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Blind source separation in a noisy environment using super-exponential algorithm

Blind source separation in a noisy environment using super-e...

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IEEE International Symposium on Signal Processing and Information technology (ISSPIT)

作者： M. Ito M. Kawamoto M. Ohata T. Mukai N. Ohnishi Y. Inouye Graduate School of Information Science University of Nagoya Nagoya Japan Information Technology Research Institute AIST Tsukuba Ibaraki Japan Bio-mimetic Control Research Center RIKEN Nagoya Japan Department of Electronic and Control Systems Engineering Shimane University Matsue Shimane Japan

"Super-exponential" methods (SEMs) are attractive algorithms for solving blind signal separation problems. Conventional SEMs are so sensitive to Gaussian noise that they cannot work in a noisy environment. To overcome this drawback, we proposed a new SEM , which does not utilise second-order statistics but only higher-order cumulants. Hence, the proposed SEM becomes robust to Gaussian noise (RSEM). In this paper, mixed signals in a noisy environment are separated in the frequency domain using an adaptive version of RSEM (ARSEM). After separation, noise components are reduced with a speech enhancement technique. We show the results of this simulation and experiment, which demonstrates the effectiveness of the proposed method

关键词： Blind source separation Working environment noise Gaussian noise Noise robustness Frequency domain analysis Filters Information technology Higher order statistics Noise reduction Speech enhancement

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Generating multi-folded torus chaotic attractors

Generating multi-folded torus chaotic attractors

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International Conference on Physics and control

作者： Simin Yu Jinhu Lu Henry Leung Guanrong Chen College of Automation Guangdong University of Technology Guangzhou China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering University of Calgary AB Canada Department of Electronic Engineering City University of Hong Kong China

A systematic methodology for generating multi-folded torus chaotic attractors from a simple three-dimensional piecewise-linear system is presented in this paper. Theoretical analysis shows that multi-folded torus chaotic attractors can be created via alternative switching between two piecewise-linear systems. A novel circuit diagram is designed for physically creating multi-folded torus chaotic attractors. This is the first time in the literature to experimentally verify a maximum 9-folded torus chaotic attractor that is generated by an analog circuit.

关键词： Chaos Piecewise linear techniques Oscillators Laboratories Analog circuits Electric breakdown Bifurcation Educational institutions Automation Automatic generation control

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Adaptive H∞ RBFN tracking control for nonlinear systems with unknown hysteresis

Adaptive H∞ RBFN tracking control for nonlinear systems wit...

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Proceedings of the 2004 IEEE International Symposium on Intelligent control - 2004 ISIC

作者： Tong, Zhao Tan, Yonghong Department of Automation Shanghai Jiaotong University Shanghai 20030 China Lab. of Intelligent Systems and Control Engineering Guilin University of Electronic Technology Guilin 541004 China

In this paper, a radial basis function network (RBFN) based adaptive H ∞ control scheme for nonlinear systems with unknown hysteresis nonlinearity is developed. This scheme applies the method of pseudo-control to the design of the control strategy for the systems with hysteresis that can not be measured directly. For the uncertainty of unknown hysteresis, H ∞ optimal control technique based on RBF neural network is utilized. Therefore, the tracking error of the system is suppressed to a prescribed small region. Finally, the effectiveness of the proposed control scheme is illustrated through simulation. © 2004 IEEE.

关键词： Tracking (position)

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Compensation of environmental parameters for driving-aid ultrasonic systems in foggy conditions

Compensation of environmental parameters for driving-aid ult...

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Robotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004

作者： Alonso, L. Rodríguez, C. Fernández, M. Robla, S. Pérez Oria, J. Department of Electronic Technology and Atomatic Control Systems E. T. S. of Industrial Engineering and Telecommunications University of Cantabria Avda. Los Castros s/n 39005 Santander Cantabria Spain

ISBN: (纸本)1889335215

The use of driving-aid ultrasonic systems in low visibility conditions due to fog, makes it necessary to study the influence of environmental parameters such as temperature, humidity or air velocity on the ultrasonic propagation. The present work tries to construct simple empirical models for velocity and echo amplitude that includes temperature and relative humidity as inputs. We present the results obtained in the modelling of the ultrasonic propagation in environments with variable conditions of humidity and temperature, including foggy conditions.

关键词： Ultrasonics

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Fast sequential learning methods on RBF-network using decomposed training algorithms

Fast sequential learning methods on RBF-network using decomp...

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Proceedings of the 2004 IEEE International Symposium on Intelligent control - 2004 ISIC

作者： Asirvadam, Vijanth S. McLoone, Seán F. Irwin, George W. Faculty of Information Science and Information Technology Jalon Ayer Keroh Lama Multimedia University 75450 Malaysia Department of Electronic Engineering National University of Ireland Maynooth County Kildare Ireland Centre of Intelligent Systems and Control Faculty of Electrical and Electronic Engineering Queen's University of Belfast

This paper investigates novel sequential learning methods applied on a decomposed form of training algorithms using Radial Basis Function (RBF) network. The dynamic expansion of RBF network by adding neurons to the hidden layer during the course of training facilitates the weight update to be decomposed on neuron by neuron basis. The fast or minimal update update approach which can be adopted with ease on a decomposed algorithms will also be presented in this paper. ©2004 IEEE.

