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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Maryam Shokri Hamid R. Tizhoosh Mohamed S. Kamel Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering University of Waterloo ONT Canada Department of Electrical and Computer Engineering University of Waterloo ONT Canada

The OQ(λ) algorithm benefits from an extension of eligibility traces introduced as opposition trace. This new technique is a combination of the idea of opposition and eligibility traces to deal with large state space problems in reinforcement learning applications. In our previous works the comparison of the results of OQ(λ) and conventional Watkins' Q(λ) reflected a remarkable increase in performance for the OQ(λ) algorithm. However the Markovian update of opposition traces is an issue which is investigated in this paper. It has been assumed that the opposite state can be presented to the agent. This may limit the usability of the technique to deterministic environments. In order to relax this assumption the non-Markovian opposition-based Q(λ) (NOQ(λ)) is introduced in this work. The new method is a hybrid of Markovian update for eligibility traces and non-Markovian-based update for opposition traces. The experimental results show improvements of learning speed for the proposed technique compared to Q(λ) and OQ(λ). The new technique performs faster than OQ(λ) algorithm with the same success rate and can be employed for broader range of applications since it does not require determining state transition

关键词： Learning Usability Dynamic programming Pattern analysis Machine intelligence Laboratories System analysis and design design engineering systems engineering and theory State-space methods

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Multitarget association and tracking in 3-D space based on particle filter with joint multitarget probability density

Multitarget association and tracking in 3-D space based on p...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Jinseok Lee Byung Guk Kim Shung Han Cho Sangjin Hong We-Duke Cho Mobile Systems Design Laboratory Department of Electrical and Computer Engineering Stony Brook University-SUNY Stony Brook NY USA

This paper addresses the problem of 3-dimensional (3D) multitarget tracking using particle filter with the joint multitarget probability density (JMPD) technique. The estimation allows the nonlinear target motion with unlabeled measurement association as well as non-Gaussian target state densities. In addition, we decompose the 3D formulation into multiple 2D particle filters that operate on the 2D planes. Both selection and combining of the 2D particle filters for 3D tracking are presented and discussed. Finally, we analyze the tracking and association performance of the proposed approach especially in the cases of multitarget crossing and overlapping.

关键词： Particle tracking Particle filters Target tracking Radar tracking Filtering State estimation Diversity reception Performance analysis Space technology Two dimensional displays

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Object Tracking Based on RFID Coverage Visual Compensation in Wireless Sensor Network

Object Tracking Based on RFID Coverage Visual Compensation i...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Jinseok Lee Kyoung-Su Park Sangjin Hong We-Duke Cho Mobile Systems Design Laboratory Department of Electrical and Computer Engineering Stony Brook University-SUNY Stony Brook NY USA

This paper proposes objects tracking method by association with RFID and visual sensors. The detection from RFID readers with proximity to each object results in coarse localization. The estimation is determined by a virtual sensor which is comprised of RFID readers detection combination. Each virtual sensor has a reference point which represents the center of possible positions. After the coarse estimation, image frames from two cameras improve the estimation close to a real position based on parallel projection model. The visual compensation sufficiently accomplishes the refined tracking. The experimental results show our proposed algorithm remarkably accomplishes the localization performance.

关键词： Radiofrequency identification Wireless sensor networks Acoustic sensors Object detection Sensor systems Global Positioning System Cameras Satellite broadcasting Intelligent networks Mobile computing

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Multiple Cooperating Swarms for Data Clustering

Multiple Cooperating Swarms for Data Clustering

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IEEE Swarm Intelligence Symposium, SIS

作者： Abbas Ahmadi Fakhri Karray Mohamed Kamel Systems Design Engineering Department Pattern Analysis and Machine Intelligence Laboratory Waterloo ONT Canada Electrical and Computer Engineering Department Pattern Analysis and Machine Intelligence Laboratory Waterloo ONT Canada

A new clustering technique by the use of multiple swarms is proposed. The proposed technique mimics the behavior of biological swarms which explore food situated in several places. We model the clustering problem using particle swarm optimization (PSO) approach. The proposed method considers multiple cooperating swarms to find centers of clusters. By assigning a portion of the solution space to each swarm, the exploration ability to find the solution is enhanced. Moreover, the cooperation among swarms increases the between-class distance. The proposed method outperforms k-means clustering as well as conventional PSO-based clustering techniques

关键词： Particle swarm optimization Data engineering design engineering Biology computing Birds Educational institutions Marine animals Space exploration Equations Pattern analysis

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Real-time full-field 3-D surface-shape measurement using off-the-shelf components and a single processor

Real-time full-field 3-D surface-shape measurement using off...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： Peirong Jia Jonathan Kofman Chad English Computer Vision and Systems Laboratory Department of Electrical and Computer Engineering Laval University QUE Canada Department of Mechanical Engineering University of Ottawa Ottawa ONT Canada Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Neptec Design Group Limited Kanata ONT Canada

Phase-shifting fringe-projection methods have been increasingly used for three-dimensional (3D) object surface modeling to permit full-field measurement. This paper presents a real-time full-field high-resolution 3D surface-shape measurement system implemented with an efficient 3D shape measurement pipeline and triangular-pattern phase-shifting based on off-the-shelf components, software synchronization and a single computer-processor. The system projects computer-generated fringe patterns with a triangular intensity profile onto an object via a Digital Light Processing (DLP) projector. The projected patterns are electronically shifted and a CCD camera synchronized with the DLP projector by software captures the images from another direction. The captured images are processed by a single computer to reconstruct the 3D shape using triangular-pattern phase-shifting algorithms, and the model is displayed in real time. The 3D shape acquisition system achieved a speed of 5.6 fps for an image size of 648times494 pixels using the two-step triangular-pattern phase-shifting method, without any hardware synchronization or dual processing.

