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AIAA Guidance, Navigation, and control Conference

作者： Sharma, Rajnikant Taylor, Clark N. Casbeer, David W. Beard, Randal W. Department of Electrical and Computer Engineering Brigham Young University United States Sensors Directorate AFRL WPAFB United States Control Science Center of Excellence AFRL WPAFB United States

ISBN: (纸本)9781600869624

This paper aims to improve the performance of cooperative simultaneous localization and mapping (SLAM) by fusing multiple vehicles' local maps in a distributed manner. The information consensus filter is used to communicate and fuse the agents' local maps. We show that when the information consensus filter is used, the team of vehicles reaches consensus on map estimates, assuming a connected and balanced communication topology. Furthermore, the vehicles' local map estimates obtained using the information consensus filter are equivalent to the estimated map produced in a centralized filter;this fact is shown analytically and verified by simulation. Furthermore, we compare the simulation results of 1) the information consensus filter based SLAM with 2) centralized SLAM and 3) covariance intersection based SLAM to demonstrate both the strengths and drawbacks of cooperative SLAM based on the information consensus filter. Copyright © 2010 by the American Institute of Aeronautics American Institute of Aeronautics and Astronautics. All right reserved.

关键词： Vehicles

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Preface

Communications and Control Engineering

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Communications and control engineering 2011年第9780857292551期 vii-xi页

作者： Sun, Zhendong Ge, Shuzhi Sam College Automation Science & Engineering Center for Control and Optimization South China University of Technology Guangzhou510640 China Robotics Institue and Institute of Intelligent Systems and Information Technology University of Electronic Science and Technology of China Chengdu China Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore

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Stochastic differential dynamic programming

Stochastic differential dynamic programming

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作者： Theodorou, Evangelos Tassa, Yuval Todorov, Emo Departments of Computer Science and Neuroscience Computational Learning and Motor Control Lab. University of Southern California United States Interdisciplinary Center for Neural Computation Hebrew University Jerusalem Israel Department of Computer Science and Engineering University of Washington Seattle WA United States

ISBN: (纸本)9781424474264

Although there has been a significant amount of work in the area of stochastic optimal control theory towards the development of new algorithms, the problem of how to control a stochastic nonlinear system remains an open research topic. Recent iterative linear quadratic optimal control methods iLQG [1], [2] handle control and state multiplicative noise while they are derived based on first order approximation of dynamics. On the other hand, methods such as Differential Dynamic Programming expand the dynamics up to the second order but so far they can handle nonlinear systems with additive noise. In this work we present a generalization of the classic Differential Dynamic Programming algorithm. We assume the existence of state and control multiplicative process noise, and proceed to derive the second-order expansion of the cost-to-go. We find the correction terms that arise from the stochastic assumption. Despite having quartic and cubic terms in the initial expression, we show that these vanish, leaving us with the same quadratic structure as standard DDP. © 2010 AACC.

关键词： Additive noise

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Interactive visualization of hepatic parenchyma with applications to surgery simulators

Interactive visualization of hepatic parenchyma with applica...

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17th Iranian Conference in Biomedical engineering, ICBME 2010

作者： Foruzan, Amir H. Chen, Yen-Wie Zoroofi, Reza A. Kaibori, Masaki College of Information Science and Engineering Ritsumeikan University Shiga Japan Control and Intelligent Processing Center of Excellence College of Engineering School of Electrical and Computer Engineering Tehran Iran Department of Surgery Hirakata Hospital Kansai Medical University Osaka Japan

ISBN: (纸本)9781424474844

computer Assisted Diagnosis/Surgery systems provide an indisputable effect on the diagnosis and surgery of hepatic diseases. We developed a CAS system to prepare a virtual environment for a physician so as to interact with liver and decide on the therapy planning. The proposed system is composed of three modules, liver segmentation, vessel extraction, and visualization / interaction. It provides the physician a virtual scalpel to cut the liver. At first, inside of liver together with the vessels are shown to the physician and then the virtual surgery is started. A toggling option makes it easy to reveal inside of liver or make it opaque during the surgery. The width, height, and depth of the cut can be changed by the user. The proposed system is a framework which can later be extended to a complete CAD/CAS system for hepatic disease analysis and therapy planning. © 2010 IEEE.

