非均匀三次B样条曲线插值的Jacobi-PIA算法

为了求解非均匀三次B样条曲线插值问题,基于解线性方程组的Jacobi迭代方法提出一种渐进迭代插值算法——Jacobi-PIA算法.该算法以待插值点为初始控制多边形得到第0层的三次B样条曲线,递归地求得插值给定点集的三次B样条曲线;在每个迭代过程中,定义待插值点与第k层的三次B样条曲线上对应点的差向量乘以该点对应的B样条系数的倒数为偏移向量,第k层的控制顶点加上对应的偏移向量得到第k+1层的三次B样条曲线的控制顶点.由于Jacobi-PIA算法在更新控制顶点时减少了一个减法运算,因而运算量更少.理论分析表明该算法是收敛的.数值算例结果表明,Jacobi-PIA算法的收敛速度优于经典的渐进迭代插值算法,与最优权因子对应的带权渐进迭代插值算法基本相同.     

Multi‐parametric extremum seeking‐based iterative feedback gains tuning for nonlinear control

We study in this paper the problem of iterative feedback gains auto‐tuning for a class of nonlinear systems. For the class of input–output linearizable nonlinear systems with bounded additive uncertainties, we first design a nominal input–output linearization‐based robust controller that ensures global uniform boundedness of the output tracking error dynamics. Then, we complement the robust controller with a model‐free multi‐parametric extremum seeking control to iteratively auto‐tune the feedback gains. We analyze the stability of the whole controller, that is, the robust nonlinear controller combined with the multi‐parametric extremum seeking model‐free learning algorithm. We use numerical tests to demonstrate the performance of this method on a mechatronics example. Copyright © 2016 John Wiley & Sons, Ltd.     

未标定相机的高精度位姿估计方法

针对未标定相机的位姿估计问题,提出了一种焦距和位姿同时迭代的高精度位姿估计算法。现有的未标定相机的位姿估计算法是焦距和相机位姿单独求解,焦距估计精度较差。提出的算法首先通过现有算法得到相机焦距和位姿的初始参数;然后在正交迭代的基础上推导了焦距和位姿最小化函数,将焦距和位姿同时作为初始值进行迭代计算;最后得到高精度的焦距和位姿参数。仿真实验表明提出的算法在点数为10,噪声标准差为2的情况下,角度相对误差小于1%,平移相对误差小于4%,焦距相对误差小于3%;真实实验表明提出的算法与棋盘标定方法的精度相当。与现有算法相比,能够对未标定相机进行高精度的焦距和位姿估计。     

低复杂度递推信道估计联合均衡算法

精确的信道状态信息对单载波频域均衡(Sin gle carrier frequency domain equalization, SC FDE)非常重要,本文基于高斯消息传 递 (Gaussian message passing,GMP)提出了一种递推最小二乘(Least squares, LS)信道估计 算法。借助于因子图,根据广义分配率思想,将估计函数分为多个局部函数,每个局部函数 做多利处理,然后通过定义辅助变量使其成递推关系。根据turbo原理,迭代交换软信息, 使得估计、均衡及译码联合进行。在此基础上 ,分析并推导出无偏简化方法,然后借助于快速傅里叶变换,使得算法复杂度随观察向量长 度的增加呈对数上升。仿真表明该简化算法具有较好的信道估计性能和误码率特性的同时, 显著降低了计算量。     

混合总体最小二乘的迭代解算算法

总体最小二乘估计能够同时顾及线性模型中系数矩阵[WTHX]A和观测向量L的 误差,平差理论相对更为严密。如果系数矩阵[WTHX]A[WTBZ]的部分元素没有误差,这种总体最小二乘模 型为混合总体最小二乘模型。针对混合总体最小二乘(Least squares total least squares, LS TLS)解算问题,应用测量平差中 的 原理和方法,推导了混合总体最小二乘的迭代逼近解算公式,通过与奇异值分解法分析比较 ,分析了两种解算方法具有等价性,最后通过实验数据分析得出迭代算法的有效性 和合理性。     

