Showing papers in "IEEE Transactions on Systems, Man, and Cybernetics in 2013"

Enhanced Computer Vision With Microsoft Kinect Sensor: A Review

Abstract: With the invention of the low-cost Microsoft Kinect sensor, high-resolution depth and visual (RGB) sensing has become available for widespread use. The complementary nature of the depth and visual information provided by the Kinect sensor opens up new opportunities to solve fundamental problems in computer vision. This paper presents a comprehensive review of recent Kinect-based computer vision algorithms and applications. The reviewed approaches are classified according to the type of vision problems that can be addressed or enhanced by means of the Kinect sensor. The covered topics include preprocessing, object tracking and recognition, human activity analysis, hand gesture analysis, and indoor 3-D mapping. For each category of methods, we outline their main algorithmic contributions and summarize their advantages/differences compared to their RGB counterparts. Finally, we give an overview of the challenges in this field and future research trends. This paper is expected to serve as a tutorial and source of references for Kinect-based computer vision researchers.

Particle Swarm Optimization for Feature Selection in Classification: A Multi-Objective Approach

Abstract: Classification problems often have a large number of features in the data sets, but not all of them are useful for classification. Irrelevant and redundant features may even reduce the performance. Feature selection aims to choose a small number of relevant features to achieve similar or even better classification performance than using all features. It has two main conflicting objectives of maximizing the classification performance and minimizing the number of features. However, most existing feature selection algorithms treat the task as a single objective problem. This paper presents the first study on multi-objective particle swarm optimization (PSO) for feature selection. The task is to generate a Pareto front of nondominated solutions (feature subsets). We investigate two PSO-based multi-objective feature selection algorithms. The first algorithm introduces the idea of nondominated sorting into PSO to address feature selection problems. The second algorithm applies the ideas of crowding, mutation, and dominance to PSO to search for the Pareto front solutions. The two multi-objective algorithms are compared with two conventional feature selection methods, a single objective feature selection method, a two-stage feature selection algorithm, and three well-known evolutionary multi-objective algorithms on 12 benchmark data sets. The experimental results show that the two PSO-based multi-objective algorithms can automatically evolve a set of nondominated solutions. The first algorithm outperforms the two conventional methods, the single objective method, and the two-stage algorithm. It achieves comparable results with the existing three well-known multi-objective algorithms in most cases. The second algorithm achieves better results than the first algorithm and all other methods mentioned previously.

Stochastic Synchronization of Markovian Jump Neural Networks With Time-Varying Delay Using Sampled Data

Abstract: In this paper, the problem of sampled-data synchronization for Markovian jump neural networks with time-varying delay and variable samplings is considered. In the framework of the input delay approach and the linear matrix inequality technique, two delay-dependent criteria are derived to ensure the stochastic stability of the error systems, and thus, the master systems stochastically synchronize with the slave systems. The desired mode-independent controller is designed, which depends upon the maximum sampling interval. The effectiveness and potential of the obtained results is verified by two simulation examples.

Granular Computing: Perspectives and Challenges

Abstract: Granular computing, as a new and rapidly growing paradigm of information processing, has attracted many researchers and practitioners. Granular computing is an umbrella term to cover any theories, methodologies, techniques, and tools that make use of information granules in complex problem solving. The aim of this paper is to review foundations and schools of research and to elaborate on current developments in granular computing research. We first review some basic notions of granular computing. Classification and descriptions of various schools of research in granular computing are given. We also present and identify some research directions in granular computing.

Robust Adaptive Fuzzy Tracking Control for Pure-Feedback Stochastic Nonlinear Systems With Input Constraints

Abstract: This paper is concerned with the problem of adaptive fuzzy tracking control for a class of pure-feedback stochastic nonlinear systems with input saturation. To overcome the design difficulty from nondifferential saturation nonlinearity, a smooth nonlinear function of the control input signal is first introduced to approximate the saturation function; then, an adaptive fuzzy tracking controller based on the mean-value theorem is constructed by using backstepping technique. The proposed adaptive fuzzy controller guarantees that all signals in the closed-loop system are bounded in probability and the system output eventually converges to a small neighborhood of the desired reference signal in the sense of mean quartic value. Simulation results further illustrate the effectiveness of the proposed control scheme.

