Output feedback tracking control for rigid body attitude via immersion and invariance angular velocity observers

A novel immersion and invariance (I&I) angular velocity observer is presented for the attitude tracking control of a rigid body with the lack of angular rate. Global exponential convergence of angular velocity estimate errors are guaranteed by an innovative filter design for the estimates' Euclidean norm. The proposed method requires fewer filter states compared with existing I&I angular velocity observer designs, which achieves a simpler closed-loop structure (dynamic reduction). The observer synthesis and convergence are independent of the control torque, which leads to much convenience in establishing “separation property” when combining a proportional-derivative attitude tracking controller driven by angular velocity estimates. A rigorous stability analysis is provided to ensure the (almost) global asymptotic convergence of the overall closed-loop tracking errors, and several numerical simulations are carried out to demonstrate the effectiveness of the combined implementation of proposed angular velocity observer and full-state feedback attitude tracking controller.     

形状的全尺度可视化表示与识别

目的 视觉目标的形状特征表示和识别是图像领域中的重要问题。在实际应用中,视角、形变、遮挡和噪声等干扰因素造成识别精度较低,且大数据场景需要算法具有较高的学习效率。针对这些问题,本文提出一种全尺度可视化形状表示方法。方法 在尺度空间的所有尺度上对形状轮廓提取形状的不变量特征,获得形状的全尺度特征。将获得的全部特征紧凑地表示为单幅彩色图像,得到形状特征的可视化表示。将表示形状特征的彩色图像输入双路卷积网络模型,完成形状分类和检索任务。结果 通过对原始形状加入旋转、遮挡和噪声等不同干扰的定性实验,验证了本文方法具有旋转和缩放不变性,以及对铰接变换、遮挡和噪声等干扰的鲁棒性。在通用数据集上进行形状分类和形状检索的定量实验,所得准确率在不同数据集上均超过对比算法。在MPEG-7数据集上精度达到99.57%,对比算法的最好结果为98.84%。在铰接和射影变换数据集上皆达到100%的识别精度,而对比算法的最好结果分别为89.75%和95%。结论 本文提出的全尺度可视化形状表示方法,通过一幅彩色图像紧凑地表达了全部形状信息。通过卷积模型既学习了轮廓点间的形状特征关系,又学习了不同尺度间的形状特征关系。本文方法在视角变化、局部遮挡、铰接变形和噪声等干扰下能保持较高的识别正确率,可应用于图像采集干扰较多以及红外或深度图像的目标识别,并适用于大数据场景下的识别任务。     

复杂电磁环境信号分形特性验证

为了证明复杂电磁环境信号是否具有分形特征,根据分形的基本性质,采用基于数学形态学的分形维数估计方法,验证了电磁环境信号的标度不变性;通过分析长程相关性与自相似性的关系,推导Hurst指数验证分形自相似性的方法,验证电磁环境信号的自相似性;通过分析电磁环境信号局部分形特征,验证了其多重分形特性。理论分析和仿真计算结果表明,复杂电磁环境信号具有分形特征,为利用分形理论研究复杂电磁环境奠定了基础。     

Simplified automatic fault detection in wind turbine induction generators

This paper presents a simplified automated fault detection scheme for wind turbine induction generators with rotor electrical asymmetries. Fault indicators developed in previous works have made use of the presence of significant spectral peaks in the upper sidebands of the supply frequency harmonics; however, the specific location of these peaks may shift depending on the wind turbine speed. As wind turbines tend to operate under variable speed conditions, it may be difficult to predict where these fault‐related peaks will occur. To accommodate for variable speeds and resulting shifting frequency peak locations, previous works have introduced methods to identify or track the relevant frequencies, which necessitates an additional set of processing algorithms to locate these fault‐related peaks prior to any fault analysis. In this work, a simplified method is proposed to instead bypass the issue of variable speed (and shifting frequency peaks) by introducing a set of bandpass filters that encompass the ranges in which the peaks are expected to occur. These filters are designed to capture the fault‐related spectral information to train a classifier for automatic fault detection, regardless of the specific location of the peaks. Initial experimental results show that this approach is robust against variable speeds and further shows good generalizability in being able to detect faults at speeds and conditions that were not presented during training. After training and tuning the proposed fault detection system, the system was tested on “unseen” data and yielded a high classification accuracy of 97.4%, demonstrating the efficacy of the proposed approach.     

