基于龙格-库塔法自适应PID控制的太阳双轴跟踪系统

论述太阳光源双轴跟踪系统的工作原理,针对其控制系统中存在的时间滞后问题提出基于龙格-库塔法的自适应PID控制。并以基于直流电机的方位角传动机构为基础,建立方位角传动机构的数学模型,在MATLAB中进行仿真。仿真结果表明,基于龙格-库塔法的自适应PID控制系统响应速度快、稳定性高,具有较强的鲁棒性,能有效解决方位角传动系统中的时间滞后问题。     

Disturbance observer-based adaptive boundary iterative learning control for a rigid-flexible manipulator with input backlash and endpoint constraint

In this article, an observer-based adaptive boundary iterative learning control law is developed for a class of two-link rigid-flexible manipulator with input backlash, the unknown external disturbance, and the endpoint constraint. To tackle the backlash nonlinearities and ensure the vibration suppression, the disturbance observers based upon the iterative learning conception are considered in the adaptive boundary control design. A barrier Lyapunov function is incorporated with boundary control law to restrict the endpoint state. Based on the defined barrier composite energy function, the tracking angle error convergence of the rigid part is guaranteed, and the vibrations of the flexible part are suppressed through the rigorous analysis. Finally, a numerical simulation is provided to illustrate the effectiveness of the proposed control.     

Integral barrier Lyapunov function-based adaptive fuzzy output feedback control for nonlinear delayed systems with time-varying full-state constraints

In this article, an adaptive fuzzy output feedback control method is presented for nonlinear time-delay systems with time-varying full state constraints and input saturation. To overcome the problem of time-varying constraints, the integral barrier Lyapunov functions (IBLFs) integrating with dynamic surface control (DSC) are applied for the first time to keep the state from violating constraints. The effects of unknown time delays can be removed by using designed Lyapunov-Krasovskii functions (LKFs). An auxiliary design system is introduced to solve the problem of input saturation. The unknown nonlinear functions are approximated by the fuzzy logic systems (FLS), and the unmeasured states are estimated by a designed fuzzy observer. The novel controller can guarantee that all signals remain semiglobally uniformly ultimately bounded and satisfactory tracking performance is achieved. Finally, two simulation examples illustrate the effectiveness of the presented control methods.     

Clustering adaptive canonical correlations for high-dimensional multi-modal data

Multi-modal canonical correlation analysis (MCCA) is an important joint dimension reduction method and has been widely applied to clustering tasks of multi-modal data. MCCA-based clustering is usually dimension reduction of high-dimensional data followed by clustering of low-dimensional data. However, the two-stage clustering is difficult to ensure the adaptability of dimension reduction and clustering, which will affect the final clustering performance. To solve the issue, we propose a novel clustering adaptive multi-modal canonical correlations (CAMCCs) method, which constructs a unified optimization model of multi-modal correlation learning and clustering. The method not only realizes discriminant learning of correlation projection directions under unsupervised cases, but also is able to directly obtain class labels of multi-modal data. Additionally, the method also realizes out-of-sample extension in class labels. Solutions of CAMCCs are optimized by an iterative way, and we analyze its convergence. Extensive experimental results on various datasets have demonstrated the effectiveness of the method.     

Adaptive retrieval practice with multiple-choice questions in the university classroom

Retrieval practice promotes retention more than restudying (i.e., the testing effect) and is applied to many educational settings. However, little research has investigated means to enhance this effect in educational settings. Theoretical accounts assume retrieval practice to be the most effective whenever retrieval is difficult but successful. Therefore, we developed a novel retrieval practice procedure, which adapts to learners' abilities and can be applied irrespective of learning content. This adaptive procedure aims to make retrieval gradually easier whenever students provide an incorrect answer. In a field experiment, students read book chapters as part of a weekly university course. In three consecutive weeks, they then practiced reading assignments by (a) adaptive testing, (b) non-adaptive testing and (c) restudy. In Week 4, a surprise criterial test took place. Restudy outperformed both testing conditions, whereas adaptive testing performed equally well as non-adaptive testing. However, exploratory analyses revealed that with increasing retention intervals, the superiority of restudy disappeared. Furthermore, whenever participants fully read the assignments and retention intervals increased, adaptive testing outperformed non-adaptive testing. In sum, adaptive retrieval practice did not prove to be generally superior, but retention interval and students' preparation for class might be conditions rendering adaptive retrieval useful in educational settings.     