Near-Optimal Control for Nonzero-Sum Differential Games of Continuous-Time Nonlinear Systems Using Single-Network ADP

Abstract: In this paper, a near-optimal control scheme is proposed to solve the nonzero-sum differential games of continuous-time nonlinear systems. The single-network adaptive dynamic programming (ADP) is utilized to obtain the optimal control policies which make the cost functions reach the Nash equilibrium of nonzero-sum differential games, where only one critic network is used for each player instead of the action-critic dual network used in a typical ADP architecture. Furthermore, the novel weight tuning laws for critic neural networks are proposed, which not only ensure the Nash equilibrium to be reached but also guarantee the system to be stable. No initial stabilizing control policy is required for each player. Moreover, Lyapunov theory is utilized to demonstrate the uniform ultimate boundedness of the closed-loop system. Finally, a simulation example is given to verify the effectiveness of the proposed near-optimal control scheme.

Differential Evolution With Ranking-Based Mutation Operators

Abstract: Differential evolution (DE) has been proven to be one of the most powerful global numerical optimization algorithms in the evolutionary algorithm family. The core operator of DE is the differential mutation operator. Generally, the parents in the mutation operator are randomly chosen from the current population. In nature, good species always contain good information, and hence, they have more chance to be utilized to guide other species. Inspired by this phenomenon, in this paper, we propose the ranking-based mutation operators for the DE algorithm, where some of the parents in the mutation operators are proportionally selected according to their rankings in the current population. The higher ranking a parent obtains, the more opportunity it will be selected. In order to evaluate the influence of our proposed ranking-based mutation operators on DE, our approach is compared with the jDE algorithm, which is a highly competitive DE variant with self-adaptive parameters, with different mutation operators. In addition, the proposed ranking-based mutation operators are also integrated into other advanced DE variants to verify the effect on them. Experimental results indicate that our proposed ranking-based mutation operators are able to enhance the performance of the original DE algorithm and the advanced DE algorithms.

A Novel Artificial Bee Colony Algorithm Based on Modified Search Equation and Orthogonal Learning

Abstract: The artificial bee colony (ABC) algorithm is a relatively new optimization technique which has been shown to be competitive to other population-based algorithms. However, ABC has an insufficiency regarding its solution search equation, which is good at exploration but poor at exploitation. To address this concerning issue, we first propose an improved ABC method called as CABC where a modified search equation is applied to generate a candidate solution to improve the search ability of ABC. Furthermore, we use the orthogonal experimental design (OED) to form an orthogonal learning (OL) strategy for variant ABCs to discover more useful information from the search experiences. Owing to OED's good character of sampling a small number of well representative combinations for testing, the OL strategy can construct a more promising and efficient candidate solution. In this paper, the OL strategy is applied to three versions of ABC, i.e., the standard ABC, global-best-guided ABC (GABC), and CABC, which yields OABC, OGABC, and OCABC, respectively. The experimental results on a set of 22 benchmark functions demonstrate the effectiveness and efficiency of the modified search equation and the OL strategy. The comparisons with some other ABCs and several state-of-the-art algorithms show that the proposed algorithms significantly improve the performance of ABC. Moreover, OCABC offers the highest solution quality, fastest global convergence, and strongest robustness among all the contenders on almost all the test functions.

Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer

Abstract: In this paper, the direct adaptive neural control is proposed for a class of uncertain nonaffine nonlinear systems with unknown nonsymmetric input saturation. Based on the implicit function theorem and mean value theorem, both state feedback and output feedback direct adaptive controls are developed using neural networks (NNs) and a disturbance observer. A compounded disturbance is defined to take into account of the effect of the unknown external disturbance, the unknown nonsymmetric input saturation, and the approximation error of NN. Then, a disturbance observer is developed to estimate the unknown compounded disturbance, and it is established that the estimate error converges to a compact set if appropriate observer design parameters are chosen. Both state feedback and output feedback direct adaptive controls can guarantee semiglobal uniform boundedness of the closed-loop system signals as rigorously proved by Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed direct adaptive neural control techniques.

An Efficient Genetic Algorithm for Maximum Coverage Deployment in Wireless Sensor Networks

Abstract: Sensor networks have a lot of applications such as battlefield surveillance, environmental monitoring, and industrial diagnostics. Coverage is one of the most important performance metrics for sensor networks since it reflects how well a sensor field is monitored. In this paper, we introduce the maximum coverage deployment problem in wireless sensor networks and analyze the properties of the problem and its solution space. Random deployment is the simplest way to deploy sensor nodes but may cause unbalanced deployment and therefore, we need a more intelligent way for sensor deployment. We found that the phenotype space of the problem is a quotient space of the genotype space in a mathematical view. Based on this property, we propose an efficient genetic algorithm using a novel normalization method. A Monte Carlo method is adopted to design an efficient evaluation function, and its computation time is decreased without loss of solution quality using a method that starts from a small number of random samples and gradually increases the number for subsequent generations. The proposed genetic algorithms could be further improved by combining with a well-designed local search. The performance of the proposed genetic algorithm is shown by a comparative experimental study. When compared with random deployment and existing methods, our genetic algorithm was not only about twice faster, but also showed significant performance improvement in quality.

