A numerical filtering method for linear state-space models with Markov switching

A class of discrete-time random processes arising in engineering and econometrics applications consists of a linear state-space model whose parameters are modulated by the state of a finite-state Markov chain. Typical filtering approaches are collapsing methods, which approximate filtered distributions by mixtures of Gaussians, each Gaussian corresponding to one possibility of the recent history of the Markov chain, and particle methods. This article presents an alternative approach to filtering these processes based on keeping track of the values of the underlying filtered density and its characteristic function on grids. We prove that it has favorable convergence properties under certain assumptions. On the other hand, as a grid method, it suffers from the curse of dimensionality, and so is only suitable for low-dimensional systems. We compare our method to collapsing filters and a particle filter with examples, and find that it can outperform them on 1- and 2-dimensional problems, but loses its speed advantage on 3-dimensional systems. Meanwhile, our method has a proven theoretical convergence rate that is probably not achieved by collapsing and particle methods.     

An enhancement algorithm based on adaptive updating template with Gaussian model for Si3N4 ceramic bearing roller surface defects detection

The method based on machine vision image processing is used to detect the surface defects of Si₃N₄ bearing roller. Owing to the variety of defects, small area and low contrast, it is easy to miss or error detection. In this paper, an adaptive update template defect enhancement algorithm based on Gaussian model is proposed. First, a large number of surface images of Si₃N₄ bearing roller are collected to obtain the non-defect background statistical feature, and the background characteristic curve is fitted by Gaussian model. Further, the initial background template is gained according to the Gaussian curve. Then, combined with the gray distribute of defect images and initial background template, unique adaptive update template can be established. Finally, subtraction operation and nonlinear enhancement are used to improve the comparison of defect information and background. Through inverse sorting, adaptive threshold segmentation and Canny operation, the precise positioning of defects is realized. The enhancement algorithm can effectively enhance the contrast and eliminate the influence of noise. The average detection time is 0.84s, and the detection accuracy is 96.2%.     

Dynamic load-altering attack detection based on adaptive fading Kalman filter in power systems

This paper presents an effective and feasible method for detecting dynamic load-altering attacks (D-LAAs) in a smart grid. First, a smart grid discrete system model is established in view of D-LAAs. Second, an adaptive fading Kalman filter (AFKF) is designed for estimating the state of the smart grid. The AFKF can completely filter out the Gaussian noise of the power system, and obtain a more accurate state change curve (including consideration of the attack). A Euclidean distance ratio detection algorithm based on the AFKF is proposed for detecting D-LAAs. Amplifying imperceptible D-LAAs through the new Euclidean distance ratio improves the D-LAA detection sensitivity, especially for very weak D-LAA attacks. Finally, the feasibility and effectiveness of the Euclidean distance ratio detection algorithm are verified based on simulations.     

Prism Signal Processing of Coriolis meter data for gasoline fuel injection monitoring

Prism Signal Processing is a new recursive FIR technique offering rapid filter design and calculation. It has previously been applied to Coriolis mass flow metering to generate fast (48 kHz) flow measurement updates, facilitating for the first time the direct mass flow measurement of individual fuel pulses injected into a laboratory diesel fuel injection test bench. In this paper we describe an augmented sensor signal filtering scheme which enables rapid tracking of the desired mode of flow tube vibration while notching out undesired modes. The new scheme is applied to a gasoline injection test bench where the vibrational interference is greater than for the previously described diesel system due to increased hydraulic shock. The paper presents experimental findings which illustrate the further challenges to be overcome in order to achieve the goal of traceable direct mass flow measurement of individual fuel injection pulses. For example, when a fuel pulse is shorter than the resonant period of the flow tube, the observed phase difference appears to show dependence on the instantaneous phase of the flow tube vibration.     

Adaptive force–environment estimator for manipulators based on adaptive wavelet neural network

This study focuses on the accurate tracking control and sensorless estimation of external force disturbances on robot manipulators. The proposed approach is based on an adaptive Wavelet Neural Network (WNN), named Adaptive Force-Environment Estimator (WNN-AFEE). Unlike disturbance observers, WNN_AFEE does not require the inverse of the Jacobian transpose for computing the force, thus, it has no computational problem near singular points. In this scheme, WNN estimates the external force disturbance to attenuate its effects on the control system performance by estimating the environment model. A Lyapunov based design is presented to determine adaptive laws for tuning WNN parameters. Another advantage of the proposed approach is that it can estimate the force even when there are some parametric uncertainties in the robot model, because an additional adaptive law is designed to estimate the robot parameters. In a theorem, the stability of the closed loop system is proved and a general condition is presented for identifying the force and robot parameters. Some suggestions are provided for improving the estimation and control performance. Then, a WNN-AFEE is designed for a planar manipulator as an example, and some simulations are performed for different conditions. WNN_AFEE results are compared attentively with the results of an adaptive force estimator and a disturbance estimator. These comparisons show the efficiency of the proposed controller in dealing with different conditions.     

Adaptive–interpolative binarization with stroke preservation for restoration of faint characters in degraded documents

A novel technique for binarization with stroke preservation of faint characters in degraded documents is proposed. It works in a multi-scale framework with an adaptive–interpolative thresholding technique. Instead of computing a global threshold value, it computes the local threshold values for a small set of grid points by observing the intensity pattern of the pixels lying in the concerned grid cells. Estimated thresholds are used, in turn, to compute the threshold values of all the remaining pixels using a fast-yet-efficient interpolation procedure. To handle noises in degraded images, this grid-based adaptive thresholding is applied in successively reducing scales to obtain the near-optimal binarization as a set of connected components. After a post-processing meant for stroke preservation with these connected components, we get the final output. Exhaustive experimentation and comparison with other existing methods have been successfully carried out with benchmark datasets and also with our own datasets.     

Adaptive neuro-fuzzy prediction of grasping object weight for passively compliant gripper

The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance. The optimal topology of the gripper structure was obtained by iterative finite element method (FEM) optimization procedure. The main points of this paper are in explanation of a new sensing capability of the gripper for grasping and lifting up the gripping objects. Since the sensor stress depends on weight of the grasping object it is appropriate to establish a prediction model for estimation of the grasping object weight in relation to sensor stress. A soft computing based prediction model was developed. In this study an adaptive neuro-fuzzy inference system (ANFIS) was used as soft computing methodology to conduct prediction of the grasping objects weight. The training and checking data for the ANFIS network were obtained by FEM simulations.     

一种高效过滤亚微米级细颗粒的新液固过滤技术——表层过滤

论述一种新的可高效过滤液体中亚微米级细颗粒的表层过滤技术,分析了表层过滤技术的特点、过滤模式、表层过滤基本条件和设计计算中所必需的数学模型。介绍了表层过滤技术在我国工业生产上推广应用的概况。     

新型滤布的设计与织造

由聚酯和聚酰胺6两种原料的单丝经过织造、热定形、接头加工而成的滤布,具有抗拉强度大、耐曲折性好、耐酸碱、耐高温、滤水性好、质轻、使用方便等特点。以具体产品为例,阐述了生产该品种时原材料的选择、织物结构与工艺的设计及产品的技术参数。