Stability analysis of PWM feedback control systems with PID regulators

Stability analysis is of great significance in those feedback control systems in which the power amplifier is operated as a pulse-modulator device, since under these circumstances the whole control system is highly non-linear. Stability in PWM feedback control systems with a proportional type regulator has been amply described in the literature. Only recently, however, have such studies been extended to include systems with a proportional-plus-integral regulator. In this paper the problem is considered for the case involving a PWM control system, where the regulator is a proportional-plus-integral-plus-derivative, the PWM modulator is of a very general type and the controlled process is of arbitrary order. The stability of the system is analysed by means of a discrete version of the second Lyapunov method ; this method in turn leads to an investigation of the positivity region of a quadratic form defined in the parameter space of the regulator. To improve the stability region obtained, a procedure is investigated whereby only a few parameters of the quadratic Lyapunov function need to be varied. The method proposed has proved extremely simple and flexible to apply, even in cases where the system is of arbitrary order.     

Finite alphabet control of logistic networks with discrete uncertainty

We consider logistic networks in which the control and disturbance inputs take values in finite sets. We derive a necessary and sufficient condition for the existence of robustly control invariant (hyperbox) sets. We show that a stronger version of this condition is sufficient to guarantee robust global attractivity, and we construct a counterexample demonstrating that it is not necessary. Being constructive, our proofs of sufficiency allow us to extract the corresponding robust control laws and to establish the invariance of certain sets. Finally, we highlight parallels between our results and existing results in the literature, and we conclude our study with two simple illustrative examples.     

Evaluation of the lift-off robustness of eddy current imaging techniques

The development of lift-off invariant strategies is one of the main goals in Eddy Current Non-Destructive Testing research. In the present work, from the analysis of amplitude and phase signals of magnetic field sensors under Multi-Frequency Eddy Current excitation, two imaging procedures are analyzed and compared with respect to their ability to retrieve reliable results even in presence of huge changes of lift-off. A figure of merit based on the Signal to Noise Ratio evaluated on the 2D reconstructed images allows the comparison of the different strategies in terms of the quality of the image to show the defect. The numerical and the experimental tests realized show that the imaging procedure relying on the analysis of the phase-lag is quite insensitive to changes in the lift-off with respect to that based on the amplitude analysis. In detail the former guarantees good results even when the probe lift-off is randomly changed during the test with variations up to 3 mm, while the latter is able to tolerate only lift-off fluctuation lower than 1 mm.     

汇集点的计算方法研究

利用图像坐标计算交比,就可能出现计算故障或者引起计算精度的下降,采用N矢量表示视平面上的点和直线,建立交比的N矢量计算公式;在此基础上,研究了纯平移运动汇集点的N矢量计算方法,该公式只需要知道纯平移运动一个空间点在3个时刻t1、t2、t3的投影点或者该点的N矢量m、N速度m（t）以及加速度m（t）,都可求出动点的汇集点。最后,通过举例分析和实验验证,证明该算法实用、可靠。     

Assessing the forms and functions of aggression using self-report: Factor structure and invariance of the Peer Conflict Scale in youths.

This study examined the structure of a self-report measure of the forms and functions of aggression in 855 adolescents (582 boys, 266 girls) aged 12 to 19 years recruited from high school, detained, and residential settings. The Peer Conflict Scale (PCS) is a 40-item measure that was developed to improve upon existing measures and provide an efficient, reliable, and valid assessment of four dimensions of aggression (i.e., reactive overt, reactive relational, proactive overt, and proactive relational) in youths. Confirmatory factor analyses showed that a 4-factor model represented a satisfactory solution for the data. The factor structure fit well for both boys and girls and across high school, detained, and residential samples. Internal consistency estimates were good for the 4 factors, and they showed expected associations with externalizing variables (i.e., arrest history, callous-unemotional traits, and delinquency). Reactive and proactive subtypes showed unique associations consistent with previous literature. Implications for the use of the PCS to assess aggression and inform intervention decisions in diverse samples of youths are discussed. (PsycINFO Database Record (c) 2011 APA, all rights reserved)