15 research outputs found
A Family of Householder Matrices
A Householder transformation, or Householder reflection, or Household matrix, is a reflection about a hyperplane with a unit normal vector. Not only have the Household matrices been used in QR decomposition efficiently but also implicitly and successfully applied in other areas. In the process of investigating a family of unitary filterbanks, a new family of Householder matrices are established. These matrices are produced when a matrix filter is required to preserve certain order of 2d digital polynomial signals. Naturally, they can be applied to image and signal processing among others
Wavelets and multirate filter banks : theory, structure, design, and applications
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering, 2004.Includes bibliographical references (p. 219-230) and index.Wavelets and filter banks have revolutionized signal processing with their ability to process data at multiple temporal and spatial resolutions. Fundamentally, continuous-time wavelets are governed by discrete-time filter banks with properties such as perfect reconstruction, linear phase and regularity. In this thesis, we study multi-channel filter bank factorization and parameterization strategies, which facilitate designs with specified properties that are enforced by the actual factorization structure. For M-channel filter banks (M =/> 2), we develop a complete factorization, M-channel lifting factorization, using simple ladder-like structures as predictions between channels to provide robust and efficient implementation; perfect reconstruction is structurally enforced, even under finite precision arithmetic and quantization of lifting coefficients. With lifting, optimal low-complexity integer wavelet transforms can thus be designed using a simple and fast algorithm that incorporates prescribed limits on hardware operations for power-constrained environments. As filter bank regularity is important for a variety of reasons, an aspect of particular interest is the structural imposition of regularity onto factorizations based on the dyadic form uvt. We derive the corresponding structural conditions for regularity, for which M-channel lifting factorization provides an essential parameterization. As a result, we are able to design filter banks that are exactly regular and amenable to fast implementations with perfect reconstruction, regardless of the choice of free parameters and possible finite precision effects. Further constraining u = v ensures regular orthogonal filter banks,(cont.) whereas a special dyadic form is developed that guarantees linear phase. We achieve superior coding gains within 0.1% of the optimum, and benchmarks conducted on image compression applications show clear improvements in perceptual and objective performance. We also consider the problem of completing an M-channel filter bank, given only its scaling filter. M-channel lifting factorization can efficiently complete such biorthogonal filter banks. On the other hand, an improved scheme for completing paraunitary filter banks is made possible by a novel order-one factorization which allows greater design flexibility, resulting in improved frequency selectivity and energy compaction over existing state of the art methods. In a dual setting, the technique can be applied to transmultiplexer design to achieve higher-rate data transmissions.by Ying-Jui Chen.Ph.D
Spatial diversity in MIMO communication systems with distributed or co-located antennas
The use of multiple antennas in wireless communication systems has gained much attention during the last decade. It was shown that such multiple-input multiple-output (MIMO) systems offer huge advantages over single-antenna systems. Typically, quite restrictive assumptions are made concerning the spacing of the individual antenna elements. On the one hand, it is typically assumed that the antenna elements at transmitter and receiver are co-located, i.e., they belong to some sort of antenna array. On the other hand, it is often assumed that the antenna spacings are sufficiently large, so as to justify the assumption of independent fading. In this thesis, the above assumptions are relaxed. In the first part, it is shown that MIMO systems with distributed antennas and MIMO systems with co-located antennas can be treated in a single, unifying framework. In the second part this fact is utilized, in order to develop appropriate transmit power allocation strategies for co-located and distributed MIMO systems. Finally, the third part focuses on specific synchronization problems that are of interest for distributed MIMO systems
Computational Methods for Cognitive and Cooperative Robotics
In the last decades design methods in control engineering made substantial progress in
the areas of robotics and computer animation. Nowadays these methods incorporate the
newest developments in machine learning and artificial intelligence. But the problems
of flexible and online-adaptive combinations of motor behaviors remain challenging for
human-like animations and for humanoid robotics. In this context, biologically-motivated
methods for the analysis and re-synthesis of human motor programs provide new insights
in and models for the anticipatory motion synthesis.
This thesis presents the authorâs achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter âGoal-directed Imitation for Robotsâ considers imitation learning in cognitive and developmental robotics.
The work presented here details the authorâs progress in the development of hierarchical
motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of âlearning for
imitationâ and âlearning by imitationâ. The complete system includes a low-level real-time
capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts.
Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the
problems of task-related action transitions are considered in the second part of the thesis
âKinematic Motion Synthesis for Computer Graphics and Roboticsâ. In this part, a new
approach of modeling complex full-body human actions by mixtures of time-shift invariant
motor primitives in presented. The online-capable full-body motion generation architecture
based on dynamic movement primitives driving the time-shift invariant motor synergies
was implemented as an online-reactive adaptive motion synthesis for computer graphics
and robotics applications.
The last chapter of the thesis entitled âContraction Theory and Self-organized Scenarios
in Computer Graphics and Roboticsâ is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last
part presents new mathematical tools for stability analysis and synthesis of multi-agent
cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung
komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen
Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage
neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der
kĂŒnstlichen Intelligenz. Die flexible und echtzeitfĂ€hige Kombination von motorischen Verhaltensweisen
ist eine wesentliche Herausforderung fĂŒr die Generierung menschenĂ€hnlicher
Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch
motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme
neue Erkenntnisse und Modelle fĂŒr die antizipatorische Bewegungssynthese.
Diese Dissertation prÀsentiert die Ergebnisse der Arbeiten des Autors im Gebiet der
kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie
intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der
Dissertation im Kapitel âZielgerichtete Nachahmung fĂŒr Roboterâ behandelt das Imitationslernen
in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben
neue Methoden fĂŒr die hierarchische Bewegungserkennung und -planung, die durch
Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert
wurden. Die entwickelte Architektur ist in der Lage, âdurch Imitation zu lernenâ
und âzu lernen zu imitierenâ. Das komplette entwickelte System enthĂ€lt ein echtzeitfĂ€higes
Pfadplanungssubsystem zur Hindernisvermeidung wĂ€hrend der DurchfĂŒhrung von Armbewegungen.
Das lernbasierte Pfadplanungssubsystem ist universell und fĂŒr alle Arten von
anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer
Handlungen zu ĂŒbertragen.
Im zweiten Teil der Arbeit âKinematische Bewegungssynthese fĂŒr Computergrafik und
Robotikâ werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h.
von rÀumlichen und rÀumlich-zeitlichen Kombinationen motorischer Bewegungselemente
bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs ĂŒbergĂ€ngen behandelt.
Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen
durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem
wurde ein online-fĂ€higer Synthesealgorithmus fĂŒr Ganzköperbewegungen entwickelt, der
auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten
verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde fĂŒr
verschiedene Probleme der Bewegungssynthese fĂŒr die Computergrafik- und Roboteranwendungen
implementiert.
Das letzte Kapitel der Dissertation mit dem Titel âKontraktionstheorie und selbstorganisierte
Szenarien in der Computergrafik und Robotikâ widmet sich optimalen Kontrollstrategien
in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare
Kinematik gekennzeichnet sind. Dieser letzte Teil prÀsentiert neue mathematische Werkzeuge
fĂŒr die StabilitĂ€tsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien