Energy optimal spacecraft attitude control subject to convergence rate constraints

Attitude control of operational satellites is still predominantly performed by standard controllers such as Proportional plus Derivative (PD) control laws, which are still preferred for implementation to the computationally intensive nonlinear optimal control techniques, representing higher implementation complexity. In this paper, an inverse optimal control approach based on phase space geometry is presented, which is easy to implement and free from numerical and computational issues. The optimal control objective is to minimize a norm of the control torque subject to a rapidity constraint on the convergence rate of a Lyapunov function, under the effect of a benchmark controller. The proposed optimization method is shown to significantly enhance the torque-rapidity trade-off compared to the benchmark controller, chosen to be a PD law then a sliding mode controller. The inverse optimal control scheme is implemented on an air bearing table experimental platform.     

基于聚类分析的网络入侵检测模型

为提高网络入侵检测系统的入侵识别能力,提出一种基于模糊C均值(FCM)聚类的入侵检测模型。该模型包括数据预处理器、FCM聚类处理器、类中心集更新器和检测系统,可以同时处理数值属性与符号属性。实验结果表明,与其他模型相比,该模型具有较低的误警率和较高的检测率。     

基于最近邻过滤的数据流Skyline算法

在Skyline查询算法中,Lazy算法的数据处理能力较弱。针对该问题,利用最近邻过滤的思想,提出改进的NNSC算法。在预处理阶段,利用欧氏距离定义一个阈值,如果新插入数据对象的欧氏距离大于阈值,提前处理该对象,以提高算法利用率,减少资源的消耗。实验结果证明,NNSC可降低时空复杂度,对于正相关数据,性能提升效果明显。     

Two-way D algorithm for path planning and replanning

Inspired by the Witkowski’s algorithm, we introduce a novel path planning and replanning algorithm — the two-way D^∗ (TWD^∗) algorithm — based on a two-dimensional occupancy grid map of the environment. Unlike the Witkowski’s algorithm, which finds optimal paths only in binary occupancy grid maps, the TWD^∗ algorithm can find optimal paths in weighted occupancy grid maps. The optimal path found by the TWD^∗ algorithm is the shortest possible path for a given occupancy grid map of the environment. This path is more natural than the path found by the standard D^∗ algorithm as it consists of straight line segments with continuous headings. The TWD^∗ algorithm is tested and compared to the D^∗ and Witkowski’s algorithms by extensive simulations and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.     

一种基于联合轮廓特征矢量的目标识别方法

针对基于形状特征进行目标识别的方法存在的不足,提出一种联合轮廓不变矩特征和轮廓几何特征的识别方法;针对不同的待识别目标,采集足够数量的训练样本,统计每一个轮廓特征的均值、标准差和变异系数;并据此对这些轮廓特征进行动态筛选和加权,建立起待识别目标的联合轮廓特征矢量模型.在线识别时,提取场景目标的联合轮廓特征矢量,对其进行...     

A comment on “Using locally estimated geodesic distance to optimize neighborhood graph for isometric data embedding”

A geodesic distance-based approach to build the neighborhood graph for isometric embedding is proposed to deal with the highly twisted and folded manifold by Wen et al. [Using locally estimated geodesic distance to optimize neighborhood graph for isometric data embedding, Pattern Recognition 41 (2008) 2226-2236]. This comment is to identify the error in their example and the ineffectiveness of their algorithm.     

平滑度欧式聚类算法分割点云数据

提出一种平滑度欧式聚类点云分割算法,用于实现对Kinect点云的快速、准确分割.首先介绍了Kinect点云的采集和滤波方法,然后在传统欧式聚类算法基础上提出了一种平滑度欧式聚类分割算法,通过加入平滑阈值的约束来防止过度分割或分割不足的问题,并保持了较快的分割速度.通过对工业机器人获取的阀门点云数据进行实验,证明了算法的有效性.     

基于小波变换与脉冲耦合神经网络的人脸识别

脉冲耦合神经网络（Pulse Coupled Neural Network,PCNN）是基于生物视觉特性而提出的新一代人工神经网络,它在数字图像处理及人工智能等领域具有广泛应用前景.本文通过研究PCNN理论模型及其工作特性的基础上提出了一种提取人脸特征的方法.首先利用小波变换提取人脸图像低频特征,降低人脸图像的维度,然后利用简化的PCNN提取小波低频系数重构后的人脸图像的相应时间序列,并以此作为人脸识别的特征序列.最后利用时间序列和欧式距离完成人脸的识别过程.本文通过ORL人脸库进行实验证明了该方法的有效性.     

多语种文本图像中的文字语种辨识方法的研究

本文针对汉字、朝鲜文字和英文单词混合的文本图像提出了基于主成分分析技术以文字为单位进行文种辨识的方法。首先,通过主成分分析方法构造特征空间,并且把分割的文字映射到此空间得到重构图像;其次,计算原图像和重构图像的水平和垂直方向直方图的相对熵;最后,根据原图像和重构图像之间的欧式距离和相对熵来判别文字语种。实验表明,本文提出的方法在没有分割错误的情况下,能获得99.78%的识别准确率,有效地解决了在汉、朝、英三种文字混合构成的文档图像中文种辨识问题。     

具有反馈信息的迭代学习控制律在Lebesgue-p范数意义下的收敛性

针对一类线性时不变系统, 提出了具有反馈信息的PD-型(Proportional-derivative-type)迭代学习控制律, 利用卷积的推广的Young不等式, 分析了控制律在Lebesgue-p范数意义下的单调收敛性. 分析表明, 收敛性不但决定于系统的输入输出矩阵和控制律的微分学习增益, 而且依赖于系统的状态矩阵和控制律的比例学习增益; 进一步, 当适当选取反馈增益时, 反馈信息可加快典型的PD-型迭代学习控制律的单调收敛性. 数值仿真验证了理论分析的正确性和控制律的有效性.