Simulation-based optimal sensor scheduling with application to observer trajectory planning

The sensor scheduling problem can be formulated as a controlled hidden Markov model and this paper solves the problem when the state, observation and action spaces are continuous. This general case is important as it is the natural framework for many applications. The aim is to minimise the variance of the estimation error of the hidden state w.r.t. the action sequence. We present a novel simulation-based method that uses a stochastic gradient algorithm to find optimal actions. © 2007 Elsevier Ltd. All rights reserved.

Surface excavation with model predictive control

This paper describes the application of variable-horizon model predictive control to trajectory generation in surface excavation. A nonlinear dynamic model of a surface mining machine digging in oil sand is developed as a test platform. This model is then stabilised with an inner-loop controller before being linearised to generate a prediction model. The linear model is used to design a predictive controller for trajectory generation. A variable horizon formulation is augmented with extra terms in the cost function to allow more control over digging, whilst still preserving the guarantee of finite-time completion. Simulations show the generation of realistic trajectories, motivating new applications of variable horizon MPC for autonomy that go beyond the realm of vehicle path planning. ©2010 IEEE.

Corporate document mining for technology intelligence: An analysis of needs, utilization and possibilities

This paper focuses on document data, one of the most significant sources for technology intelligence. To help organisations use their knowledge in documents effectively, this research aims to identify what organizations really want from documents and what might be possible to obtain from them. The research involves a literature review, a series of in-depth/on-site interviews and a descriptive analysis of document mining applications. The output of the research includes: a document mining framework; an analysis of the current condition of document mining in technology-based organisations together with their future requirements; and guidelines for introducing document mining into an organisation along with a discussion on the practical issues that are faced by users. Copyright © 2011 Inderscience Enterprises Ltd.