Distributed Synchronization in Networks of Agent Systems With Nonlinearities and Random Switchings

Abstract: In this paper, the distributed synchronization problem of networks of agent systems with controllers and nonlinearities subject to Bernoulli switchings is investigated. Controllers and adaptive updating laws injected in each vertex of networks depend on the state information of its neighborhood. Three sets of Bernoulli stochastic variables are introduced to describe the occurrence probabilities of distributed adaptive controllers, updating laws and nonlinearities, respectively. By the Lyapunov functions method, we show that the distributed synchronization of networks composed of agent systems with multiple randomly occurring nonlinearities, multiple randomly occurring controllers, and multiple randomly occurring updating laws can be achieved in mean square under certain criteria. The conditions derived in this paper can be solved by semi-definite programming. Moreover, by mathematical analysis, we find that the coupling strength, the probabilities of the Bernoulli stochastic variables, and the form of nonlinearities have great impacts on the convergence speed and the terminal control strength. The synchronization criteria and the observed phenomena are demonstrated by several numerical simulation examples. In addition, the advantage of distributed adaptive controllers over conventional adaptive controllers is illustrated.

Noise Tolerance Under Risk Minimization

Abstract: In this paper, we explore noise-tolerant learning of classifiers. We formulate the problem as follows. We assume that there is an unobservable training set that is noise free. The actual training set given to the learning algorithm is obtained from this ideal data set by corrupting the class label of each example. The probability that the class label of an example is corrupted is a function of the feature vector of the example. This would account for most kinds of noisy data one encounters in practice. We say that a learning method is noise tolerant if the classifiers learnt with noise-free data and with noisy data, both have the same classification accuracy on the noise-free data. In this paper, we analyze the noise-tolerance properties of risk minimization (under different loss functions). We show that risk minimization under 0-1 loss function has impressive noise-tolerance properties and that under squared error loss is tolerant only to uniform noise; risk minimization under other loss functions is not noise tolerant. We conclude this paper with some discussion on the implications of these theoretical results.

Multiple Populations for Multiple Objectives: A Coevolutionary Technique for Solving Multiobjective Optimization Problems

Abstract: Traditional multiobjective evolutionary algorithms (MOEAs) consider multiple objectives as a whole when solving multiobjective optimization problems (MOPs). However, this consideration may cause difficulty to assign fitness to individuals because different objectives often conflict with each other. In order to avoid this difficulty, this paper proposes a novel coevolutionary technique named multiple populations for multiple objectives (MPMO) when developing MOEAs. The novelty of MPMO is that it provides a simple and straightforward way to solve MOPs by letting each population correspond with only one objective. This way, the fitness assignment problem can be addressed because the individuals' fitness in each population can be assigned by the corresponding objective. MPMO is a general technique that each population can use existing optimization algorithms. In this paper, particle swarm optimization (PSO) is adopted for each population, and coevolutionary multiswarm PSO (CMPSO) is developed based on the MPMO technique. Furthermore, CMPSO is novel and effective by using an external shared archive for different populations to exchange search information and by using two novel designs to enhance the performance. One design is to modify the velocity update equation to use the search information found by different populations to approximate the whole Pareto front (PF) fast. The other design is to use an elitist learning strategy for the archive update to bring in diversity to avoid local PFs. CMPSO is comprehensively tested on different sets of benchmark problems with different characteristics and is compared with some state-of-the-art algorithms. The results show that CMPSO has superior performance in solving these different sets of MOPs.

Finite-Approximation-Error-Based Optimal Control Approach for Discrete-Time Nonlinear Systems

Abstract: In this paper, a new iterative adaptive dynamic programming (ADP) algorithm is developed to solve optimal control problems for infinite-horizon discrete-time nonlinear systems with finite approximation errors. The idea is to use an iterative ADP algorithm to obtain the iterative control law that makes the iterative performance index function reach the optimum. When the iterative control law and the iterative performance index function in each iteration cannot be accurately obtained, the convergence conditions of the iterative ADP algorithm are obtained. When convergence conditions are satisfied, it is shown that the iterative performance index functions can converge to a finite neighborhood of the greatest lower bound of all performance index functions under some mild assumptions. Neural networks are used to approximate the performance index function and compute the optimal control policy, respectively, for facilitating the implementation of the iterative ADP algorithm. Finally, two simulation examples are given to illustrate the performance of the present method.