关键词： Visualization

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Analyzing effect of distraction caused by dual-tasks on sharing of brain resources using SOM

Analyzing effect of distraction caused by dual-tasks on shar...

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Wang, Yu-Kai Pal, Nikhil R. Lin, Chin-Teng Chen, Shi-An Department of Computer Science Brain Research Center National Chiao-Tung University Taiwan Electronics and Communication Sciences Unit Indian Statistical Institute India Department of Electrical and Control Engineering Brain Research Center National Chiao-Tung University Taiwan

ISBN: (纸本)9781424469178

Drivers' distraction is widely recognized as a leading cause of car accidents. To investigate the distracting effect of dual-tasks involving driving and answering mathematical equations in the stimulus onset asynchrony (SOA) conditions, we design five different cases: two cases involving single-tasks and three cases involving dual-tasks. We have found that there is no statistically significant change in the behavioral data among the three dual-tasks. This raises an important question - is there any detectable effect of the dual tasks on the brain waves? To answer this, we use the Self-Organizing Map (SOM) to recognize the changes, if any, in the Electroencephalography (EEG) dynamics associated with such dual-tasks. Our SOM analysis based on independent components corresponding to EEG signals extracted from Frontal and Motor areas revealed that single- and dual-tasks have distinguishable signatures in the EEG signals. Specifically, each of the two single-task conditions is clustered in a distinct spatial area of the map. Two of the dual-tasks also exhibit distinct spatial clusters, while the third case although shows differences from the other two, the neurons corresponding to this case are sub-clustered reflecting the fact that different subjects may give different priorities to the tasks when confronted with two tasks simultaneously. SOM-based exploratory analysis reveals the existence of distinct EEG signatures among the distracting and non-distracting tasks, although there is no any noticeable difference in the behavioral data among these cases. © 2010 IEEE.

关键词： Self organizing maps

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A statistical shape model using 2D-principal component analysis from few medical samples and its evaluation

A statistical shape model using 2D-principal component analy...

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2nd International Conference on Software engineering and Data Mining, SEDM 2010

作者： Tateyama, Tomoko Tanaka, Taishi Kohara, Shinya Foruzan, Amir Hossein Furukawa, Akira Chen, Yen-Wei Intelligent Image Processing Lab College of Information Science and Engineering Ritsumeikan University Shiga Japan Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Radiology Shiga University of Medical Science Shiga Japan

ISBN: (纸本)9788988678213

Since the medical training samples are very limited, it is difficult to construct a statistical shape model with good generalization using few samples. In this paper, we propose a novel statistical shape modeling method using 2D PCA. The 3D shape is represented as a matrix by spherical parameterization. The experiments showed that our proposed method can reconstruct statistical shape model with good generalization even using fewer samples.

关键词： Principal component analysis

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On the analysis of self-adaptive evolution strategies on elliptic model: First results 10

On the analysis of self-adaptive evolution strategies on ell...

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12th Annual Genetic and Evolutionary Computation Conference, GECCO-2010

作者： Melkozerov, Alexander Beyer, Hans-Georg Department of Television and Control Tomsk State University of Control Systems and Radioelectronics Lenin ave. 40 634050 Tomsk Russia Research Center Process and Product Engineering Department of Computer Science Vorarlberg University of Applied Sciences Hochschulstr. 1 A-6850 Dornbirn Austria

ISBN: (纸本)9781450300728

In this paper, first results on the analysis of self-adaptive evolution strategies (ES) with intermediate multirecombination on the elliptic model are presented. Equations describing the ES behavior on the ellipsoid will be derived using a deterministic approach and experimentally verified. A relationship between newly obtained formulae for the elliptic model and previous theoretical results will be discussed. Copyright 2010 ACM.

