Outlier accommodation in moving-horizon state estimation: A risk-averse performance-specified approach

This paper presents a novel state estimation approach for linear dynamic systems when measurements are corrupted by outliers. Since outliers can degrade the performance of state estimation, outlier accommodation is critical. The standard approach combines outlier detection utilizing Neyman-Pearson (NP) type tests with a Kalman filter (KF). This approach ignores all residuals greater than a designer-specified threshold. When measurements with outliers are used (ie, missed detections), both the state estimate and the error covariance matrix become corrupted. This corrupted state and covariance estimate are then the basis for all subsequent outlier decisions. When valid measurements are rejected (ie, false alarms), potentially using the corrupted state estimate and error covariance, measurement information is lost. Either using invalid information or discarding too much valid information can result in divergence of the KF. An alternative approach is moving-horizon (MH) state estimation, which maintains all recent measurement data within a moving window with a time horizon of length L. In MH approaches, the number of measurements available for state estimation is affected by both the number of measurements per time step and the number of time steps L over which measurements are retained. Risk-averse performance-specified (RAPS) state estimation works within an optimization setting to choose a set of measurements that achieves a performance specification with minimum risk of outlier inclusion. This paper derives and formulates the MH-RAPS solution for outlier accommodation. The paper also presents implementation results. The MH-RAPS application uses Global Navigation Satellite Systems measurements to estimate the state of a moving platform using a position, velocity, and acceleration model. In this application, MH-RAPS performance is compared with MH-NP state estimation.     

Process noise covariance estimation via stochastic approximation

Kalman filtering for linear systems is known to provide the minimum variance estimation error, under the assumption that the model dynamics is known. While many system identification tools are available for computing the system matrices from experimental data, estimating the statistics of the output and process noises is still an open problem. Correlation-based approaches are very fast and sufficiently accurate, but there are typically restrictions on the number of noise covariance elements that can be estimated. On the other hand, maximum likelihood methods estimate all elements with high accuracy, but they are computationally expensive, and they require the use of external optimization solvers. In this paper, we propose an alternative solution, tailored for process noise covariance estimation and based on stochastic approximation and gradient-free optimization, that provides a good trade-off in terms of performance and computational load, and is also easy to implement. The effectiveness of the method as compared to the state of the art is shown on a number of recently proposed benchmark examples.     

COB LED自动在线点胶测试补粉机的研制

在COB(Chip On Board)LED光组件制造领域,点胶、测试和补粉关键工艺基本以手工或半自动为主。为了保证COB LED产品质量一致性、提高生产效率,研制了一种COB自动在线点胶测试及补粉一体机,实现点胶、测试、补粉生产工序的自动化生产。阐述了其工艺流程及设计总体方案,提出了荧光粉量修补方法,修正初次点胶量,实现动态调节,减少人工干预。经实验验证,该一体机可以提高点胶工艺的自动化程度,具有运行速度快、可靠性好、性能稳定等特点。     

Safety analysis of reactivity insertion accidents in a heavy water nuclear research reactor core using coupled 3D neutron kinetics thermal-hydraulic system code technique

Nuclear power plant Safety analysis using coupled 3D neutron kinetics/thermal-hydraulic codes technique is increasingly used nowadays. Actually, the use of this technique allows getting less conservatism and more realistic simulations of the physical phenomena. The challenge today is oriented toward the application of this technique to the operating conditions of nuclear research reactors. In the current study, a three-Dimensional Neutron Kinetics and best estimate Thermal-Hydraulic model based upon the coupled PARCS/RELAP5 codes has been developed and applied for a heavy water research reactor. The objective is to perform safety analysis related to design accidents of this reactor types. In the current study two positive reactivity insertion transients are considered, SCRAM protected and self-limiting power excursion cases. The results of the steady state calculations were compared with results obtained from conventional diffusion codes, while transient calculations were assessed using the point kinetic model of the RELAP5 code. Through this study, the applicability and the suitability of using the coupled code technique with respect to the classical models are emphasized and discussed.     

Structural stability of ternary D8m–Ti5Sb2X (X=Al,Ga, In,Si, Ge,Sn) compounds

The crystal and electronic structures of Ti₅Sb₂X (X=Al, Ga, In, Si, Ge, Sn) ternary compounds in the Nb₅Sn₂Si-type structure (ternary-D8_m) have been investigated by means of first principles calculations. The calculated structural parameters are in good agreement with the experimental data. The total electronic densities of states as well as the Bader charges of the atoms have been computed. Both electronic and size effects allow to explain the stability of the Ti₅Sb₂X (X=Al, Ga, In, Si, Ge, Sn) ternary compounds in the ternary D8_m structure. The enthalpies of formation of the ternary D8_m compounds have been obtained. The off-stoichiometry domains of D8_m–Ti₅Sb₂Ga and D8_m–Ti₅Sb₂Si are discussed.     

Anti‐Sway Crane Control Considering Wind Disturbance and Container Mass

A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, and therefore the observer parameter is not suitable. We already proposed robust antisway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of the friction force. In this paper, we first propose a container mass estimation method when a crane system performs rolling up control. The observer parameter can be selected using the estimated mass value. Second, in crane parallel shift control, we propose a robust antisway control even when there is a wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm through experiments that the proposed method can reduce vibration.     

Stability analysis of a class of fractional order nonlinear systems with order lying in (0, 2)

This paper investigates the stability of n-dimensional fractional order nonlinear systems with commensurate order 0 <α<2. By using the Mittag-Leffler function, Laplace transform and the Gronwall–Bellman lemma, one sufficient condition is attained for the local asymptotical stability of a class of fractional order nonlinear systems with order lying in (0, 2). According to this theory, stabilizing a class of fractional order nonlinear systems only need a linear state feedback controller. Simulation results demonstrate the effectiveness of the proposed theory.     

Synthesis and characterization of MgAl2O4 micro-rods by a molten salt method

Large amounts of MgAl₂O₄ micro-rods were successfully synthesized using the molten-salt technology. The effect of KCl contents on the formation of MgAl₂O₄ micro-rods was investigated. The structure and morphology of MgAl₂O₄ were investigated by means of powder X-ray diffraction, field emission scanning electron microscopy, and transmission electron microscopy, respectively. The experimental results showed that the contents of KCl significantly influenced the formation of MgAl₂O₄ micro-rods. MgAl₂O₄ micro-rods could be prepared at 1150 °C with a weight ratio of 100:1 between the salt and the starting materials. The formation of MgAl₂O₄ micro-rods could be suggested to be due to the inhomogeneous nucleation and orientated growth perpendicularly to the surfaces of Al₂O₃ grains. An impedance-type humidity sensor was finally fabricated based on the as-prepared MgAl₂O₄ micro-rods. According to tests of the humidity performance, MgAl₂O₄ micro-rods might be suitable for high-performance humidity sensors.     

Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.