Decentralized Adaptive Pinning Control for Cluster Synchronization of Complex Dynamical Networks

Abstract: In this brief, we investigate pinning control for cluster synchronization of undirected complex dynamical networks using a decentralized adaptive strategy. Unlike most existing pinning-control algorithms with or without an adaptive strategy, which require global information of the underlying network such as the eigenvalues of the coupling matrix of the whole network or a centralized adaptive control scheme, we propose a novel decentralized adaptive pinning-control scheme for cluster synchronization of undirected networks using a local adaptive strategy on both coupling strengths and feedback gains. By introducing this local adaptive strategy on each node, we show that the network can synchronize using weak coupling strengths and small feedback gains. Finally, we present some simulations to verify and illustrate the theoretical results.

Understanding and Enhancement of Internal Clustering Validation Measures

Abstract: Clustering validation has long been recognized as one of the vital issues essential to the success of clustering applications. In general, clustering validation can be categorized into two classes, external clustering validation and internal clustering validation. In this paper, we focus on internal clustering validation and present a study of 11 widely used internal clustering validation measures for crisp clustering. The results of this study indicate that these existing measures have certain limitations in different application scenarios. As an alternative choice, we propose a new internal clustering validation measure, named clustering validation index based on nearest neighbors (CVNN), which is based on the notion of nearest neighbors. This measure can dynamically select multiple objects as representatives for different clusters in different situations. Experimental results show that CVNN outperforms the existing measures on both synthetic data and real-world data in different application scenarios.

MOEA/D-ACO: A Multiobjective Evolutionary Algorithm Using Decomposition and AntColony

Abstract: Combining ant colony optimization (ACO) and the multiobjective evolutionary algorithm (EA) based on decomposition (MOEA/D), this paper proposes a multiobjective EA, i.e., MOEA/D-ACO. Following other MOEA/D-like algorithms, MOEA/D-ACO decomposes a multiobjective optimization problem into a number of single-objective optimization problems. Each ant (i.e., agent) is responsible for solving one subproblem. All the ants are divided into a few groups, and each ant has several neighboring ants. An ant group maintains a pheromone matrix, and an individual ant has a heuristic information matrix. During the search, each ant also records the best solution found so far for its subproblem. To construct a new solution, an ant combines information from its group's pheromone matrix, its own heuristic information matrix, and its current solution. An ant checks the new solutions constructed by itself and its neighbors, and updates its current solution if it has found a better one in terms of its own objective. Extensive experiments have been conducted in this paper to study and compare MOEA/D-ACO with other algorithms on two sets of test problems. On the multiobjective 0-1 knapsack problem, MOEA/D-ACO outperforms the MOEA/D with conventional genetic operators and local search on all the nine test instances. We also demonstrate that the heuristic information matrices in MOEA/D-ACO are crucial to the good performance of MOEA/D-ACO for the knapsack problem. On the biobjective traveling salesman problem, MOEA/D-ACO performs much better than the BicriterionAnt on all the 12 test instances. We also evaluate the effects of grouping, neighborhood, and the location information of current solutions on the performance of MOEA/D-ACO. The work in this paper shows that reactive search optimization scheme, i.e., the “learning while optimizing” principle, is effective in improving multiobjective optimization algorithms.

A Generalized Laplacian of Gaussian Filter for Blob Detection and Its Applications

Abstract: In this paper, we propose a generalized Laplacian of Gaussian (LoG) (gLoG) filter for detecting general elliptical blob structures in images. The gLoG filter can not only accurately locate the blob centers but also estimate the scales, shapes, and orientations of the detected blobs. These functions can be realized by generalizing the common 3-D LoG scale-space blob detector to a 5-D gLoG scale-space one, where the five parameters are image-domain coordinates (x, y), scales (σx, σy), and orientation (θ), respectively. Instead of searching the local extrema of the image's 5-D gLoG scale space for locating blobs, a more feasible solution is given by locating the local maxima of an intermediate map, which is obtained by aggregating the log-scale-normalized convolution responses of each individual gLoG filter. The proposed gLoG-based blob detector is applied to both biomedical images and natural ones such as general road-scene images. For the biomedical applications on pathological and fluorescent microscopic images, the gLoG blob detector can accurately detect the centers and estimate the sizes and orientations of cell nuclei. These centers are utilized as markers for a watershed-based touching-cell splitting method to split touching nuclei and counting cells in segmentation-free images. For the application on road images, the proposed detector can produce promising estimation of texture orientations, achieving an accurate texture-based road vanishing point detection method. The implementation of our method is quite straightforward due to a very small number of tunable parameters.