关键词： Phase measurement Shape measurement Real time systems Software measurement Pipelines Charge coupled devices Charge-coupled image sensors Computer displays Image reconstruction Pixel

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Passive Sensor Based Dynamic Object Association Method in Wireless Sensor Networks

Passive Sensor Based Dynamic Object Association Method in Wi...

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50th IEEE International Midwest Symposium on Circuits and systems (MWSCAS'07), vol.3

作者： Shung Han Cho Jinseok Lee Xi Deng Sangjin Hong We-Duke Cho Department of Electrical and Computer Engineering Mobile Systems Design Laboratory Stony Brook University-SUNY Stony Brook NY USA Department of Electronics Engineering College of Information Technology Ajou University South Korea Stony Brook Univ.-SUNY Stony Brook Mobile Systems Design Lab. Dept. of Electrical and Computer Engineering Stony Brook University-SUNY NY 11794-2350 USA Dept. of Electronics Engineering College of Information Technology Ajou University South Korea

This paper proposes and presents a novel algorithm for dynamic data association in wireless sensor networks. The sensor node incorporates RFID reader and acoustic sensor where the signals are fused for tracking and associating multiple objects. The RFID tag is used for object identification and acoustic sensor is used for estimating object movement. The threshold based association algorithm is proposed and its performance is analyzed. The association performance under single node coverage and multiple node coverage is evaluated as a function of sampling time and the dynamic behavior. The algorithm minimizes the failed association and provides association recovery.

关键词： Wireless sensor networks Acoustic sensors Radiofrequency identification Signal processing RFID tags Acoustic signal detection Sensor phenomena and characterization Object detection Target tracking Acoustical engineering

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Data Traffic Analysis in Wireless Fusion Network with Multiple Sensors

Data Traffic Analysis in Wireless Fusion Network with Multip...

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50th IEEE International Midwest Symposium on Circuits and systems (MWSCAS'07), vol.3

作者： Jinseok Lee Sangkil Jung Yuntai Kyong Xi Deng Sangjin Hong We-Duke Cho Stony Brook University-SUNY Stony Brook NY USA Mobile Systems Design Laboratory Department of Electrical and Computer Engineering Stony Brook University-SUNY Stony Brook NY USA Department of Electronics Engineering College of Information Technology Ajou University South Korea

In this paper, we consider a wireless fusion sensor network where multiple types of sensors are incorporated in each sensor node. Each sensor node incorporates a RFID reader and a acoustic sensor. The RFID reader senses the proximity of target objects and acoustic sensors detect the objects for position estimations. The object positions estimated by both sensors are compensated by visual sensor to obtain more accurate object coordinates. In this paper, we perform network traffic analysis for the wireless fusion sensor network by using NS-2 simulations under various network scenarios. The analysis includes the feasibility of fusion network, hop-by-hop delay, and end-to-end delay.

关键词： Wireless sensor networks Telecommunication traffic Data analysis Sensor fusion Acoustic sensors Radiofrequency identification Acoustic signal detection Object detection Traffic control Performance analysis

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Spectral content characterization for efficient image detection algorithm design

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Eurasip Journal on Advances in Signal Processing 2007年 2007卷

作者： Park, Kyoung-Su Hong, Sangjin Park, Peom Cho, We-Duke Mobile Systems Design Laboratory Department of Electrical and Computer Engineering Stony Brook University - SUNY Stony Brook NY 11794-2350 United States Department of Industrial and Information Systems Engineering Ajou University Suwon-Si 442-749 Korea Republic of Humintec Co. Ltd. Suwon-Si 443-749 Korea Republic of Department of Electronics Engineering College of Information Technology Ajou University Suwon-Si 442-749 Korea Republic of

This paper presents spectral characterization for efficient image detection using hyperspectral processing techniques. We investigate the relationship between the number of used bands and the performance of the detection process in order to find the optimal number of band reductions. The band reduction significantly reduces computation and implementation complexity of the ***, we define and characterize the contribution coefficient for each band. Based on the coefficients, we heuristically select the required minimum bands for the detection process. We have shown that the small number of bands is efficient for effective detection. The proposed algorithm is suitable for low-complexity and real-time applications.

关键词： Image analysis

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SPECTS O-CDMA field trials using subpicosecond pulses and integrated encoders/decoders across 80.8-km and 150-km links

SPECTS O-CDMA field trials using subpicosecond pulses and in...

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International Conference on Photonics in Switching (PS)

作者： N.K. Fontaine C. Yang R.P. Scott V.J. Hernandez F. Soares R. Broeke K. Perry G. Nowak W. Cong K. Okamoto B.H. Kolner Z. Ding J.P. Heritage S.J.B. Yoo Department of Electrical and Computer Engineering University of California Davis CA USA Department of Applied Science University of California Davis CA USA Key Laboratory for Micro/Nano Technology and System of Liao-ning ProvinceAerospace Systems Design Laboratory Massachusetts Institute of Technology Lexington MA USA

We compare two field demonstrations of SPECTS-OCDMA on an 80.8-km link and 150-km link using integrated, polarization independent arrayed-waveguide grating (AWG)-based encoders/decoders, an ultra-stable optical freque... 详细信息

关键词： Decoding Fiber nonlinear optics Nonlinear optics Optical receivers Frequency Optical pulses Optical pulse shaping Optical modulation Laboratories Polarization mode dispersion

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