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[en] This paper deals with an online identification of the Generalized Maxwell Slip (GMS) friction model for both presliding and sliding regime at the same time. This identification is based on robust adaptive observer without friction force measurement. To apply the observer, a new approach of calculating the filtered friction force from the measurable signals is introduced. Moreover, two approximations are proposed to get the friction model linear over the unknown parameters and an approach of suitable filtering is introduced to guarantee the continuity of the model. Simulation results are presented to prove the efficiency of the approach of identification.
[en] We describe in this paper a new approach of classifying the different sleep stages only by focusing on the polysomnographic ECG signals. We show the pre-processing technique of the ECG signals. At the same time the identifcation and elimination of the different types of artifacts which contain the signal and its reconstruction are shown. The automatic classification of the slow-deep sleep and the rapid eye movement sleep called in this work REM-sleep consists in extracting physiological indicators that characterize these two sleep stages through the polysomnographic ECG signal. In other words, this classification is based on the analysis of the cardiac rhythm during a night's sleep.
[en] In this paper, we propose a new methodology to synchronize a class of chaotic systems starting from different initial conditions under some given conditions. The method we propose is not based on the unidirectional synchronization method like the one proposed by Pecora-Caroll. The proposed method is unique in the sense that the chaotic oscillators to be synchronized have no direct connection between them; that is, there is no signal being sent from one to the other. Simulation result is presented to show the synchronization performance.
[en] In this paper, we propose a stochastic joint source-channel scheme developed for efficient and robust encoding of spectral speech LSF parameters. The encoding system, named LSF-SSCOVQ-RC, is an LSF encoding scheme based on a reduced complexity stochastic split vector quantizer optimized for noisy channel. For transmissions over noisy channel, we will show first that our LSF-SSCOVQ-RC encoder outperforms the conventional LSF encoder designed by the split vector quantizer. After that, we applied the LSF-SSCOVQ-RC encoder (with weighted distance) for the robust encoding of LSF parameters of the 2.4 Kbits/s MELP speech coder operating over a noisy/noiseless channel. The simulation results will show that the proposed LSF encoder, incorporated in the MELP, ensure better performances than the original MELP MSVQ of 25 bits/frame; especially when the transmission channel is highly disturbed. Indeed, we will show that the LSF-SSCOVQ-RC yields significant improvement to the LSFs encoding performances by ensuring reliable transmissions over noisy channel.
[en] In this paper, a microwave imaging technique for reconstructing the shape of two-dimensional perfectly conducting scatterers by means of a stochastic optimization approach is investigated. Based on the boundary condition and the measured scattered field derived by transverse magnetic illuminations, a set of nonlinear integral equations is obtained and the imaging problem is reformulated in to an optimization problem. A hybrid approximation algorithm, called PSO-SA, is developed in this work to solve the scattering inverse problem. In the hybrid algorithm, particle swarm optimization (PSO) combines global search and local search for finding the optimal results assignment with reasonable time and simulated annealing (SA) uses certain probability to avoid being trapped in a local optimum. The hybrid approach elegantly combines the exploration ability of PSO with the exploitation ability of SA. Reconstruction results are compared with exact shapes of some conducting cylinders; and good agreements with the original shapes are observed.
[en] During the past fifty years , Fractional Calculus has become an original and renowned mathematical tool for the modelling of diffusion Partial Differential Equations and the design of robust control algorithms. However, in spite of these celebrated results, some theoretical problems have not yet received a satisfying solution. The mastery of initial conditions, either for Fractional Differential Equations (FDEs) or for the Caputo and Riemann-Liouville fractional derivatives, remains an open research domain. The solution of this fundamental problem, also related to the long range memory property, is certainly the necessary prerequisite for a satisfying approach to modelling and control applications. The fractional integrator and its continuously frequency distributed differential model is a valuable tool for the simulation of fractional systems and the solution of initial condition problems. Indeed, the infinite dimensional state vector of fractional integrators allows the direct generalization to fractional calculus of the theoretical results of integer order systems. After a reminder of definitions and properties related to fractional derivatives and systems, this presentation is intended to show, based on the results of two recent publications [1,2], how the fractional integrator provides the solution of the initial condition problem of FDEs and of Caputo and Riemann-Liouville fractional derivatives. Numerical simulation examples illustrate and validate these new theoretical concepts.