Gaussian Bare-Bones Differential Evolution

Abstract: Differential evolution (DE) is a well-known algorithm for global optimization over continuous search spaces. However, choosing the optimal control parameters is a challenging task because they are problem oriented. In order to minimize the effects of the control parameters, a Gaussian bare-bones DE (GBDE) and its modified version (MGBDE) are proposed which are almost parameter free. To verify the performance of our approaches, 30 benchmark functions and two real-world problems are utilized. Conducted experiments indicate that the MGBDE performs significantly better than, or at least comparable to, several state-of-the-art DE variants and some existing bare-bones algorithms.

$M$ -Matrix Strategies for Pinning-Controlled Leader-Following Consensus in Multiagent Systems With Nonlinear Dynamics

Abstract: This paper considers the leader-following consensus problem for multiagent systems with inherent nonlinear dynamics. Some M-matrix strategies are developed to address several challenging issues in the pinning control of multiagent systems by using algebraic graph theory and the properties of nonnegative matrices. It is shown that second-order leader-following consensus in a nonlinear multiagent system can be reached if the virtual leader has a directed path to every follower and a derived quantity is greater than a positive threshold. In particular, this paper analytically proves that leader-following consensus may be easier to be achieved by pinning more agents or increasing the pinning feedback gains. A selective pinning scheme is then proposed for nonlinear multiagent systems with directed network topologies. Numerical results are given to verify the theoretical analysis.

Activity Discovery and Activity Recognition: A New Partnership

Abstract: Activity recognition has received increasing attention from the machine learning community. Of particular interest is the ability to recognize activities in real time from streaming data, but this presents a number of challenges not faced by traditional offline approaches. Among these challenges is handling the large amount of data that does not belong to a predefined class. In this paper, we describe a method by which activity discovery can be used to identify behavioral patterns in observational data. Discovering patterns in the data that does not belong to a predefined class aids in understanding this data and segmenting it into learnable classes. We demonstrate that activity discovery not only sheds light on behavioral patterns, but it can also boost the performance of recognition algorithms. We introduce this partnership between activity discovery and online activity recognition in the context of the CASAS smart home project and validate our approach using CASAS data sets.

Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models

Abstract: In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly “controls” the forward velocity such that it tracks the desired velocity asymptotically The stability and optimal tracking performance have been rigorously established by theoretic analysis In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller

Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace

Abstract: For a 3-D underwater workspace with a variable ocean current, an integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach. The goal is to control a team of AUVs to reach all appointed target locations for only one time on the premise of workload balance and energy sufficiency while guaranteeing the least total and individual consumption in the presence of the variable ocean current. First, the SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in 3-D ocean environment. The working process involves special definition of the initial neural weights of the SOM network, the rule to select the winner, the computation of the neighborhood function, and the method to update weights. Then, the velocity synthesis approach is applied to plan the shortest path for each AUV to visit the corresponding target in a dynamic environment subject to the ocean current being variable and targets being movable. Lastly, to demonstrate the effectiveness of the proposed approach, simulation results are given in this paper.

Adaptive Impedance Control of a Robotic Orthosis for Gait Rehabilitation

Abstract: Intervention of robotic devices in the field of physical gait therapy can help in providing repetitive, systematic, and economically viable training sessions. Interactive or assist-as-needed (AAN) gait training encourages patient voluntary participation in the robotic gait training process which may aid in rapid motor function recovery. In this paper, a lightweight robotic gait training orthosis with two actuated and four passive degrees of freedom (DOFs) is proposed. The actuated DOFs were powered by pneumatic muscle actuators. An AAN gait training paradigm based on adaptive impedance control was developed to provide interactive robotic gait training. The proposed adaptive impedance control scheme adapts the robotic assistance according to the disability level and voluntary participation of human subjects. The robotic orthosis was operated in two gait training modes, namely, inactive mode and active mode, to evaluate the performance of the proposed control scheme. The adaptive impedance control scheme was evaluated on ten neurologically intact subjects. The experimental results demonstrate that an increase in voluntary participation of human subjects resulted in a decrease of the robotic assistance and vice versa. Further clinical evaluations with neurologically impaired subjects are required to establish the therapeutic efficacy of the adaptive-impedance-control-based AAN gait training strategy.

