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A Joint Stochastic Gradient Algorithm and Its Application to System Identification with RBF Networks

A Joint Stochastic Gradient Algorithm and Its Application to...

引用

World Congress on intelligent Control and Automation (WCICA)

作者： Badong Chen Jinchun Hu Hongbo Li Zengqi Sun The State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

Mean-square-error (MSE) and minimum-error-entropy (MEE) criteria play significant roles in adaptive filtering and learning theory. Nevertheless, both the criteria have their respective shortcomings. In this paper, we propose a more general and effective stochastic gradient algorithm under joint criterion of MSE and MEE, and derive the approximate upper bound for the step size in the adaptive linear neuron (ADALINE) training. In particular, we demonstrate the superiority of this joint adaptive algorithm by applying it into system identification with radial basis function (RBF) networks

关键词： Stochastic systems System identification Radial basis function networks Stochastic processes Least squares approximation Entropy Upper bound Neurons Higher order statistics Function approximation

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Measuring the Couplings of MIMO Dynamic systems: An Information-Theoretic Approach

Measuring the Couplings of MIMO Dynamic Systems: An Informat...

引用

World Congress on intelligent Control and Automation (WCICA)

作者： Badong Chen Jinchun Hu Hongbo Li Zengqi Sun The State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

From the viewpoint of information theory, we proposed a novel concept of information coupling (IC) between the variables of MIMO dynamic system. Two kinds of measures of information coupling strength (ICS) were formulated in terms of mutual information rates. We also derived the frequency formulae of information coupling strengths for MIMO LTI system. Connections between information decoupling and conventional dynamic decoupling of linear system were presented, i.e. the input-output information decoupling (IOID) is equivalent to the input-output dynamic decoupling (IODD), whereas the output information decoupling (OID) is just a necessity for IOID and IODD. Our work shall introduce a new approach for further study of decoupling control under the information-theoretic framework

关键词： MIMO Mutual information Control systems Communication system control Mutual coupling Information theory Entropy Computer science Linear systems Transfer functions

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Shape-based Pedestrian/Bicyclist Detection via Onboard Stereo Vision

Shape-based Pedestrian/Bicyclist Detection via Onboard Stere...

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Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Hong Wang Qiang Chen Wenchao Cai State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

Pedestrian detection, as one of the most important modules of intelligent vehicles, is a challenging topic for researchers. In this paper, we propose a stereo-vision-based and shape-based approach for pedestrian and bicyclist detection. An efficient stereo system and an obstacle detection algorithm based on v-disparity map help us locate potential regions. Using the shape of the rigid part (upper body) of pedestrians and bicyclists, the matching criterion of partial Hausdorff distance, can efficiently detect them from front or back views. Our algorithm is tested off-line on a large mount of data, and the experiments show its realtime and reliable performance.

关键词： Stereo vision Cameras Vehicle detection Road accidents Bit error rate Computer vision Statistics Motorcycles Bicycles Safety

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Energy-Efficient Control of Pneumatic Muscle Actuated Biped Robot Joints

Energy-Efficient Control of Pneumatic Muscle Actuated Biped ...

引用

World Congress on intelligent Control and Automation (WCICA)

作者： Yong Mao Jiaxin Wang Shi Li Zhuo Han State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

Due to its muscle-like properties, PMA (pneumatic muscle actuator) is more suitable than geared servomotors to be used as the actuator for biped robots. In this paper, a novel pressure control method for PMA actuated biped robot joints is proposed. The method is able to reduce the energy/air consumption of the joint trajectory tracking process based on adaptation of the joint stiffness. To determine the stiffness value of the joint, a frequency analysis was conducted. The pressures of the muscles were derived uniquely using the stiffness value as a constraint. Then the energy-efficient trajectory tracking was archived using the derived pressures to control the joint motion. The simulation and experiment results show that the energy/air consumption is reduced by the proposed method

关键词： Energy efficiency Muscles Robots Pneumatic actuators Pressure control Trajectory Servomotors Frequency Tracking Motion control

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Multilingual document recognition research and its application in China

Multilingual document recognition research and its applicati...

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International Workshop on Document Image Analysis for Libraries

作者： Liangrui Peng Changsong Liu Xiaoqing Ding Hua Wang Department of Electronic Engineering State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

This paper demonstrates the research work on multilingual document recognition technology and its application in China, which is useful for building multilingual digital library. The multilingual OCR (optical character recognition) key technologies and general system framework are summarized based on the previous research work for Chinese, Japanese, Korean, English, and recent research advancement for Tibetan, Uighur, Kazakh, Kirghiz, Arabic, and Mongolian. The key technologies include statistical character recognition, structural analysis for similar character discrimination, character segmentation, script identification, post-processing. Application of multilingual document recognition system in digital library and Web site content construction will benefit people using various languages to retrieve knowledge

关键词： Natural languages Optical character recognition software Software libraries Character recognition Books Text recognition Image converters Image retrieval Paper technology Cultural differences

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An Off-line Chinese Writer Retrieval System Based on Text-sensitive Writer Identification

An Off-line Chinese Writer Retrieval System Based on Text-se...

