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IEEE International Conference on Communications in China (ICCC)

作者： Fengxiang Wang Xiang Cheng Liuqing Yang Bo Yu Bingli Jiao School of Electronics Engineering & Computer Science Peking University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

Unlike triple-polarized antennas, dual-polarized antennas can be easily implemented into thickness limited devices and thus have received much attention recently. Dual-polarized antennas have the potential to double the channel capacity in comparison with an omnidirectional single-input single-output (SISO) system. However, in real three-dimensional (3D) scenarios, dual-polarized antennas cannot capture the arriving power from the third polarization direction, which is orthogonal to the two-dimensional (2D) polarization plane. This will lead to power loss, which may significantly affect the resultant channel capacity. By proposing a novel two-sphere single-bounced geometry-based stochastic model (GBSM) and rigorously analyzing the change of polarization after single-bounced scattering, this paper studies the impact of the power loss on the channel capacity and specifies the conditions under which the channel capacity of dual-polarized systems is even worse than that of omnidirectional SISO systems. Not only that this is the first endeavor on this subject, but also this work is of practical importance in guiding appropriate deployment of dual-polarized antennas in real 3D indoor scenarios.

关键词： Three-dimensional displays Antennas Channel capacity Vectors Signal to noise ratio Correlation Azimuth

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Hypothesis testing framework for active object detection

Hypothesis testing framework for active object detection

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nikolay Atanasov Bharath Sankaran Jerome Le Ny Thomas Koletschka George J. Pappas Kostas Daniilidis Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA Computational Learning and Motor Control Laboratory University of Southern California Los Angeles CA USA Department of Electrical Engineering Ecole Polytechnique de Montreal QUE Canada Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781467356404

One of the central problems in computer vision is the detection of semantically important objects and the estimation of their pose. Most of the work in object detection has been based on single image processing and its performance is limited by occlusions and ambiguity in appearance and geometry. This paper proposes an active approach to object detection by controlling the point of view of a mobile depth camera. When an initial static detection phase identifies an object of interest, several hypotheses are made about its class and orientation. The sensor then plans a sequence of viewpoints, which balances the amount of energy used to move with the chance of identifying the correct hypothesis. We formulate an active M-ary hypothesis testing problem, which includes sensor mobility, and solve it using a point-based approximate POMDP algorithm. The validity of our approach is verified through simulation and experiments with real scenes captured by a kinect sensor. The results suggest a significant improvement over static object detection.

关键词： Vocabulary Feature extraction Mobile communication Object detection Robot sensing systems Planning Optimization

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Single intersection signal control based on Type-2 fuzzy logic

Single intersection signal control based on Type-2 fuzzy log...

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IEEE Symposium on Computational Intelligence in Vehicles and Transportation systems (CIVTS)

作者： Yunrui Bi Dipti Srinivasan Xiaobo Lu Zhe Sun Southeast University Nanjing Jiangsu CN Department of Electrical & Computer Engineering National University of Singapore Singapore School of Automation Southeast University Nanjing China National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Single intersection is generally regarded as the elementary unit for solving traffic problem. A Type-2 fuzzy logic controller (T2FLC) for single intersection signal control is presented in this paper as Type-2 fuzzy logic can handle the imprecision, uncertainties and vagueness lying in the dynamic process more efficiently. Furthermore, the membership function parameters of Type-2 fuzzy logic controller are optimized by genetic algorithm (GA). Simulation experiments are designed to compare the queue length and vehicular average delay of Type-2 fuzzy control optimized by GA with general Type-2 fuzzy control, Type-1 fuzzy control and fixed-time control under various types of vehicle arrival rate. Experimental results indicate that our proposed control method can reduce the queue length and vehicular delay at the intersection effectively and thus demonstrates its superiority.

关键词： Vehicles Fuzzy logic Genetic algorithms Delays Optimization Junctions Educational institutions

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A manually-actuated MRI compatible robotic manipulator for image-guided interventions

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Physica Medica 2014年 30卷 e55-e56页

作者： Eftychios G. Christoforou Christoforos Keroglou Andrew Webb Nikolaos V. Tsekos Ioannis Seimenis KIOS Research Center for Intelligent Systems and Networks University of Cyprus Cyprus Department of Electrical and Computer Engineering University of Cyprus Cyprus C.J. Gorter Center for High Field MRI Leiden University Medical Center Leiden Netherlands Medical Robotics Laboratory University of Houston Houston TX USA Med. Physics Lab Medical School Democritus University of Thrace Alexandroupolis Greece

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An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

An Investigation on the Accuracy of Regional Ocean Models Th...

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IEEE International Conference on robotics and Automation

作者： Ryan N. Smith Kimia Nazarzadeh Jonathan Kelly Gaurav S. Sukhatme School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia. Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02142 USA. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA 90089 USA.

ISBN: (纸本)9781467356404

Recent efforts in mission planning for underwater vehicles have utilised predictive models to aid in navigation, optimal path planning and drive opportunistic sampling. Although these models provide information at a unprecedented resolutions and have proven to increase accuracy and effectiveness in multiple campaigns, most are deterministic in nature. Thus, predictions cannot be incorporated into probabilistic planning frameworks, nor do they provide any metric on the variance or confidence of the output variables. In this paper, we provide an initial investigation into determining the confidence of ocean model predictions based on the results of multiple field deployments of two autonomous underwater vehicles. For multiple missions of two autonomous gliders conducted over a two-month period in 2011, we compare actual vehicle executions to simulations of the same missions through the Regional Ocean Modeling System in an ocean region off the coast of southern California. This comparison provides a qualitative analysis of the current velocity predictions for areas within the selected deployment region. Ultimately, we present a spatial heat-map of the correlation between the ocean model predictions and the actual mission executions. Knowing where the model provides unreliable predictions can be incorporated into planners to increase the utility and application of the deterministic estimations.

