基于OpenCL的图像积分图算法优化研究

图像积分图算法在快速特征检测中有着广泛的应用,通过GPU对其进行性能加速有着重要的现实意义。然而由于GPU硬件架构的复杂性和不同硬件体系架构间的差异性,完成图像积分图算法在GPU上的优化,进而实现不同GPU平台间的性能移植是一件非常困难的工作。在分析不同CPU平台底层硬件架构的基础上,从片外访存带宽利用率、计算资源利用率和数据本地化等多个角度考察了不同优化方法在不同GPU硬件平台上对性能的影响。并在此基础上实现了基于OpenCL的图像积分图算法。实验结果表明,优化后的算法在AMD和NVIDIA CPU上分别取得了11.26和12.38倍的性能加速,优化后的GPU kernel比NVIDIA NPP库中的相应函数也分别取得了55.01%和65.17%的性能提升。验证了提出的优化方法的有效性和性能可移植性。     

A backstepping controller for path‐tracking of an underactuated autonomous airship

In this paper we propose a nonlinear control approach for the path‐tracking of an autonomous underactuated airship. A backstepping controller is designed from the airship nonlinear dynamic model including wind disturbances, and further enhanced to consider actuators saturation. Control implementation issues related to airship underactuation are also addressed, namely control allocation and an attitude reference shaping to obtain a faster error correction with smoother input requests. The results obtained demonstrate the capacity of an underactuated unmanned airship to execute a realistic mission including vertical take‐off and landing, stabilization and path‐tracking, in the presence of wind disturbances, with a single robust control law. Copyright © 2008 John Wiley & Sons, Ltd.     

Adaptive integral method combined with the loose GMRES algorithm for planar structures analysis

In this article, the adaptive integral method (AIM) is used to analyze large‐scale planar structures. Discretization of the corresponding integral equations by method of moment (MoM) with Rao‐Wilton‐Glisson (RWG) basis functions can model arbitrarily shaped planar structures, but usually leads to a fully populated matrix. AIM could map these basis functions onto a rectangular grid, where the Toeplitz property of the Green's function would be utilized, which enables the calculation of the matrix‐vector multiplication by use of the fast Fourier transform (FFT) technique. It reduces the memory requirement from O(N²) to O(N) and the operation complexity from O(N²) to O(N log N), where N is the number of unknowns. The resultant equations are then solved by the loose generalized minimal residual method (LGMRES) to accelerate iteration, which converges much faster than the conventional conjugate gradient method (CG). Furthermore, several preconditioning techniques are employed to enhance the computational efficiency of the LGMRES. Some typical microstrip circuits and microstrip antenna array are analyzed and numerical results show that the preconditioned LGMRES can converge much faster than conventional LGMRES. © 2008 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2009.     

A new adaptive backstepping Coulomb friction compensator for servo control systems

A new Coulomb friction compensator is proposed for servo control systems in this paper. The novelty of the new approach lies in its capability of assigning the eigenvalues of the resulting closed loop system while attacking the problem. First, based on the standard backstepping methodology, an implicit Lyapunov function, with part of the components being only symbolically constructed at the very beginning, is utilized. To increase the robustness of the system against disturbance and model inaccuracy, an integral term is employed in the design. Using part of the variable gradient method, we are able to turn the implicit Lyapunov function into an explicit one, which is positive definite, and whose time‐derivative is negative definite. Second, it will be shown that the resulting closed loop error system is a switched linear system with two possible active modes that share the same set of eigenvalues, which is at our disposal. Unlike the common adaptive control design methods, such as the Control Lyapunov Function approach, in which the gains are typically positive but otherwise arbitrary, and are hence difficult to choose and have a lack of connection with the system's performance, our new scheme imposes two further constraints on the gains. It turns out that we can then match these gains with the coefficients of the desired characteristic equation of the closed loop system. In this respect, the gains are linked to the system's overall performance, which is a new and very appealing feature for such a scheme. Finally, a procedure of constructing a common Lyapunov function is provided to prove exponential stability of the aforementioned switched linear system. In addition, using the invariance principle, we will show the convergence of the estimated Coulomb friction coefficient to its real value. Numerical simulations are given to validate the effectiveness of the design and its robustness against friction time‐variations. Compared to existing results, the proposed scheme is much simpler, hence, much more advantageous computationally. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