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International Conference on Pattern Recognition

作者： Xin Li Xianliang Wang Xiaoqing Ding State Key Laboratory of Intelligent Technology and Systems Department of Electronic Engineering Tsinghua University Beijing China

ISBN: (纸本)0769525210

In this paper an off-line Chinese writer retrieval system based on text-sensitive writer identification is practised. OCR technique is used to mark the handwritten script content. The used text-sensitive writer identification algorithm extracts directional element features (DEFs), reduces the dimensions using PCA and LDA, and adopts the simple Euclidean classifier. By introducing negative samples, the similarity measure is more comprehensive. However the writer identification algorithm is text-sensitive, a novel method for retrieving in an amount of writers who has different handwriting script content is proposed in this paper, by combining and sorting the confidence results of writing identification. An experiment, which is carried out in a handwriting script database, demonstrates the effectiveness of the proposed method

关键词： Optical character recognition software Feature extraction Writing Character recognition Content based retrieval Image recognition Laboratories intelligent systems Principal component analysis Linear discriminant analysis

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A Post-Resampling Based Particle Filter for Online Bayesian Estimation and Tracking

A Post-Resampling Based Particle Filter for Online Bayesian ...

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World Congress on intelligent Control and Automation (WCICA)

作者： Ling Wu Zhidong Deng Peifa Jia State Key Laboratory of Intelligent Technology and Systems Department of Computer Science Tsinghua University Beijing China

For state estimation problem, particle filter is generally used to construct the posterior probability density function by a set of particles, which is regarded as a solution to state estimation. Many techniques have been developed to improve performance of particle filter, at the cost of largely increased computational burden for each particle. In this paper, we propose a post-resampling based particle filter. The modified particle filter is capable of accurately representing the posterior probability density function through properly sampling particles. We applied the proposed particle filter to the classic bearings-only tracking problem. Simulation results showed that our modified particle filter had superior performance and reasonably computational cost, compared with the general approaches. It may provide a promising alternative to the existent particle filters

关键词： Particle filters Bayesian methods Particle tracking state estimation Probability density function Computational efficiency Equations Genetic algorithms Filtering state-space methods

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On-line handwritten Chinese word recognition based on lexicon

On-line handwritten Chinese word recognition based on lexico...

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International Conference on Pattern Recognition

作者： Zhengbin Yao Xiaoqing Ding Changsong Liu Department of Electronic Engineering State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0769525210

We proposed a new method for on-line handwritten Chinese word recognition based on lexicon. A pre-segment strategy is first applied to the input strokes and merges the strokes into candidate character boxes. Segmentation path generation and filtering method is then invoked to generate segmentation paths from the boxes and filter out impossible paths by the recognition results of candidate character and lexicon-based technique. The optimal segmentation path along with the best matching word in the lexicon is finally chosen by a voting strategy using both recognition and geometrical information. Superiority of the proposed approach has been proven by testing it with 8550 words collected by Tablet PC. The accuracy of segmentation and recognition is about 99%

关键词： Handwriting recognition Character recognition Character generation Filtering Filters Voting Dynamic programming Neural networks Laboratories intelligent systems

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Multi-queue merging scheme and its application in Arabic script segmentation

Multi-queue merging scheme and its application in Arabic scr...

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International Workshop on Document Image Analysis for Libraries

作者： Pingping Xiu Liangrui Peng Xiaoqing Ding Department of Electronic Engineering State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

It is an important topic for segmentation on how to merge the over-segmented subimages of characters into integral characters. The conventional character segmentation has been mostly "one dimensional" but this work attacks two-dimensionally complex character layout. For that, a multi-queue model is proposed. First, a positional relationship graph (PRG) is produced among graphemes, based on the positional constraints. With the PRG, several parallel queues of graphemes are generated. The merging problem is inherently a process of walking in segmentation space, which is generated from the multi-queue structure. With some defined metric, the optimization can be conducted to get the appropriate merging path. We test our model in Arabic script, and experiment results show the potential of our model

关键词： Merging Image segmentation Text recognition Legged locomotion Image recognition Laboratories intelligent systems intelligent structures Testing Image analysis

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Cloud Model-based Controller Design for Flexible-Link Manipulators

Cloud Model-based Controller Design for Flexible-Link Manipu...

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IEEE Conference on Robotics, Automation and Mechatronics

作者： Lingbo Zhang Fuchun Sun Zengqi Sun Department of Computer Science & Technology State Key Laboratory of Intelligent & Systems Tsinghua University Beijing China

A cloud model-based controller which needs no mathematical models of plant is presented in this paper for the trajectory tracking control of a flexible-link manipulator with poorly known dynamics. Based on the singular perturbation method and the time-scale decomposition, the flexible-link manipulator model is decomposed into a slow subsystem of an equivalent rigid-link manipulator and a fast subsystem of flexible mode. A composite adaptive controller is proposed to implement the angle position control of the slow subsystem and simultaneous suppressing the tip vibration. In the proposed control strategy, the control experience qualitatively expressed by linguistic is transformed into the control rulers using the normal cloud models. Experiment studies on the test-bed of a two-link flexible manipulator are carried out to show the robustness, viability and effectiveness of the proposed control approach

关键词： Clouds Manipulator dynamics Mathematical model Trajectory Perturbation methods Programmable control Adaptive control Position control Vibration control Testing

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