SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)最新文献

Forgetting least squares estimation FIR filters without noise covariance information 遗忘最小二乘估计FIR滤波器没有噪声协方差信息

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-28 DOI: 10.1109/SICE.2000.889643

P. Kim, W. Kwon

{"title":"Forgetting least squares estimation FIR filters without noise covariance information","authors":"P. Kim, W. Kwon","doi":"10.1109/SICE.2000.889643","DOIUrl":"https://doi.org/10.1109/SICE.2000.889643","url":null,"abstract":"This paper concerns with a new estimation filter with a finite impulse response (FIR) structure under a least squares (LS) criterion using a forgetting factor. This filter will be called the forgetting least squares estimation (FLSE) FIR filter. The proposed FLSE FIR filter does not require information of the noise covariances as well as the initial state. It will be shown that, in particular case, the proposed FLSE FIR filter can be reduced to the simple least squares estimation FIR filter called the LSE FIR filter. The proposed FLSE FIR filter has also some inherent properties such as time-invariance, unbiasedness and deadbeat. The proposed FLSE FIR filter will be represented in a batch form and then a recursive form, which will be remarkable in the view of computational advantage. From discussions about the choice of a forgetting factor and a horizon length, it will be shown that they can be considered as useful parameters to make the estimation performance of the proposed FLSE FIR filter as good as possible. Via simulations, it will be shown that the proposed FLSE FIR filter consistently outperforms the LSE FIR filter, and can outperform the existing best linear unbiased estimation (BLUE) FIR filter with incorrect noise covariances.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"542 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132386376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

A study on distributed SMA-net robot control by coupled oscillator system 耦合振荡器控制分布式SMA-net机器人的研究

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-28 DOI: 10.1109/SICE.2000.889674

Y. Sato, T. Nagai, H. Yokoi, T. Mizuno, Y. Kakazu

引用次数: 4

Tension control of wire suspended mechanism and application to bathroom cleaning robot 吊丝机构张力控制及其在浴室清洁机器人上的应用

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-28 DOI: 10.1109/SICE.2000.889669

Y. Takahashi, O. Tsubouchi

引用次数: 9

GMDH-type neural networks with a feedback loop and their application to the identification of large-spatial air pollution patterns 带反馈环的gmdh型神经网络及其在大空间空气污染模式识别中的应用

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889646

T. Kondo, A. S. Pandya

{"title":"GMDH-type neural networks with a feedback loop and their application to the identification of large-spatial air pollution patterns","authors":"T. Kondo, A. S. Pandya","doi":"10.1109/SICE.2000.889646","DOIUrl":"https://doi.org/10.1109/SICE.2000.889646","url":null,"abstract":"The GMDH (group method of data handling)-type neural networks with a feedback loop have been proposed in our early work. The architecture of these networks is generated by using the heuristic self-organization method that is the basic theory of the GMDH method. The number of hidden layers and the number of neurons in the hidden layers are determined so as to minimize the error criterion defined by Akaike's information criterion (AIC). Furthermore, the optimum neurons that can handle the complexity of the nonlinear system are selected from a variety of prototype functions, such as the sigmoid function, the radial basis function, the high order polynomial and the linear function. In this study, the GMDH-type neural networks with a feedback loop is applied to the identification of large-spatial air pollution patterns. The source-receptor matrix that represents a relationship between the multiple air pollution sources and the air pollution concentration at the multiple monitoring stations is accurately identified by using the GMDH-type neural networks with a feedback loop. The identification results of the GMDH-type neural networks are compared with those identified by other identification methods.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"483 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132686826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

Posture control of moving object using two mechanical artificial feelers 用两个机械人工触角控制运动物体的姿态

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889671

Y. Takahashi, K. Umehara

引用次数: 0

Signal control of two-way traffic arterials 双向交通干线的信号控制

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889699

H. Shimizu, H. Mashiba

引用次数: 2

Instantaneous frequency estimation from sine wave samples 从正弦波样本的瞬时频率估计

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889647

K. Kubo

引用次数: 4

Amplitude dependent analysis and design of nonlinear control systems in a frequency domain 频域非线性控制系统的幅值相关分析与设计

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889655

Y. Okuyama, F. Takemori

引用次数: 0

Teaching system for a polishing robot using a game joystick 一种使用游戏摇杆的抛光机器人教学系统

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889676

F. Nagata, K. Watanabe

{"title":"Teaching system for a polishing robot using a game joystick","authors":"F. Nagata, K. Watanabe","doi":"10.1109/SICE.2000.889676","DOIUrl":"https://doi.org/10.1109/SICE.2000.889676","url":null,"abstract":"In this paper, a user-friendly teaching system for a polishing robot using a game joystick is proposed. The teaching process is as follows. First, a zigzag path, which depends on both sizes of each object and polishing tool, is prepared. Next, the polishing robot whose control system consists of an impedance model following force controller profiles the object's surface using the zigzag path. In this case, the operator has only to control the orientation of the polishing tool using a usual game joystick. Further, since the impedance model following force controller keeps the contact force to be a desired value, the operator has to give no attention to a sudden overload or noncontact state. Through the above process, the desired trajectory is automatically obtained as the data including both continuous information of the position and its normal vector of the object's surface along the zigzag path. After that, the robot can achieve the polishing task without any assists of the operator by referring to the obtained trajectory. The effectiveness of the proposed method is proved through some experiments on polishing task of a woody material.","PeriodicalId":254956,"journal":{"name":"SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129159982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Estimation characteristics of tracking filters according to maneuvering patterns 基于机动模式的跟踪滤波器估计特性

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-26 DOI: 10.1109/SICE.2000.889654

T. Fang, J. Choi

引用次数: 0