移动焊接机器人焊缝跟踪控制研究及仿真

为了解决轮式移动焊接机器人的焊缝跟踪问题,文中从移动焊接机器人的运动学和动力学模型出发,采用分段运动学到动力学的方法设计焊缝跟踪控制器。控制算法结合积分Backstepping算法和单层神经元网络控制算法,利用单层神经元网络的自学习和自适应能力克服机器人模型参数部分未知和扰动的影响,使跟踪更加快速、平滑。经MATLAB仿真验证了该控制算法的有效性。     

Integral floating‐image display using two lenses with reduced distortion and enhanced depth

Abstract— An integral floating display (IFD) with a long depth range without floating lens distortion is proposed. Two lenses were used to reduce barrel distortion of the floating lens and three‐dimensional (3‐D) image deformation from object‐dependent longitudinal and lateral magnifications in the floating‐display system, combined with an integral imaging display. The distance between the floating lenses is the sum of their focal lengths. In the proposed configuration, lateral and longitudinal magnifications are constant regardless of the distance of the integrated 3‐D images, so the distortions from the distant‐dependent magnifications of the floating lens do not occur with the proposed method. In addition, the proposed floating system expands the depth range of the integral imaging display. As a result, the display can show a correct 3‐D floating image with a large depth range. Experimental results demonstrate that the proposed method successfully displays a 3‐D image without floating lens distortions across a large depth range.     

The volume integral method of eddy-current modeling: Verification

The volume integral method of eddy-current modeling represents a flaw in metal as a set of electric dipoles located within volume elements or cells defining the flaw volume. Given this dipole distribution, impedance changes may be computed. The electric field of the dipole distribution is determined by an integral equation relating, by means of the electric field Green's tensor, the electric field due to the source to the total electric field in the flaw. The integral equation is solved by assuming that the total electric field is constant in each volume element, resulting in a matrix equation. The method has been programmed for use on a microcomputer. The method and computer program are verified using the analytical solution for a small spherical flaw and three sets of measured impedance data, measured by air-core coils along profiles overlying both surface-breaking and buried simulated flaws of known dimensions. Operating frequencies ranged between 900 and 4000 Hz. Generally agreement is good at lower frequencies ( 1000 Hz). At higher frequencies ( 4000 Hz), the agreement is not as good. This is thought to be due to the inability of the constant electric field approximation to model the steep electric field gradients present in the host metal at high frequency. The results are also sensitive to the method of computation of the electric field due to the source. Some improvements can and should be made to the method.     

第一类Dirichlet积分的公式解

利用三角降次公式及留数解决了第一类Dirichlet积分问题,即给出了第一类Dirichlet积分的公式解。利用所得结果,定义了Dirichlet数Dn,证明了其一般性质。     

区间二型模糊逻辑系统质心降型及加权Nie-Tan算法

降型是二型模糊逻辑系统中的核心模块。Nie-Tan (NT) 算法不涉及到迭代过程,可直接得到系统输出,具有减少计算消耗的优势,而连续NT(CNT)算法在最近的研究中被证明为准确的质心降型算法。通过分析离散NT算法中求和运算和连续NT算法中的求积分运算,利用数值积分技术中牛顿-柯斯特求积公式将NT算法扩展成3种不同形式的加权NT（WNT）算法。在取相同的主变量采样率的情况下,3个计算机仿真例子表明了WNT算法比NT算法有更小的绝对误差且计算速度几乎相同,这使3种不同形式的WNT算法在区间二型模糊逻辑系统的实时应用上具有潜在的可行性和有效性。     

On performance recovery of robust dynamic surface control

Robust dynamic surface control (RDSC) is effective in alleviating the implementation difficulty of backstepping‐based multiple‐surface sliding control (MSSC) for a class of strict‐feedback nonlinear systems with mismatched uncertainties. However, the synthesis and analysis of the classical RDSC are conservative, which not only may lead to an impractical control law but also cannot fully reveal the technical nature of RDSC. This article provides a comprehensive study of a preferred RDSC law with an approximation of the signum function based on the singular perturbation theory. By formulating the control problem into a singular perturbation form, it is proven that the preferred RDSC recovers the performance of MSSC as the decrease of a filter parameter. The attractive features of the preferred RDSC revealed during the proposed synthesis and analysis include: (a) the control gain can be significantly reduced resulting in a sharp decrease of control energy and (b) the closed‐loop stability can be guaranteed by only decreasing the filter parameter. Simulation results have been shown to be consistent with the theoretical findings.