Synchronization of Coupled Neutral-Type Neural Networks With Jumping-Mode-Dependent Discrete and Unbounded Distributed Delays

Abstract: In this paper, the synchronization problem is studied for an array of N identical delayed neutral-type neural networks with Markovian jumping parameters. The coupled networks involve both the mode-dependent discrete-time delays and the mode-dependent unbounded distributed time delays. All the network parameters including the coupling matrix are also dependent on the Markovian jumping mode. By introducing novel Lyapunov-Krasovskii functionals and using some analytical techniques, sufficient conditions are derived to guarantee that the coupled networks are asymptotically synchronized in mean square. The derived sufficient conditions are closely related with the discrete-time delays, the distributed time delays, the mode transition probability, and the coupling structure of the networks. The obtained criteria are given in terms of matrix inequalities that can be efficiently solved by employing the semidefinite program method. Numerical simulations are presented to further demonstrate the effectiveness of the proposed approach.

Automated Cognitive Health Assessment Using Smart Home Monitoring of Complex Tasks

Abstract: One of the many services that intelligent systems can provide is the automated assessment of resident well-being. We hypothesize that the functional health of individuals, or ability of individuals to perform activities independently without assistance, can be estimated by tracking their activities using smart home technologies. In this paper, we introduce a machine-learning-based method to assess activity quality in smart homes. To validate our approach, we quantify activity quality for 179 volunteer participants who performed a complex, interweaved set of activities in our smart home apartment. We compare our automated assessment of task quality with direct observation scores. We also assess the ability of machine-learning techniques to predict the cognitive health of the participants based on these automated scores. We believe that this capability is an important step in understanding everyday functional health of individuals in their home environments.

Induced l 2 filtering of fuzzy stochastic systems with time-varying delays

Abstract: This paper is concerned with the problem of induced l2 filter design for a class of discrete-time Takagi-Sugeno fuzzy Ito stochastic systems with time-varying delays. Attention is focused on the design of the desired filter to guarantee an induced l2 performance for the filtering error system. A new comparison model is proposed by employing a new approximation for the time-varying delay state, and then, sufficient conditions for the obtained filtering error system are derived by this comparison model. A desired filter is constructed by solving a convex optimization problem, which can be efficiently solved by standard numerical algorithms. Finally, simulation examples are provided to illustrate the effectiveness of the proposed approaches.

Saliency Detection by Multiple-Instance Learning

Abstract: Saliency detection has been a hot topic in recent years. Its popularity is mainly because of its theoretical meaning for explaining human attention and applicable aims in segmentation, recognition, etc. Nevertheless, traditional algorithms are mostly based on unsupervised techniques, which have limited learning ability. The obtained saliency map is also inconsistent with many properties of human behavior. In order to overcome the challenges of inability and inconsistency, this paper presents a framework based on multiple-instance learning. Low-, mid-, and high-level features are incorporated in the detection procedure, and the learning ability enables it robust to noise. Experiments on a data set containing 1000 images demonstrate the effectiveness of the proposed framework. Its applicability is shown in the context of a seam carving application.

Nonsynchronized Robust Filtering Design for Continuous-Time T–S Fuzzy Affine Dynamic Systems Based on Piecewise Lyapunov Functions

Abstract: This paper investigates the problem of robust H∞ state estimation for a class of continuous-time nonlinear systems via Takagi-Sugeno (T-S) fuzzy affine dynamic models. Attention is focused on the analysis and design of an admissible full-order filter such that the resulting filtering error system is asymptotically stable with a guaranteed H∞ disturbance attenuation level. It is assumed that the plant premise variables, which are often the state variables or their functions, are not measurable so that the filter implementation with state-space partition may not be synchronous with the state trajectories of the plant. Based on piecewise quadratic Lyapunov functions combined with S-procedure and some matrix inequality linearization techniques, some new results are presented for the filtering design of the underlying continuous-time T-S fuzzy affine systems. Illustrative examples are given to validate the effectiveness and application of the proposed design approaches.

Neural PID Control of Robot Manipulators With Application to an Upper Limb Exoskeleton

Abstract: In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.