A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs

In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.     

可视化远程控制（无人）转载系统的研究

针对井下巷道内快速机械化进行采掘物料转载、装料等操作困难的问题，分析了实际工况的要求，设计了一种采用带可视化系统、能够远程操控、现场无人值守工作方式、液压为驱动力的井下巷道转载系统。经过现场验证，该系统解决了大方量物料在井下巷道内转载、装料的问题，从而节约传统的人工岗位，提高了工作效率，增强了工作中的可靠安全性。     

Maximum power point tracking supported proton exchange membrane fuel cell based intelligent dynamic voltage restorer

In modern era, electrical power utilities are more concerned about power quality. In this endeavour, dynamic voltage restorer (DVR) provides adequate support to the system. Accordingly, the present work illustrates intelligent hybrid control mechanism for DVR. Artificial neural network (ANN) is incorporated to obtain real-time optimal gains under distinct voltage situations. Closed loop type 2 fuzzy logic (CLT2-FL) is also realized in order to assist the ANN supported unit concomitantly. In order to enhance the potential of the present DVR, a CLT2-FL controlled maximum power point tracking (MPPT) based proton exchange membrane fuel cell arrangement is also explored in the present study. CLT2-FL module is adopted in DC-DC converter topology to provide simultaneous supply to the loads at different and regulated voltage levels. Consequently, the results are evaluated and compared to the state-of-the-arts which unveil the efficacy of the implemented controller against the oddity seen in the voltage waveform, thereby, exhibiting better voltage regulation and less harmonics. The effectiveness of the implemented MPPT unit from the viewpoints of convergence speed and oscillations is also established.     

Filtered adaptive constrained sampled-data control for uncertain multivariable nonlinear systems

A filtered adaptive constrained sampled-data controller for uncertain multivariable nonlinear systems in the presence of various constraints is synthesized in this paper. A piecewise constant adaptive law drives that estimation error dynamics to zero at each sampling time instant yields adaptive parameters. The filtered control scheme consists of two components. Based on an estimation/cancellation strategy, a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters, whereas a constraint violation avoidance control law is designed to solve an online constrained optimization problem. Although a reduced sampling time helps to minimize the estimation error caused by the neglect of unknowns, the resulting aggressive signals put more restrictions on the control law. Greater sacrifice of tracking performance is required to satisfy the constraints. The constraints violation avoidance control law is in favor of a larger sampling time. Sufficient conditions are given to guarantee the stability of the closed-loop system with the sampled-data controller, where the input/output signals are held constant over the sampling period. Numerical examples are provided to validate the theoretical results, comparisons between the constrained sampled-data controller and unconstrained adaptive controller with the implementation of different sampling times are carried out.     

Enhanced control strategies for a hybrid battery/photovoltaic system using FGS-PID in grid-connected mode

This paper suggests improved control strategies using Fuzzy Gain Scheduling of Proportional-Integral-Derivative (FGS-PID) controller for a hybrid Photovoltaic (PV) and Battery Energy Storage (BES) system under different weather conditions. The proposed scheme is implemented using a two-level control system structure, combining the benefits of the PID as well as the fuzzy logic controller (FLC) for maximum power point tracking (MPPT). Ziegler-Nichols tuning method is also employed to select the initial values of PID gains. Within the period of steady-states and transients, FGS-PID adopts the gains to ensure the stability of the control scheme. It also damps out transient fluctuations and reduces settling time. Also, BES could be employed to provide a stable and reliable power from the output of PV sources to loads. It can enhance the performance of the entire power system during the grid-connected mode. The simulation results under Matlab/Simulink show that the suggested control strategies are robustness, fast transient response and proper steady-state performance in the grid-connected mode in comparison other presented methods.     

并联机器人末端轨迹测量系统设计

针对机器人末端轨迹检测问题，提出了一种基于拉线传感器的并联机器人末端轨迹追踪系统。该方案采用拉线式位移传感器与角度传感器作为数据采集端，经数据采集卡传递给计算机进行数据处理，实现末端轨迹测量。最后，设计试验样机并基于 Ｃ＃ ＷｉｎＦｏｒｍ 模块编写数据处理模块，从而实现仿真结果与实际相互印证的目标。     

水下图像处理技术研究综述

随着自主式水下机器人的发展，水下探测技术成为新的研究热点。然而，吸收效应和散射效应导致水下获取的图像存在雾化和色彩偏差等缺陷。降质的水下图像在一定程度上降低了水下目标识别的准确性。为了改善水下图像质量，国内外学者对水下图像处理方法进行了深入研究。因水下图像处理方法对提升水下目标识别准确性具有良好的促进作用，故其具有重要的研究与分析价值。介绍了水下成像模型，分析了水下图像视觉质量下降的原理；根据水下物理成像模型将水下图像处理方法分为水下图像增强与水下图像复原，并分别对两类方法的研究现状进行分析与归纳；最后，总结与讨论了各类方法的优缺点，并展望了未来的发展方向。     

Chromatic adaptation in a 2D photograph demonstrated by a D‐up viewer

It is said that we cannot have color constancy in a photograph. The concept of recognized visual space of illumination (RVSI) asserts that chromatic adaptation occurs when one perceives the illumination that is filling a space and not the objects in the space. It predicts then that if one perceives a 3D scene in a photograph, then color constancy will occur in the photograph. In this work, a dimension‐up (D‐up) viewer was developed to perceive a 3D scene on a 2D photograph, and the effect of chromatic adaptation was measured by the color appearance of a gray patch placed at the center of the photograph. Subjects saw the patch as a vivid color when they saw a photograph that had been taken under colored illumination, which is a normal experience in a real space observation. When the color appearance was measured by the elementary color naming method, the amount of chromaticness of the patch in percentage and the apparent hue were very similar to those observed in the 2‐room technique, thus confirming the prediction by the RVSI theory.     

Visual customization: Diversity in color preferences in the automotive interior and implications for interior design

Evolving multimodal mobility needs influences established human–product relationships and requires a deeper insight into color preferences for car interiors. Hence, a study was conducted in which 204 members of a web contest created 1,265 designs. After a peer‐evaluation process, 53 most‐appreciated and 34 least‐preferred interior color compositions were identified and compared to identify patterns in color choices. Besides, visual lightweight design by layering of large interior components such as the seat, a modest use of color and patterns accompanied by repetition and the framing of the entire interior to create a feeling of spaciousness were found. Additionally, differences in the type of color between most and least favored color designs were found. Brown and beige occur more frequently among the top‐ than the worst‐rated designs. Larger surfaces are favored in lighter hues and smaller components in darker hues.