34 research outputs found
Pose Detection and control of multiple unmanned underwater vehicles using optical feedback
This paper proposes pose detection and control algorithms in order to control the relative pose between two Unmanned Underwater Vehicles (UUVs) using optical feedback. The leader UUV is configured to have a light source at its crest which acts as a guiding beacon for the follower UUV which has a detector array at its bow. Pose detection algorithms are developed based on a classifier, such as the Spectral Angle Mapper (SAM), and chosen image parameters. An archive look-up table is constructed for varying combinations of 5-degree-of-freedom (DOF) motion (i.e., translation along all three coordinate axes as well as pitch and yaw rotations). Leader and follower vehicles are simulated for a case in which the leader is directed to specific waypoints in horizontal plane and the follower is required to maintain a fixed distance from the leader UUV. Proportional-Derivative (PD) control (without loss of generality) is applied to maintain stability of the UUVs to show proof of concept. Preliminary results indicate that the follower UUV is able to maintain its fixed distance relative to the leader UUV to within a reasonable accuracy
Combining MLC and SVM classifiers for learning based decision making : analysis and evaluations
Maximum likelihood classifier (MLC) and support vector machines (SVM) are two commonly used approaches in machine learning. MLC is based on Bayesian theory in estimating parameters of a probabilistic model, whilst SVM is an optimization based nonparametric method in this context. Recently, it is found that SVM in some cases is equivalent to MLC in probabilistically modeling the learning process. In this paper, MLC and SVM are combined in learning and classification, which helps to yield probabilistic output for SVM and facilitate soft decision making. In total four groups of data are used for evaluations, covering sonar, vehicle, breast cancer, and DNA sequences. The data samples are characterized in terms of Gaussian/non-Gaussian distributed and balanced/unbalanced samples which are then further used for performance assessment in comparing the SVM and the combined SVM-MLC classifier. Interesting results are reported to indicate how the combined classifier may work under various conditions. Accepted on May 11, 201
Modulation Classification for MIMO-OFDM Signals via Approximate Bayesian Inference
The problem of modulation classification for a multiple-antenna (MIMO) system
employing orthogonal frequency division multiplexing (OFDM) is investigated
under the assumption of unknown frequency-selective fading channels and
signal-to-noise ratio (SNR). The classification problem is formulated as a
Bayesian inference task, and solutions are proposed based on Gibbs sampling and
mean field variational inference. The proposed methods rely on a selection of
the prior distributions that adopts a latent Dirichlet model for the modulation
type and on the Bayesian network formalism. The Gibbs sampling method converges
to the optimal Bayesian solution and, using numerical results, its accuracy is
seen to improve for small sample sizes when switching to the mean field
variational inference technique after a number of iterations. The speed of
convergence is shown to improve via annealing and random restarts. While most
of the literature on modulation classification assume that the channels are
flat fading, that the number of receive antennas is no less than that of
transmit antennas, and that a large number of observed data symbols are
available, the proposed methods perform well under more general conditions.
Finally, the proposed Bayesian methods are demonstrated to improve over
existing non-Bayesian approaches based on independent component analysis and on
prior Bayesian methods based on the `superconstellation' method.Comment: To be appear in IEEE Trans. Veh. Technolog