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American control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We consider a general high-gain scaling technique for global control of strict-feedback-like systems. Unlike previous results, the scaling utilizes arbitrary powers (instead of requiring successive powers) of the high gain parameter with the powers chosen to satisfy certain inequalities depending on system nonlinearities. The scaling induces a weak-cascading upper diagonal dominance (w-CUDD) structure on the dynamics. The analysis is based on our recent results on the w-CUDD property and uniform solvability of coupled state-dependent Lyapunov equations. The proposed scaling provides extensions in both state-feedback and output-feedback cases. The state-feedback problem is solved for a class of systems with certain ratios of nonlinear terms being polynomially bounded. The controller has a simple form being essentially linear with state-dependent dynamic gains and does not involve recursive computations. In the output-feedback case, the scaling technique is applied to the design of the observer which is then coupled with a backstepping controller. The results relax the assumption in our earlier papers on cascading dominance of upper diagonal terms. However, since the required upper diagonal cascading dominance in observer and controller contexts are dual, it is not possible to use a dual high-gain observer/controller in the proposed design preventing the bounds on uncertain functions from being of the more general form in our earlier work. A topic of further research is to examine the possibility of a scaling (perhaps utilizing more than one high gain parameter) that achieves bidirectional cascading dominance.

关键词： Nonlinear control systems control systems Nonlinear systems Backstepping Linear matrix inequalities Riccati equations Robot control Laboratories Power engineering computing Power engineering and energy

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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions.

关键词： Robustness Face recognition Face detection Lighting Optical imaging Intelligent robots Infrared imaging Pattern recognition computer vision Temperature

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Fusion of visual, thermal, and range as a solution to illumination and pose restrictions in face recognition

Fusion of visual, thermal, and range as a solution to illumi...

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International Carnahan Conference on Security Technology

作者： B. Abidi S. Huq M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper summarizes the various components of face recognition research conducted at the IRIS Lab. First, fusion of visual and thermal infrared (IR) images for robust face recognition is discussed. Two techniques are implemented: data fusion and decision fusion. With the knowledge that eyeglasses block the emission of thermal energy, an algorithm is designed to detect and replace eyeglasses with an eye template in thermal images. A commercial face recognition software (FaceIt/spl reg/) is used in the evaluation of the various fusion algorithms. Comparison results show that fusion-based face recognition outperforms individual visual or thermal face recognizers under illumination variations and facial expressions. Efforts in the 3D arena are also described. Results of high resolution stereo-based 3D reconstruction of faces are shown and analyzed, in a first approach, then in a second approach, a warping technique is applied to overlay color and thermal textures on 3D mannequin head models, obtained using a laser range scanner.

关键词： Lighting Face recognition Face detection Iris Infrared imaging Robustness Algorithm design and analysis Software algorithms Image reconstruction Image color analysis

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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

Localization of simultaneous moving sound sources for mobile...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.-M. Valin F. Michaud B. Hadjou J. Rouat LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

关键词： Mobile robots Auditory system Orbital robotics Intelligent robots Head Acoustic noise Humans Robustness Microphone arrays Signal processing

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Enhanced robot audition based on microphone array source separation with post-filter

Enhanced robot audition based on microphone array source sep...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J.-M. Valin J. Rouat F. Michaud Department of Electrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrook Sherbrooke QUE Canada

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple non-stationary speech sources combined with noise sources. The main advantage of our approach for mobile robots resides in the fact that both the frequency domain geometric source separation algorithm and the post-filter are able to adapt rapidly to new sources and non-stationarity. Separation results are presented for three simultaneous interfering speakers in the presence of noise. A reduction of log spectral distortion (LSD) and increase of signal-to-noise ratio (SNR) of approximately 10 dB and 14 dB are observed.

关键词： Microphone arrays Source separation Mobile robots Acoustic noise Auditory system Humans Intelligent robots Interference Robot sensing systems Mobile computing

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Dynamic high gain scaling: an application to robust adaptive output feedback for feedforward systems

Dynamic high gain scaling: an application to robust adaptive...

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Asian control Conference

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

We propose an adaptive output feedback control design for global asymptotic stabilization of feedforward systems based on our recent results on dynamic high gain scaling based controller design for strict-feedback systems. The system is allowed to contain uncertain functions of all the states and the input as long as they satisfy certain bounds. Unknown parameters are allowed in the bounds assumed on uncertain functions. If the uncertain functions involve the input, then the output-dependent functions in the bounds need to be polynomially bounded. It is also shown that if the uncertain functions can be bounded by a function independent of the input, then the polynomial boundedness requirement can be relaxed. The designed controllers have a simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer utilized to estimate unmeasured states is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in state estimates, observer errors, and parameter estimation error. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller provides strong robustness properties both with respect to uncertain parameters and additive disturbances. This robustness is the key to the output feedback controller design.

关键词： Robustness Output feedback Feedforward systems Observers Polynomials State estimation Robust control Programmable control Adaptive control control design

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Digital PI fuzzy control strategies applied to an electric microgenerator system

Digital PI fuzzy control strategies applied to an electric m...

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IEEE/PES Transmission and Distribution Conference and Exposition: Latin America

作者： B.M. Campos C.T. da Costa W. Barra K.C.F. da Silva J.A.L. Barreiros Laboratory of Control and Systems (LACOS) Technological Center Electrical and Computer Engineering Department Federal University of Para Belem Para Brazil

This paper investigates digital modeling and control strategies applied to the voltage regulation of a microgenerator system, placed in the Electric Energy Generation laboratory of Federal University of Para. Identification parametric techniques are used in order to obtain a representative model for the controller design. With a suitable model, controllers of proportional integral type are designed, based on the root locus and fuzzy systems strategies, in order to improve the voltage regulation of the microgenerator system.

关键词： Fuzzy control Voltage control Digital control Proportional control Fuzzy logic Regulators control systems DC motors Velocity control Laboratories

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Fault detection and identification for robot manipulators

Fault detection and identification for robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.L. McIntyre W.E. Dixon D.M. Dawson I.D. Walker Department of Electrical & Computer Engineering Clemson University Clemson SC USA Robotics and Energetic Systems Group Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC

Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a prediction error based dead-zone residual function and nonlinear observers are used to detect and identify a class of actuator faults. Advantages of the proposed fault detection and identification methods are that they are based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), they do not require acceleration measurements, and they are independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault.

关键词： Fault detection Fault diagnosis Robots Manipulator dynamics Accelerometers Medical robotics Acceleration electrical fault detection US department of Energy Contracts

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Application of uncertain variables in an adaptive decision system for a complex of operations

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systems Science 2004年第3期30卷 85-94页

作者： Orski, Donat Sugisaka, Masanori Institute of Control and Systems Engineering Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Artificial Life and Robotics Laboratory Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1192 Japan

The paper concerns a decision plant consisting of parallel operations, which are described by relational models with unknown parameters. The unknown parameters are assumed to be values of uncertain variables characterized by certainty distributions given by an expert. The solution of a decision problem and, consequently, performance of the knowledge-based decision system is very sensitive to the forms and parameters of certainty distributions. In the paper, it is shown how application of an adaptation process, consisting in step by step changing of parameters in certainty distributions based on current performance evaluation, may improve performance of a decision system under consideration. An illustrative example and results of simulations are included.

关键词： Uncertain systems

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A soft-detector based on multiple symbol detection for double differential modulation

A soft-detector based on multiple symbol detection for doubl...

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

作者： Jianhua Liu M. Simon P. Stoica Jian Li Department of Electrical and Computer Engineering University of Florida Gainesville FL USA Jet Propulsion Laboratory Pasadena CA USA Department of Systems and Control University of Uppsala Uppsala Sweden

We consider the problem of soft-detection for communication systems employing double differential modulation and forward error correction codes, for example, a convolutional code. We propose a soft-detector (based on the multiple symbol heuristic detector) with low computational complexity. Simulation results are provided to show the superior performance of the new soft-detector.

关键词： Decoding Convolutional codes Detectors Modulation coding Forward error correction Computational complexity Computational modeling Propulsion Laboratories Communication system control

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