[en] This paper presents the main results of the application of fractional approach in path planning and path tracking. A new robust path planning design for mobile robot was studied in dynamic environment. The normalized attractive force applied to the robot is based on a fictitious fractional attractive potential. This method allows to obtain robust path planning despite robot mass variation. The danger level of each obstacles is characterized by the fractional order of the repulsive potential of the obstacles. Under these conditions, the robot dynamic behavior was studied by analyzing its X - Y path planning with dynamic target or dynamic obstacles. The case of simultaneously mobile obstacles and target is also considered. The influence of the robot mass variation is studied and the robustness analysis of the obtained path shows the robustness improvement due to the non integer order properties. Pre shaping approach is used to reduce system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P.Seering, is used for flexible structure control, particularly in the aerospace field. In a previous work, this method was extended for explicit fractional derivative systems and applied to second generation CRONE control, the robustness was also studied. CRONE (the French acronym of Commande Robuste d'Ordre Non Entier) control system design is a frequency-domain based methodology using complex fractional integration.
[en] The early years of this century have witnessed a tremendous growth in the use of digital multimedia data for di?erent communication applications. Researchers from around the world are spending substantial research efforts in developing techniques for improving the appearance of images/video. However, as we know, preserving high quality is a challenging task. Images are subject to distortions during acquisition, compression, transmission, analysis, and reconstruction. For this reason, the research area focusing on image and video quality assessment has attracted a lot of attention in recent years. In particular, compression applications and other multimedia applications need powerful techniques for evaluating quality objectively without human interference. This tutorial will cover the di?erent faces of image quality assessment. We will motivate the need for robust image quality assessment techniques, then discuss the main algorithms found in the literature with a critical perspective. We will present the di?erent metrics used for full reference, reduced reference and no reference applications. We will then discuss the difference between image and video quality assessment. In all of the above, we will take a critical approach to explain which metric can be used for which application. Finally we will discuss the different approaches to analyze the performance of image/video quality metrics, and end the tutorial with some perspectives on newly introduced metrics and their potential applications.
[en] A classical way for the frequency domain identification of systems is applying a sine wave excitation with certain frequency to the input and measuring the output response to excitation using phase sensitive instruments based mostly on Fourier transform. Such a parameter as time is out of scope in this case. Mathematically saying, Fourier transform expects the time interval from minus to plus infinity. In practice, it means that we have to wait until the transient process will be fully over in the system after applying the excitation. Therefore, covering a wide frequency range takes a long time when using frequency stepping or a slow enough sweeping over the whole frequency range. To perform faster measurements, sine wave based chirp pulses with certain duration are proposed for excitation. In this case the sine wave does not has only one certain frequency any more, but its instantaneous angle frequency changes over the required frequency range during the pulse. When the frequency changing (acceleration) is constant, then we have a linear chirp. Linear chirp can cover several decades of frequency with a constant spectral density within the excitation bandwidth. But for shaping of the excitation spectrum, more complicated chirps are introduced. Chirp excitation can contain thousands of cycles, but can be even as short as one quarter of a single cycle. Therefore, we can say that the chirp excitation is scalable in time - we can choose the time interval independently on the frequency bandwidth. On the other hand, we can choose the frequency bandwidth independently on the excitation time. Such the freedom - double scalability in time and frequency - is especially important when time variant dynamic systems (electronic circuits with controllable parameters, beating heart, breathing lungs, working mechanism, ongoing electrochemical reaction) has to be identified. Every special case has its own optimal excitation waveform, which enables to derive the maximum amount of information about the time variant system under study.
[en] Image denoising has become a very essential for better information extraction from the image and mainly from so noised ones, such as ultrasound images. In certain cases, for instance in ultrasound images, the noise can restrain information which is valuable for the general practitioner. Consequently medical images are very inconsistent, and it is crucial to operate case to case. This paper presents a novel algorithm SMU (Srad Median Unsharp) for noise suppression in ultrasound breast images in order to realize a computer aided diagnosis (CAD) for breast cancer.