Nong Gu

Cooperative hunting by distributed mobile robots based on local interaction

This paper proposes a distributed control approach called local interactions with local coordinate systems (LILCS)to multirobot hunting tasks in unknown environments, where a team of mobile robots hunts a target called evader, which will actively try to escape with a safety strategy. This robust approach can cope with accumulative errors of wheels and imperfect communication networks. Computer simulations show the validity of the proposed approach.

Blind Equalization of Nonirreducible Systems Using the CM Criterion

We address the blind equalization of finite-impulse-response (FIR) and multiple-input multiple-output (MIMO) channel systems excited by constant modulus (CM) signals. It is known that the algorithms based on the CM criterion can equalize an FIR MIMO system that is irreducible. The irreducible condition is restrictive as it requires all source signals to be received at sensors simultaneously. In this paper, we further show that the CM property of signals can be exploited to construct a zero-forcing equalizer for a system that is nonirreducible. Simulation examples demonstrate the proposed result

Concurrent control chart patterns recognition with singular spectrum analysis and support vector machine

Since abnormal control chart patterns (CCPs) are indicators of production processes being out-of-control, it is a critical task to recognize these patterns effectively based on process measurements. Most methods on CCP recognition assume that the process data only suffers from single type of unnatural pattern. In reality, the observed process data could be the combination of several basic patterns, which leads to severe performance degradations in these methods. To address this problem, some independent component analysis (ICA) based schemes have been proposed. However, some limitations are observed in these algorithms, such as lacking of the capability of monitoring univariate processes with only one key measurement, misclassifications caused by the inherent permutation and scaling ambiguities, and inconsistent solution. This paper proposes a novel hybrid approach based on singular spectrum analysis (SSA) and support vector machine (SVM) to identify concurrent CCPs. In the proposed method, the observed data is first separated by SSA into multiple basic components, and then these separated components are classified by SVM for pattern recognition. The scheme is suitable for univariate concurrent CCPs identification, and the results are stable since it does not have shortcomings found in the ICA-based schemes. Furthermore, it has good generalization performance of dealing with the small samples. Superior performance of the proposed algorithm is achieved in simulations.

Identification of concurrent control chart patterns with singular spectrum analysis and learning vector quantization

Identification of unnatural control chart patterns (CCPs) from manufacturing process measurements is a critical task in quality control as these patterns indicate that the manufacturing process is out-of-control. Recently, there have been numerous efforts in developing pattern recognition and classification methods based on artificial neural network to automatically recognize unnatural patterns. Most of them assume that a single type of unnatural pattern exists in process data. Due to this restrictive assumption, severe performance degradations are observed in these methods when unnatural concurrent CCPs present in process data. To address this problem, this paper proposes a novel approach based on singular spectrum analysis (SSA) and learning vector quantization network to identify concurrent CCPs. The main advantage of the proposed method is that it can be applied to the identification of concurrent CCPs in univariate manufacturing processes. Moreover, there are no permutation and scaling ambiguities in the CCPs recovered by the SSA. These desirable features make the proposed algorithm an attractive alternative for the identification of concurrent CCPs. Computer simulations and a real application for aluminium smelting processes confirm the superior performance of proposed algorithm for sets of typical concurrent CCPs.

Kinematic modeling of a bio-inspired robotic fish

This paper proposes a kinematic modeling method for a bio-inspired robotic fish based on single joint. Lagrangian function of freely swimming robotic fish is built based on a simplified geometric model. In order to build the kinematic model, the fluid force acting on the robotic fish is divided into three parts: the pressure on links, the approach stream pressure and the frictional force. By solving Lagranges equation of the second kind and the fluid force, the movement of robotic fish is obtained. The robotic fishs motion, such as propelling and turning are simulated, and experiments are taken to verify the model.

Spiking neural network-based target tracking control for autonomous mobile robots

Abstract In this paper, a target tracking controller based on spiking neural network is proposed for autonomous robots. This controller encodes the preprocessed environmental and target information provided by CCD cameras, encoders and ultrasonic sensors into spike trains, which are integrated by a three-layer spiking neural network (SNN). The outputs of SNN are generated based on the competition between the forward/backward neuron pair corresponding to each motor, with the weights evolved by the Hebbian learning. The application to target tracking of a mobile robot in unknown environment verifies the validity of the proposed controller.

The Design and Implementation of a Biomimetic Robot Fish

In this paper, a novel design of a biomimetic robot fish is presented. Based on the propulsion and maneuvering mechanisms of real fishes, a tail mechanical structure with cams and connecting rods for fitting carangiform fish body wave is designed, which provides the main propulsion. Two pectoral fins are mounted, and each pectoral fin can flap separately and rotate freely. Coordinating the movements of the tail and pectoral fins, the robot fish can simulate the movements of fishes in water. In order to obtain the necessary environmental information, several kinds of sensors (video, infrared, temperature, pressure and PH value sensors) were mounted. Finally, the realization of the robot fish is presented.

A New Blind-Equalization Algorithm for an FIR SIMO System Driven by MPSK Signal

We consider the problem of blind equalization of a finite impulse response and single-input multiple-output system driven by an M-ary phase-shift-keying signal. The existing single-mode algorithms for this problem include the constant modulus algorithm (CMA) and the multimodulus algorithm (MMA). It has been shown that the MMA outperforms the CMA when the input signal has no more than four constellation points, i.e., Mles4. In this brief, we present a new adaptive equalization algorithm that jointly exploits the amplitude and phase information of the input signal. Theoretical analysis shows that the proposed algorithm has less mean square error, i.e., better equalization performance, at steady state than the CMA regardless of the value of M. The superior performance of our algorithm to the CMA and the MMA is validated by simulation examples

An algebra test for unconditional stability of linear delay systems

Focuses on unconditional stability problems of a class of linear systems described by delay-differential equations with commensurate delays. An algebra test for unconditional stability of such systems is given. The proposed approach makes use of some results of the current study of complete discrimination systems. Based on such a test, an efficient online algorithm is also presented for numerical implementation. Note that delay margins of the system can also be computed in our algorithm when the delay-independent criterion fails.

Cepstrum Based Unsupervised Spike Classification

In this research, we study the effect of feature selection in the spike detection and sorting accuracy. We introduce a new feature representation for neural spikes from multichannel recordings. The features selection plays a significant role in analyzing the response of brain neurons. The more precise selection of features leads to a more accurate spike sorting, which can group spikes more precisely into clusters based on the similarity of spikes. Proper spike sorting will enable the association between spikes and neurons. Different with other threshold-based methods, the cepstrum of spike signals is employed in our method to select the candidates of spike features. To choose the best features among different candidates, the Kolmogorov-Smirnov (KS) test is utilized. Then, we rely on the super paramagnetic method to cluster the neural spikes based on KS features. Simulation results demonstrate that the proposed method not only achieve more accurate clustering results but also reduce computational burden, which implies that it can be applied into real-time spike analysis.