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Developing intuitive interface to control humanoid robots with high degrees-of-freedom (DOF) in real-time remains as an essential issue. Since most humanoid robots have at least sixteen DOF, achieving real-time performance in controlling humanoid robot posture is hard to accomplish. This paper proposes a method to calculate joint angles of humanoid robots according to human's joint locations tracked...
This paper presents an approach that formalizes and simplifies the process of forming the duty-cycle matrix of the matrix converter. This is achieved assigning of the appropriate transfer ratio with respect to the reactive component of the input current matrix converter and definition the zero component of the duty-cycle space vectors. Features of the matrix converter control with maximum achievable...
Pedestrian flow estimation is a vital issue in video surveillance. Inspired by fluid mechanics we proposed to model the pedestrian flow as time-dependent fluid, and estimate the pedestrian flow using flux. Firstly, optical flow is used to construct the motion vector field. Then, we compute the inside and outside flux components within fixed areas to estimate the pedestrian flow in different direction...
Motivated by code design for real-time simultaneous information and energy transfer, we characterize achievable rates and error exponents for discrete memoryless channels using constant subblock composition codes (CSCCs). All subblocks within every codeword in a CSCC have the same fixed composition. For a given channel, this composition may be chosen to balance the tradeoff of receiving high information...
Many combinatorial problems in fields such as object tracking involve reasoning over correspondence, e.g., calculating the probability that a measurement belongs to a particular track. Recent studies have shown that loopy belief propagation (LBP) provides a highly desirable option in the trade-off between accuracy and computational complexity in this task. LBP can be understood as a particular method...
The present contribution deals with the statistical tool of Independent Component Analysis (ICA). The focus is on Fas-tICA, arguably the most popular algorithm in the domain of ICA. Despite its success, it is observed that FastICA occasionally yields outcomes that do not correspond to any solutions of ICA. These outcomes are called spurious solutions. In this work, we give a thorough and rigorous...
The desire to improve short-term predictions of wind speed and direction has motivated the development of a spatial covariance-based predictor in a complex valued multichannel structure. Wind speed and direction are modelled as the magnitude and phase of complex time series and measurements from multiple geographic locations are embedded in a complex vector which is then used as input to a multichannel...
We use the Gaussian information bottleneck (GIB) to investigate the optimal rate-information trade-off for signal compression in linear Gaussian models and we provide a novel interpretation of the GIB in terms of the eigendecomposition of the Wiener filter. We further study mean-square-error-optimal rate-distortion compression preceded by a linear filter. Choosing this filter as square root of the...
Control strategy for shunt active power filter based on the principle of the multivariate proportional-vectorial formation of instantaneous three-phase source currents is proposed. Depending on the application conditions one of the twenty control methods optimal for certain quality characteristics can be selected.
Normalized Gram matrices formed from multiple vectors of sensor data, and functions of the eigenvalues of such matrices in particular, have a long history in connection with multiple-channel detection. The determinant and various other functions of the eigenvalues of these matrices arise as detection statistics in a variety of multichannel problems, and knowledge of their distributions under the H...
The Automatic Identification System (AIS) is becoming a cornerstone of maritime situational awareness. Nevertheless, AIS suffers the lack of security measures that makes it prone to receiving vessel positions that are unintentionally incorrect, jammed or deliberately falsified. In this work we consider the processing of Time Difference of Arrival measurements from a network of AIS base stations using...
Information theoretic divergences are fundamental tools used to measure the difference between the information conveyed by two random processes. In this paper, we show that the Cauchy-Schwarz divergence between two Poisson point processes is the half the squared L2-distance between their respective intensity functions. Moreover, this can be evaluated in closed form when the intensities are Gaussian...
This contribution deals with the generalized symmetric FastICA algorithm in the domain of Independent Component Analysis (ICA). The generalized symmetric version of FastICA has the potential to achieve the optimal separation performance by allowing the usage of different nonlinearity functions in its parallel implementations of one-unit FastICA. In spite of this appealing property, a rigorous study...
In recent years, pedestrian detection for Automobile Driver Assistance System (ADAS) is a primordial task in the smart vehicle. Histogram of oriented gradients (HoG) is one of the most effective pedestrian feature extraction approaches to the study. In this paper, an optimization of pedestrian detection based on HOG method is presented and investigated to achieve an accurate human detection system...
Subspace clustering is a useful tool for analyzing large complex data, but in many relevant applications missing data are common. Existing theoretical analysis of this problem shows that subspace clustering from incomplete data is possible, but that analysis requires the number of samples (i.e., partially observed vectors) to be super-polynomial in the dimension d. Such huge sample sizes are unnecessary...
In this paper, we study the problem of fine-grained image categorization, which is much more useful in real applications than basic image classification. Based on the most challenge dataset, CUB-200, we combine Efficient match kernel (EMK) with the weighted spatial pyramid to achieve state-of-art performance. Comparison with BoW, which can also be viewed as kernel matching approach, EMK digs the relations...
In this demonstration, a GPU-accelerated implementation of the second-order statistics version of the TRINICON (Triple-N independent component analysis for convolutive mixtures) blind source separation (BSS) algorithm is presented. The single-precision arithmetic separation performance is compared with a double-precision CPU (Central Processing Unit) reference implementation to establish the effect...
Circular microphone arrays facilitate spatial processing and analysis of sound fields in applications where the sound field sources are primarily expected from the azimuthal directions. The operating frequency bandwidth of the array depends on the array aperture and on the number of microphones. At high frequencies, spatial aliasing generates side-lobes in the array beam pattern, which limits array...
An improved upper bound on the redundancy of the optimal reversible variable length code (RVLC), is presented in terms of the largest symbol probability p1. The improvement is achieved for 2/9 < p1 < 1/4 and for 2/5 ≤ p1 ≤ 1/2. The bound guarantees that in these two regions, the redundancy of the optimal RVLC is less than 1 bit per symbol.
Face recognition and verification is still a challenging problem due to several issues such as pose, facial expression, occlusion, imaging conditions, rotation, size and orientation. This paper addresses the problem of recognizing human faces despite the presence in pose and size variation. To handle these problems, we mainly focus on block size definition. Instead of uniform block we thus propose...
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