关键词： Evolutionary algorithms

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Predicting the highest workload in cardiopulmonary test

Predicting the highest workload in cardiopulmonary test

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23rd IEEE International Symposium on computer-Based Medical Systems, CBMS 2010

作者： Baralis, Elena Cerquitelli, Tania Chiusano, Silvia D'Elia, Vincenzo Molinari, Riccardo Susta, Davide Department of Control and Computer Engineering Politecnico di Torino Italy CSA Sport Training Center Eupilio Como Italy School of Health and Human Performance Faculty of Science and Health Dublin City University Ireland

ISBN: (纸本)9781424491667

Cardiopulmonary exercise testing is an objective method to evaluate both the cardiac and pulmonary functions. It is used in different application domains, ranging from the clinical domain to sport sciences, to assess possible cardiac failures as well as athete performance. The highest workload reached in the test is a key information to evaluate the individual's physiological characteristics, to plan rehabilitation and/or training sessions. However, these tests are physically very demanding and may expose the tested individual to cardiopulmonary overload. This paper presents a new approach that allows an early prediction of the highest workload that will be reached in the cardiopulmonary test. The test can be prematurely stopped, avoiding its entire execution. The proposed approach relies on a new index, the CardioPulmonary Efficiency Index, which describes the cardiopulmonary response of an individual by summarizing the physiological signals monitored during the test. A k-Nearest Neighbor based classifier analyzes the index trend during the test, together with the characteristics of the individual, and predicts the highest workload. Preliminary experiments, performed on a real dataset provided by the CSA Sport Training center, showed that the proposed approach is able to effectively predict the highest workload with a limited error since the first steps of the test. © 2010 IEEE.

关键词： Forecasting

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Optimization of Image Fusion using Genetic Algorithms and Discrete Wavelet Transform

Optimization of Image Fusion using Genetic Algorithms and Di...

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： Chaunté W. Lacewell Mohamed Gebril Ruben Buaba Abdollah Homaifar Department of Electrical and Computer Engineering Autonomous Control and Information Technology Center NOAA ISET Cooperative Science Center North Carolina Agriculture and Technical State University Greensboro NC USA

Image fusion is the process of combining the most relevant information from multiple source images to obtain an accurate fused image. In this paper, we want to fuse visual and thermal satellite images. In order to provide enhanced information, we have investigated techniques of image fusion to obtain the most accurate information. This paper presents a technique which will produce an accurate fused image using discrete wavelet transform (DWT) for feature extraction and using Genetic Algorithms (GAs) to get the more optimized combined image. The performance of the proposed image fusion scheme is evaluated with mutual information (MI), root mean square error (RMSE), and it is also compared to the fused image that is generated by using Pixel Level GA based Image Fusion (PLGA_IF) and Discrete Wavelet Transform based Image Fusion (DWT_IF) techniques. Simulation results conducted with DWT and GA show that the proposed method outperforms the existing image fusion algorithms.

关键词： Discrete wavelet transforms Image fusion Gallium Genetics Satellites Search problems

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RETRACTED ARTICLE: Remote access of building management system on windows mobile devices

RETRACTED ARTICLE: Remote access of building management syst...

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2010 International Conference on Networking and Information Technology, ICNIT 2010

作者： Krejcar, Ondrej Horkem, Jindrich Department of Measurement and Control Center for Applied Cybernetics VSB Technical University of Ostrava 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB Technical University of Ostrava 17. Listopadu 15 70833 Ostrava-Poruba Czech Republic

ISBN: (纸本)9781424475773

The purpose of this project is to allow a free movement of Building Management System (BMS) operator in all controlled building area. The current state of the problem consists in an impossibility of operator's movement from control centre. We found a solution in using of mobile devices like PDA with a client of BMS to allow a remote access to all alarms of system. Solution consist in use of web services and web methods interface on BMS server, where is possible to connect a remote PDA client to interchange a requested info about alarms and trends. A web services and mobile client application was created using a Microsoft Visual Studio 2008. Future trends are also discussed to provide a solution for small and mid size constructions in direction of use a Microsoft .NET Micro Framework. © 2010 IEEE.

关键词： Web services

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