基于自监督学习的病理图像层次分割

在苏木精-伊红(HE)染色病理图像中，细胞染色分布的不均匀和各类组织形态的多样性给病理图像的自动分割带来极大挑战。为解决该问题，提出了一种基于自监督学习的病理图像三步层次分割方法，对病理图像中各类组织进行由粗略到精细的全自动逐层分割。首先，根据互信息的计算结果在RGB色彩空间中进行特征选择；其次，采用K-means聚类将图像初步分割为各类组织结构的色彩稳定区域与模糊区域；然后，以色彩稳定区域为训练集采用朴素贝叶斯分类对模糊区域进行进一步分割，得到完整的细胞核、细胞质和胞外间隙这三类组织结构；最后，对细胞核部分进行结合形状和色彩强度的混合分水岭分割得到细胞核间的精确边界，进而量化计算细胞核个数、核占比、核质比等指标。对脑膜瘤HE染色病理图像的分割实验结果表明，所提方法对于染色和细胞形态差异保持较高的鲁棒性，各类组织区域分割误差在5%以内，在细胞核分割精度的对比实验中平均正确率在96%以上，满足临床自动图像分析的要求，其量化结果可以为定量病理分析提供依据。     

Modified transform-based gamma correction for MRI tumor image denoising and segmentation by optimized histon-based elephant herding algorithm

Medical image processing is typically performed to diagnose a patient's brain tumor prior to surgery. In this study, a technique in denoising and segmentation was developed to improve medical image processing. The proposed approach employs multiple modules. In the first module, the noisy brain tumor image is transformed into multiple low- and high-pass tetrolet coefficients. In the second module, multiple low-pass tetrolet coefficients are applied through a modified transform-based gamma correction method. Generalized cross-validation is used on multiple high-pass tetrolet coefficients to obtain the best threshold value. In the third module, all enhanced coefficients are applied to the partial differential equation method. In the final module, the denoised image is applied to Atanassov's intuitionistic fuzzy set histon-based fuzzy clustering method with centroid optimization using an elephant herding method. Accordingly, the tumor part is segmented from the nontumor part in the magnetic resonance imaging brain images. The method was assessed in terms of peak signal-to-noise ratio, mean square error, specificity, sensitivity, and accuracy. The experimental results showed that the suggested method is superior to traditional methods.     

Adaptive quaternion control of a 3-DOF inertial stabilised platforms

ABSTRACT

Inertial stabilised platforms are increasingly popular with a large range of products available mainstream. Most items are controlled using popular algorithms that sometimes do not offer best achievable performances. Present paper proposes an advanced control which aims at improving these latter. The exposed solution is based on quaternion representation and self-adapts to the characteristics of the payload it tries to stabilise. Proposed control law ensures the stability of the system whatever the required orientation path is. Although only simulation has been performed to check the performances of such control, results look very promising compared to non-adaptive controls and may help to construct more polyvalent and efficient gimbals which would further facilitate their expansion. Proposed control law can also be applied, as is, to every system that shares the same quaternion-based rotational dynamics.     

A stiffness parameter and truncation error criterion for adaptive path following in structural mechanics

We explore a truncation error criterion to steer adaptive step length refinement and coarsening in incremental-iterative path following procedures, applied to problems in large-deformation structural mechanics. Elaborating on ideas proposed by Bergan and collaborators in the 1970s, we first describe an easily computable scalar stiffness parameter whose sign and rate of change provide reliable information on the local behavior and complexity of the equilibrium path. We then derive a simple scaling law that adaptively adjusts the length of the next step based on the rate of change of the stiffness parameter at previous points on the path. We show that this scaling is equivalent to keeping a local truncation error constant in each step. We demonstrate with numerical examples that our adaptive method follows a path with a significantly reduced number of points compared to an analysis with uniform step length of the same fidelity level. A comparison with Abaqus illustrates that the truncation error criterion effectively concentrates points around the smallest-scale features of the path, which is generally not possible with automatic incrementation solely based on local convergence properties.     

宽带数字接收机IQ不平衡估计与自适应补偿算法

针对宽带调制解调技术中广泛存在的IQ不平衡问题,在IQ不平衡模型及补偿原理的分析基础上提出了一种宽带数字接收机IQ不平衡估计与自适应补偿算法。首先利用解调数据对IQ不平衡参数进行实时估计,然后利用估计参数对接收信号进行自适应补偿。实验结果表明,所提算法可以有效解决宽带调制解调系统中普遍存在的IQ不平衡问题,提升系统误码性能。