关键词： Radial basis function networks

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

Application of uncertain variables in an adaptive decision s...

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15th International Conference on systems Science

作者： Orski, Donat Sugisaka, Masanori Institute of Control and Systems Engineering Wroclaw University of Technology Wyb. Wyspianskiego 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. 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 showed 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： Decision support systems

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Frequency shape control of omni-directional wheelchair to increase user's comfort

Frequency shape control of omni-directional wheelchair to in...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： K. Terashima T. Miyoshi J. Urbano H. Kitagawa Department of Production Systems Engineering Toyohashi University of Technology Toyohashi Japan Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan

An omni-directional wheelchair is highly maneuverable in narrow or crowded areas such as residences, offices and hospitals. However, with the increase in the degrees of freedom accompanying omni-directional wheelchairs, it has become more important than in the past to develop a smooth and vibrationless motion control system. This paper presents a novel motion control method for an omni-directional wheelchair considering the suppression of vibration of both the wheelchair and the user. In the proposed control system, the vibration of the wheelchair is suppressed by notching the frequency characteristics at the natural frequency of both the wheelchair and human's organs. The designed controller satisfies various control specifications such as settling time and stability by using feedback from only the wheelchair's position data. The effectiveness of the proposed system is evaluated by the output signal of a sensor attached to the wheelchair and by a descriptive inspection of several users.

关键词： Frequency Shape control Wheelchairs Vibration control Motion control Hospitals control systems Stability Feedback Sensor phenomena and characterization

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Fuzzy power assist control system for omni-directional transport wheelchair

Fuzzy power assist control system for omni-directional trans...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： H. Kitagawa T. Nishigaki T. Miyoshi K. Terashima Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan Department of Production Systems Engineering Toyohashi University of Technology Toyohashi Japan

In this paper, a novel power assist system for the attendant of an omni-directional transport wheelchair is proposed. The input force of the attendant is measured using a force sensor attached to the handle of the wheelchair. The desired motion of the wheelchair is estimated from the output signal of the force sensor using fuzzy reasoning. Then, it is transmitted to four motors of the wheelchair to make it move toward the desired direction. The effectiveness of the proposed method is examined by simulations and experiments.

关键词： Fuzzy control Fuzzy systems control systems Wheelchairs Force sensors Wheels Force measurement Vehicles Fuzzy reasoning Hospitals

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Bio-mimetic control for whole arm cooperative manipulation

Bio-mimetic control for whole arm cooperative manipulation

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IEEE International Conference on systems, Man and Cybernetics

作者： F. Asano Zhi-Wei Luo M. Yamakita K. Tahara S. Hosoe Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Tokyo Japan Department of Electronic-Mechanical Engineering University of Nagoya Nagoya Japan

This paper studies modeling and bio-mimetic control of a 3D 8-dof whole arm cooperative manipulation system using sensitive skin. The control law is designed based on integration of voluntary movement and reflex considering the system's redundancy. The voluntary task for holding the object is realized by impedance control at four contact points with the object using the contact force information from the sensitive skin. The reflection on the other hand is introduced as a regulation problem of the direction between the points of end-effectors and elbows. We then investigate the exact solutions for the combined motion and their solvable conditions. The validity of the proposed method is investigated by numerical simulations

关键词： Skin control systems Manipulator dynamics Force control Impedance Arm Human robot interaction Robot sensing systems control system synthesis systems engineering and theory

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Modeling and control for whole arm dynamic cooperative manipulation

Modeling and control for whole arm dynamic cooperative manip...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS) (IEEE Cat. No.04CH37566)

作者： F. Asano Zhi-Wei Luo K. Tahara M. Yamakita S. Hosoe Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Tokyo Japan Department of Electronic-Mechanical Engineering University of Nagoya Nagoya Japan

This paper studies modeling and bio-mimetic control of a 3D 8-dof whole arm cooperative manipulation system using sensitive skin. A sphere is considered here as a manipulated object. The control law is designed based on integration of voluntary and reflex movements considering the system's redundancy. The voluntary task for holding the object is realized by impedance control at the four contact points with the object using the contact force information from the sensitive skin. The reflection on the other hand is introduced as a regulation problem of the direction between the points of end-effectors and elbows. The solution for the redundant control is formulated and derived from the optimization point of view. The validity of the proposed method is investigated by numerical simulations.

关键词： Manipulator dynamics control systems Skin Robot sensing systems Friction Force control Elbow Numerical simulation Service robots Human robot interaction

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