Feistel-SP结构迭代差分的自动化搜索

基于新的符号差分表示方法提出了一种自动化搜索技术,可以搜索出典型Feistel-SP结构的分组密码的最优迭代差分模式,选择合适的迭代差分模式可以遍历出所有最优的迭代差分路径,不仅大大降低计算复杂性,还能通过迭代差分模式构造出多轮最优差分路径。以轻量级分组密码MIBS为例,应用自动化搜索工具,给出了MIBS的3轮、4轮最优迭代差分路径,概率分别为2-20、2-26,并搜索出所有满足条件的最优迭代差分路径。     

High‐precision formation control of nonlinear multi‐agent systems with switching topologies: A learning approach

Arbitrary high precision is considered one of the most desirable control objectives in the relative formation for many networked industrial applications, such as flying spacecrafts and mobile robots. The main purpose of this paper is to present design guidelines of applying the iterative schemes to develop distributed formation algorithms in order to achieve this control objective. If certain conditions are met, then the control input signals can be learned by the developed algorithms to accomplish the desired formations with arbitrary high precision. The systems under consideration are a class of multi‐agent systems under directed networks with switching topologies. The agents have discrete‐time affine nonlinear dynamics, but their state functions do not need to be identical. It is shown that the learning processes resulting from the relative output formation of multi‐agent systems can converge exponentially fast with the increase of the iteration number. In particular, this work induces a distributed algorithm that can simultaneously achieve the desired relative output formation between agents and regulate the movement of multi‐agent formations as desired along the time axis. The illustrative numerical simulations are finally performed to demonstrate the effectiveness and performance of the proposed distributed formation algorithms. Copyright © 2014 John Wiley & Sons, Ltd.     

Evolutionary optimization of Haferman carpet fractal patterned antenna array

This article investigates radiation characteristics of a new type of fractal shaped antenna array based on Haferman carpet geometry. An iterative feed matrix eases the complexity of array factor calculation that makes the array factor suitable for the application of any evolutionary optimization techniques. It is seen that Haferman carpet array produces peak side lobe level (PSLL) better than Sierpinski carpet that produces ?10 dB PSLL at every stage of growth. Optimization techniques have been applied for array element reduction and PSLL minimization at different stages of growth. Here, PSLL is minimized by turning off array elements and also by varying inter element spacing between the array elements. The optimized version of Haferman carpet array produces better characteristics (49.38% thinning with ?20.5 dB PSLL for stage‐2, 46.3% thinning with ?22 dB PSLL for stage‐3 and 42.3% thinning with ?21dB PSLL for stage‐4) than its original counterpart in terms of reduced element count and PSLL. Numerical results for obtaining optimized array performance exploit both DE as well as PSO. A comparative study on the performance is also presented. As a whole, Haferman carpet is seen to be more effective approach than Sierpinski carpet in fractal antenna paradigm. © 2015 Wiley Periodicals, Inc. Int J RF and Microwave CAE 25:719–729, 2015.     

辽宁省水利保障能力评价模型研究

为了研究辽宁省水利建设能否保障该省区域经济社会可持续和谐发展,以辽宁省第一次全国水利普查成果为依托,建立一套水利保障能力评价指标体系,利用模糊聚类综合评判模型和主客观赋权方法,对辽宁省各地市水利保障能力进行排序。评价结果表明,辽宁省各地市水利发展很不平衡,需要因地制宜,科学调整发展战略。     

Convergence Analysis of Wireless Remote Iterative Learning Control Systems with Channel Noise

Channel noise, including sensor‐to‐controller(SC) noise and controller‐to‐actuator(CA) noise, impacts the convergence of wireless remote iterative learning control (ILC) system significantly. In this paper, the relationship between output error, SC noise and CA noise is obtained firstly by super‐vector formulation, and then the norm of output error vector covariance matrix is employed to analyze the convergence of the system in presence of SC noise and CA noise. Upper bound of the norm at any sample time reveals that the SC noise is accumulated only in iteration domain, while the CA noise is accumulated not only in iteration domain but also in time domain. Furthermore, the accumulated effect of the CA noise in time domain is ruled by system matrices, so the values of which determine the effect of the CA noise is greater or less than that of the SC noise on convergence of the system. Finally, some simulation results are given to illustrate correctness of the result.