关键词： Regional Ocean Models Through Field Trials mission planning underwater vehicles

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Automatic detection and localization of da Vinci tool tips in 3D ultrasound

Automatic detection and localization of da Vinci tool tips i...

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3rd International Conference on Information Processing in computer-Assisted Interventions, IPCAI 2012

作者： Mohareri, Omid Ramezani, Mahdi Adebar, Troy Abolmaesumi, Purang Salcudean, Septimiu Robotics and Control Laboratory Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada

ISBN: (纸本)9783642306174

Radical prostatectomy (RP) is viewed by many as the gold standard treatment for clinically localized prostate cancer. State of the art radical prostatectomy involves the da Vinci surgical system, a laparoscopic robot which provides the surgeon with excellent 3D visualization of the surgical site and improved dexterity over standard laparoscopic instruments. Given the limited field of view of the surgical site in Robot-Assisted Laparoscopic Radical Prostatectomy (RALRP), several groups have proposed the integration of Transrectal Ultrasound (TRUS) imaging in the surgical work flow to assist with the resection of prostate and sparing the Neuro-Vascular Bundle (NVB). Rapid and automatic registration of TRUS imaging coordinates to the da Vinci tools or camera is a critical component of this integration. We propose a fully automatic registration technique based on accurate and automatic localization of robot tool tips pressed against the air-tissue boundary of the prostate, in 3D TRUS. The detection approach uses a multi-scale filtering technique to uniquely identify and localize the tool tip in the ultrasound volume and could also be used to detect other surface fiducials in 3D ultrasound. Feasibility experiments using a phantom and two ex vivo tissue samples yield promising results with target registration error (defined as the root mean square distance of corresponding points after registration) of (1.80 mm) that proves the system's accuracy for registering 3D TRUS to the da Vinci surgical system. © 2012 Springer-Verlag.

关键词： Tissue

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Meanshift algorithm based on kernel bandwidth adaptive adjust

Meanshift algorithm based on kernel bandwidth adaptive adjus...

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Chinese control Conference (CCC)

作者： Yunji Zhao Hailong Pei Baoluo Liu School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 China Key Laboratory of Autonomous Systems and Networked Control (South China University of Technology) Ministry of Education Guangzhou 510640 China Department of Computer and Information Engineering Luoyang Institute of Science and Technology Henan 471023 China

Object tracking algorithm based on Meanshift algorithm with fixed kernel bandwidth does not realize object tracking correctly with the scale of object changed. According to this, a scheme of kernel bandwidth adaptive adjustment and predictions of object cancroids based on Kalman filter is proposed in this paper. In this algorithm, Object location predicted based on Kalman filter is used to initialize the Meanshift algorithm. The variation tendency of the kernel bandwidth is also determined based on Kalman filter. Experiment results demonstrate that this algorithm can realize the kernel bandwidth adaptive adjustment and object location prediction. The robustness of the tracking algorithm is also enhanced.

关键词： Prediction algorithms Kalman filters Electronic mail Kernel Bandwidth Robustness Conferences

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Gallager's Error Exponent Analysis of STBC systems over η-μ Fading Channels

Gallager's Error Exponent Analysis of STBC Systems over η-...

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IEEE International Conference on Communications

作者： Jiayi Zhang Michail Matthaiou George K. Karagiannidis Zhenhui Tan Haibo Wang State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China Department of Signals and Systems Chalmers University of Technology Gothenburg Sweden Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece Institute of Broadband Wireless Mobile Communications Beijing Jiaotong University Beijing China

The Gallager's random coding error exponent for space-time block codes (STBC) over multiple-input multiple-output (MIMO) block-fading channels, with Gaussian input distribution, is investigated. Gallager's error exponent can be used to determine the required codeword length to achieve a prescribed error probability at a given rate below the channel capacity. We first provide new, analytical expressions for Gallager's exponent of STBC systems over η-μ fading channels. The Shannon capacity and cutoff rate, which can be directly derived from Gallager's exponent, are further examined. In order to get additional insights, a high signal-to-noise ratio analysis is pursued to investigate the effects of coherence time and codeword length on the error probability. For the sake of completeness, we provide the link to previous known results on Rayleigh and Nakagami-m fading channels.

关键词： MIMO Channel coding Signal to noise ratio Error probability Rayleigh channels

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Robust positive invariance and ultimate boundedness of nonlinear systems

Robust positive invariance and ultimate boundedness of nonli...

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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Bitsoris, George Vassilaki, Marina Athanasopoulos, Nikolaos Control Systems Laboratory Electrical and Computer Engineering Department University of Patras 26500 Patras Greece Department of Electrical Engineering School of Pedagogical and Technological Education Heraklion 141 21 Athens Greece Electrical Engineering Department Eindhoven University of Technology 5600 MB Eindhoven Netherlands

ISBN: (纸本)9781467325318

In this article the problem of characterizing sets, described by vector nonlinear inequalities of the form v(x) w, as robustly positively invariant and targets of uniformly ultimate bounded nonlinear systems is investigated. The class of general parameter uncertain continuous-time dynamical systems affected by exogenous disturbances is considered. The approach is based on establishing an associated monotone nonlinear comparison system. A numerical example is presented to illustrate the approach. © 2012 IEEE.

关键词： Nonlinear systems

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