A fast 3-D object recognition algorithm for the vision system of a special-purpose dexterous manipulator

A fast 3-D object recognition algorithm that can be used as a quick-look subsystem to the vision system for the Special-Purpose Dexterous Manipulator (SPDM) is described. Global features that can be easily computed from range data are used to characterize the images of a viewer-centered model of an object. This algorithm will speed up the processing by eliminating the low level processing whenever possible. It may identify the object, reject a set of bad data in the early stage, or create a better environment for a more powerful algorithm to carry the work further

Robust Kalman filtering for discrete time-varying uncertain systems with multiplicative noises

Copyright [2002] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.In this paper, a robust finite-horizon Kalman filter is designed for discrete time-varying uncertain systems with both additive and multiplicative noises. The system under consideration is subject to both deterministic and stochastic uncertainties. Sufficient conditions for the filter to guarantee an optimized upper bound on the state estimation error variance for admissible uncertainties are established in terms of two discrete Riccati difference equations. A numerical example is given to show the applicability of the presented method

H∞ control for networked systems with random communication delays

Copyright [2006] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This note is concerned with a new controller design problem for networked systems with random communication delays. Two kinds of random delays are simultaneously considered: i) from the controller to the plant, and ii) from the sensor to the controller, via a limited bandwidth communication channel. The random delays are modeled as a linear function of the stochastic variable satisfying Bernoulli random binary distribution. The observer-based controller is designed to exponentially stabilize the networked system in the sense of mean square, and also achieve the prescribed H∞ disturbance attenuation level. The addressed controller design problem is transformed to an auxiliary convex optimization problem, which can be solved by a linear matrix inequality (LMI) approach. An illustrative example is provided to show the applicability of the proposed method

Mixed H2/H∞ filtering for uncertain systems with regional pole assignment

Copyright [2005] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.The mixed H2/H∞ filtering problem for uncertain linear continuous-time systems with regional pole assignment is considered. The purpose of the problem is to design an uncertainty-independent filter such that, for all admissible parameter uncertainties, the following filtering requirements are simultaneously satisfied: 1) the filtering process is asymptotically stable; 2) the poles of the filtering matrix are located inside a prescribed region that compasses the vertical strips, horizontal strips, disks, or conic sectors; 3) both the H2 norm and the H∞ norm on the respective transfer functions are not more than the specified upper bound constraints. We establish a general framework to solve the addressed multiobjective filtering problem completely. In particular, we derive necessary and sufficient conditions for the solvability of the problem in terms of a set of feasible linear matrix inequalities (LMIs). An illustrative example is given to illustrate the design procedures and performances of the proposed method

Distributed H-infinity filtering for polynomial nonlinear stochastic systems in sensor networks

Copyright [2010] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.In this paper, the distributed H1 filtering problem is addressed for a class of polynomial nonlinear stochastic systems in sensor networks. For a Lyapunov function candidate whose entries are polynomials, we calculate its first- and second-order derivatives in order to facilitate the use of Itos differential role. Then, a sufficient condition for the existence of a feasible solution to the addressed distributed H1 filtering problem is derived in terms of parameter-dependent linear matrix inequalities (PDLMIs). For computational convenience, these PDLMIs are further converted into a set of sums of squares (SOSs) that can be solved effectively by using the semidefinite programming technique. Finally, a numerical simulation example is provided to demonstrate the effectiveness and applicability of the proposed design approach.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the U.K. under Grant GR/S27658/01, the Royal Society of the U.K., the National 973 Program of China under Grant 2009CB320600, the National Natural Science Foundation of China under Grant 60974030 and the Alexander von Humboldt Foundation of Germany

Language Transfer of Audio Word2Vec: Learning Audio Segment Representations without Target Language Data

Audio Word2Vec offers vector representations of fixed dimensionality for variable-length audio segments using Sequence-to-sequence Autoencoder (SA). These vector representations are shown to describe the sequential phonetic structures of the audio segments to a good degree, with real world applications such as query-by-example Spoken Term Detection (STD). This paper examines the capability of language transfer of Audio Word2Vec. We train SA from one language (source language) and use it to extract the vector representation of the audio segments of another language (target language). We found that SA can still catch phonetic structure from the audio segments of the target language if the source and target languages are similar. In query-by-example STD, we obtain the vector representations from the SA learned from a large amount of source language data, and found them surpass the representations from naive encoder and SA directly learned from a small amount of target language data. The result shows that it is possible to learn Audio Word2Vec model from high-resource languages and use it on low-resource languages. This further expands the usability of Audio Word2Vec.Comment: arXiv admin note: text overlap with arXiv:1603.0098

Magnifying superlens in the visible frequency range

In this communication we introduce a new design of the magnifying superlens and demonstrate it in the experiment.Comment: 3pages, 1 figur

Systematic {\em ab initio} study of the phase diagram of epitaxially strained SrTiO3_3

We use density-functional theory with the local-density approximation to study the structural and ferroelectric properties of SrTiO$_3$ under misfit strains. Both the antiferrodistortive (AFD) and ferroelectric (FE) instabilities are considered. The rotation of the oxygen octahedra and the movement of the atoms are fully relaxed within the constraint of a fixed in-plane lattice constant. We find a rich misfit strain-induced phase transition sequence and is obtained only when the AFD distortion is taken into account. We also find that compressive misfit strains induce ferroelectricity in the tetragonal low temperature phase only whilst tensile strains induce ferroelectricity in the orthorhombic phases only. The calculated FE polarization for both the tetragonal and orthorhombic phases increases monotonically with the magnitude of the strains. The AFD rotation angle of the oxygen octahedra in the tetragonal phase increases dramatically as the misfit strain goes from the tensile to compressive strain region whilst it decreases slightly in the orthorhombic (FO4) phase. This reveals why the polarization in the epitaxially strained SrTiO$_3$ would be larger when the tensile strain is applied, since the AFD distortion is found to reduce the FE instability and even to completely suppress it in the small strain region. Finally, our analysis of the average polar distortion and the charge density distribution suggests that both the Ti-O and Sr-O layers contribute significantly to the FE polarization