A stochastic realization algorithm via block LQ decomposition in Hilbert space

A stochastic realization problem of a stationary stochastic process is re-visited, and a new stochastically balanced realization algorithm is derived in a Hilbert space generated by second-order stationary processes. The present algorithm computes a stochastically balanced realization by means of the singular value decomposition of a weighted block Hankel matrix derived by a “block LQ decomposition”. Extension to a stochastic subspace identification method explains how the proposed abstract algorithm is implemented in system identification.     

Input-output stability of systems with backlash

The objective of this work is to study the stability of systems with backlash, from an input-output point of view. In the first part, an L_∞ analysis is addressed. This analysis provides not only conditions for boundedness of the loop signals, but also results on existence of solutions, based on Schauder fixed point theorem. In the second part, the system is studied using an L₂ or conic sector approach. The backlash graph is confined into certain conic sector, which is shown to be optimum or maximal. The conic inequality induces frequencial conditions on the linear part, which are further relaxed introducing dynamic multipliers. In the third part, both L_∞ and L₂ techniques are combined reaching a final criterion which results in a Popov-like stability condition.     

Further results on strict Lyapunov functions for rapidly time-varying nonlinear systems

We explicitly construct global strict Lyapunov functions for rapidly time-varying nonlinear control systems. The Lyapunov functions we construct are expressed in terms of oftentimes more readily available Lyapunov functions for the limiting dynamics which we assume are uniformly globally asymptotically stable. This leads to new sufficient conditions for uniform global exponential, uniform global asymptotic, and input-to-state stability of fast time-varying dynamics. We also construct strict Lyapunov functions for our systems using a strictification approach. We illustrate our results using several examples.     

Directional features in online handwriting recognition

The selection of valuable features is crucial in pattern recognition. In this paper we deal with the issue that part of features originate from directional instead of common linear data. Both for directional and linear data a theory for a statistical modeling exists. However, none of these theories gives an integrated solution to problems, where linear and directional variables are to be combined in a single, multivariate probability density function. We describe a general approach for a unified statistical modeling, given the constraint that variances of the circular variables are small. The method is practically evaluated in the context of our online handwriting recognition system frog on hand and the so-called tangent slope angle feature. Recognition results are compared with two alternative modeling approaches. The proposed solution gives significant improvements in recognition accuracy, computational speed and memory requirements.     

Subspace distance analysis with application to adaptive Bayesian algorithm for face recognition

We propose subspace distance measures to analyze the similarity between intrapersonal face subspaces, which characterize the variations between face images of the same individual. We call the conventional intrapersonal subspace average intrapersonal subspace (AIS) because the image differences often come from a large number of persons. An intrapersonal subspace is referred to as specific intrapersonal subspace (SIS) if the image differences are from just one person. We demonstrate that SIS varies significantly from person to person, and most SISs are not similar to AIS. Based on these observations, we introduce the maximum a posteriori (MAP) adaptation to the problem of SIS estimation, and apply it to the Bayesian face recognition algorithm. Experimental results show that the adaptive Bayesian algorithm outperforms the non-adaptive Bayesian algorithm as well as Eigenface and Fisherface methods if a small number of adaptation images are available.     

Improved quality of reconstructed images using floating point arithmetic for moment calculation

Zernike moments which are superior to geometric moments because of their special properties of image reconstruction and immunity to noise, suffer from several discretization errors. These errors lead to poor quality of reconstructed image and wide variations in the numerical values of the moments. The predominant factor, as observed in this paper, is due to the discrete integer implementation of the steps involved in moment calculation. It is shown in this paper that by modifying the algorithms to include discrete float implementation, the quality of the reconstructed image improves significantly and the first-order moment becomes zero. Low-order Zernike moments have been found to be stable under linear transformations while the high-order moments have large variations. The large variations in high-order moments, however, do not greatly affect the quality of the reconstructed image, implying that they should be ignored when numerical values of moments are used as features. The 11 functions based on geometric moments have also been found to be stable under linear transformations and thus these can be used as features. Pixel level analysis of the images has been carried out to strengthen the results.     

A quantitative analysis of the effectiveness of laparascopy and endoscopy virtual reality simulators

The increasing use of virtual reality (VR) simulators in surgical training makes it imperative that definitive studies be performed to assess their training effectiveness. Indeed in this paper we report the meta-analysis of the efficacy of virtual reality simulators in (1) the transference of skills from the simulator training environment to the operating room and (2) their ability to discriminate between the experience levels of its users. The task completion time and the error score were the two study outcomes collated and analyzed in this meta-analysis. Sixteen studies were identified from a computer-based literature search (1996-2004). The meta-analysis of the random-effects model (because of the heterogeneity of the data) revealed that training on virtual reality simulators did lessen the time taken to complete a given surgical task as also clearly differentiate between the experienced and the novice trainees. Meta-analytic studies such as the one reported here would be very helpful in the planning and setting up of surgical training programs and for the establishment of reference ‘learning curves’ for a specific simulator and surgical task. If any such programs already exist they can then indicate the improvements to be made in the simulator used such as providing for more variety in their case scenarios based on the state and/or rate of learning of the trainee.     

Experience-consistent modeling: Regression and classification problems

In this study, we are concerned with system modeling which involves limited data and reconciles the developed model with some previously acquired domain knowledge being captured in the format of already constructed models. Each of these previously available models was formed on a basis of extensive data sets which are not available for the current identification pursuits. To emphasize the nature of modeling being guided by the reconciliation mechanisms, we refer to this mode of identification as experience-consistent modeling. The paper presents the conceptual and algorithmic framework by focusing on regression models. By forming a certain extended form of the performance index, it is shown that the domain knowledge captured by regression models can play a similar role as a regularization component used quite commonly in system identification. Experimental results involve both synthetic low-dimensional data and selected data coming from Machine Learning repository. The data used in the experiments tackle regression models as well as classification problems (two-class classifiers).     

Near optimal interval observers bundle for uncertain bioreactors

In this paper we design an interval observer for the estimation of unmeasured variables of uncertain bioreactors. The observer is based on a bounded error observer, as proposed in [Lemesle, V., & Gouzé, J.-L. (2005). Hybrid bounded error observers for uncertain bioreactor models. Bioprocess and Biosystems Engineering, 27, 311-318], that makes use of a loose approximation of the bacterial kinetics. We first show how to generate guaranteed upper and lower bounds on the state, provided that known intervals for the initial condition and the uncertainties are available. These so-called framers depend on a tuning gain. They can be run in parallel and the envelope provides the best estimate. An optimality criterion is introduced leading to the definition of an optimal observer. We show that this criterion provides directly a gain set containing the best framers. The method is applied to the estimation of the total biomass of an industrial wastewater treatment plant, demonstrating its efficiency.     

Temporal logic motion planning for dynamic robots

In this paper, we address the temporal logic motion planning problem for mobile robots that are modeled by second order dynamics. Temporal logic specifications can capture the usual control specifications such as reachability and invariance as well as more complex specifications like sequencing and obstacle avoidance. Our approach consists of three basic steps. First, we design a control law that enables the dynamic model to track a simpler kinematic model with a globally bounded error. Second, we built a robust temporal logic specification that takes into account the tracking errors of the first step. Finally, we solve the new robust temporal logic path planning problem for the kinematic model using automata theory and simple local vector fields. The resulting continuous time trajectory is provably guaranteed to satisfy the initial user specification.