist for upper-limb prosthesis control

A pilot study assessing ipsilateral vs. contralateral feedba...

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IEEE Signal Processing in Medicine and Biology Symposium (SPMB)

作者： Edward A. Clancy Chenyun Dai Marek Wartenberg Carlos Martinez-Luna Thane R. Hunt Todd R. Farrell Electrical and Computer Engineering Department and Robotics Engineering Worcester Polytechnic Institute (WPI) Worcester MA USA Liberating Technologies Inc. (LTI) Holliston MA USA

Many advanced EMG-based upper-limb prosthesis control methods require model training in which subjects produce supervised forces/movements. Since unilateral limb-absent subjects cannot produce forces/movements on their affected side, one technique (mirrored bi-lateral training) relates forces/motions produced on the sound side to EMG on the affected side. However, the efforts made by the phantom limb may not fully reflect those of the sound limb. To understand this issue, three able-bodied subjects produced mirrored bi-lateral forces during constant-posture contraction at the wrist. EMG-force models were formed for 1- and 2-degree of freedom tasks and results compared to previous trials in which ipsilateral training had been conducted. We found that contralateral training generally, but not always, produced errors (in percent maximum voluntary contraction) that were 6-56% larger than those found from ipsilateral training. Our results suggest that a substantial portion-but not all-of the errors found in mirrored tasks may be due to contralateral tracking errors. Further study with a larger population is indicated.

关键词： Electromyography Training computers Analytical models Force measurement

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