Dead-beat servo problem for 2-dimensional linear systems

Necessary and sufficient conditions for the existence of a solution to the deadbeat servo problem for single-input single-output 2D linear systems are given. An algorithm is presented for finding a control law such that the tracking error vanishes in the shortest time possible. The algorithm is illustrated by a simple example.     

Projective Reconstruction from Multiple Views with Minimization of 2D Reprojection Error

The problem of projective reconstruction by minimization of the 2D reprojection error in multiple images is considered. Although bundle adjustment techniques can be used to minimize the 2D reprojection error, these methods being based on nonlinear optimization algorithms require a good starting point. Quasi-linear algorithms with better global convergence properties can be used to generate an initial solution before submitting it to bundle adjustment for refinement. In this paper, we propose a factorization-based method to integrate the initial search as well as the bundle adjustment into a single algorithm consisting of a sequence of weighted least-squares problems, in which a control parameter is initially set to a relaxed state to allow the search of a good initial solution, and subsequently tightened up to force the final solution to approach a minimum point of the 2D reprojection error. The proposed algorithm is guaranteed to converge. Our method readily handles images with missing points.     

模糊PID控制在抑尘剂溶液自动配比系统中的应用

针对传统的人工地面配液法或基于配液阀的手控配液法存在的配液精确度低、难以满足抑尘剂浓度实时变化要求的问题,介绍了一种抑尘剂溶液自动配比系统的工作原理,重点阐述了模糊PID控制算法在该系统中的应用方案及实现过程。该系统根据检测到的粉尘浓度计算所需的抑尘剂溶液浓度,采用常规PID算法控制定目标浓度的溶液配比,采用模糊PID算法控制目标浓度实时变化的溶液配比。实验结果表明,与常规PID算法相比,模糊PID算法用于抑尘剂溶液自动配比时配液精确度更高,误差更小。     

An anisotropic unstructured triangular adaptive mesh algorithm based on error and error gradient information

In this paper, an algorithm based on unstructured triangular meshes using standard refinement patterns for anisotropic adaptive meshes is presented. It consists of three main actions: anisotropic refinement, solution-weighted smoothing and patch unrefinement. Moreover, a hierarchical mesh formulation is used. The main idea is to use the error and error gradient on each mesh element to locally control the anisotropy of the mesh. The proposed algorithm is tested on interpolation and boundary-value problems with a discontinuous solution.     

Joint Source Coding and Network-Supported Distributed Error Control for Video Streaming in Wireless Multihop Networks

Real-time video communication over wireless multihop networks has gained significant interest in the last few years. In this paper, we focus our attentions on the problem of source coding and link adaptation for packetized video streaming in wireless multihop networks when network nodes are media-aware. We consider a system where source coding is employed at the video encoder by selecting the encoding mode of each individual macro-block, while error control is exercised through application-layer retransmissions at each media-aware network node. For this system model, the contribution of each communication link on the end-to-end video distortion is considered separately in order to achieve globally optimal source coding and ARQ error control. To reach the globally optimal solution, we formulate the problem of joint source and distributed error control (JSDEC) and devise a low-complexity solution algorithm based on dynamic programming. Extensive experiments have been carried out on the basis of H.264/AVC codec to demonstrate the effectiveness of the proposed algorithm over the existing joint source and channel coding (JSCC) algorithm in terms of PSNR perceived at the decoder under time-varying multihop wireless links.     

Adaptive error control for multigrid finite element

We consider the problem of adaptive error control in the finite element method including the error resulting from, inexact solution of the discrete equations. We prove a posteriori error estimates for a prototype elliptic model problem discretized by the finite element with a canomical multigrid algorithm. The proofs are based on a combination of so-called strong stability and, the orthogonality inherent in both the finite element method can the multigrid algorithm.     

基于AFKF的多旋翼无人机组合导航技术研究

目前旋翼无人机组合导航系统大都使用扩展卡尔曼滤波算法,然而由于导航系统建模误差和传感器测量精度的影响,导航信息解算误差较大。为了改善旋翼无人机的飞行控制效果,应用自适应渐消卡尔曼滤波（Adaptive fading Kalman filter,AFKF）进行旋翼无人机组合导航解算,算法通过实时计算遗忘因子,对过去的数据权重进行削减,以提高扩展卡尔曼滤波算法的自适应能力。应用旋翼无人机真实飞行数据进行仿真,仿真结果表明,自适应渐消卡尔曼滤波算法能够有效抑制建模误差,弥补传感器测量精度不足,改善旋翼无人机组合导航解算结果。     

A numerical algorithm for optimal control of a class of hybrid systems: differential transformation based approach

A novel numerical algorithm based on differential transformation is proposed for optimal control of a class of hybrid systems with a predefined mode sequence. From the necessary conditions for optimality of hybrid systems, the hybrid optimal control problem is first converted into a two-point boundary value problem (TPBVP) with additional transverse conditions at the switching times. Then we propose a differential transformation algorithm for solving the TPBVP which may have discontinuities in the state and/or control input at the switching times. Using differential transformation, the hybrid optimal control problem reduces to a problem of solving a system of algebraic equations. The numerical solution is obtained in the form of a truncated Taylor series. By taking advantage of the special properties of the linear subsystems and a quadratic cost functional, the differential transformation algorithm can be further simplified for the switched linear quadratic optimal control problem. We analyse the error of the numerical solution computed by the differential transformation algorithm and some computational aspects are also discussed. The performance of the differential transformation algorithm is demonstrated through illustrative examples. The differential transformation algorithm has been shown to be simple to be implemented and computationally efficient.     

最小平方误差算法的正则化核形式

最小平方误差算法是最常用的一种经典模式识别和回归分析方法,其目标是使线性函 数输出与期望输出的误差平方和为最小.该文应用满足Meteer条件的核函数和正则化技术,改 造经典的最小平方误差算法,提出了基于核函数和正则化技术的非线性最小平方误差算法,即 最小平方误差算法的正则化核形式,其目标函数包含基于核的非线性函数的输出与期望输出的 误差平方和,及一个适当的正则项.正则化技术可以处理病态问题,同时可以减小解空间和控制 解的推广性,文中采用了三种平方型的正则项,并且根据正则项的概率解释,详细比较了三种正 则项之间的差别.最后,用仿真资料和实际资料进一步分析算法的性能.     

A continuation/GMRES method for fast computation of nonlinear receding horizon control

In this paper, a fast numerical algorithm for nonlinear receding horizon control is proposed. The control input is updated by a differential equation to trace the solution of an associated state-dependent two-point boundary-value problem. A linear equation involved in the differential equation is solved by the generalized minimum residual method, one of the Krylov subspace methods, with Jacobians approximated by forward differences. The error in the entire algorithm is analyzed and is shown to be bounded under some conditions. The proposed algorithm is applied to a two-link arm whose dynamics is highly nonlinear. Simulation results show that the proposed algorithm is faster than the conventional algorithms.     

基于蛙跳算法的无线传感器网络节点定位

为减小测距误差对无线传感器网络定位精度的影响,将蛙跳算法应用到距离式定位算法的位置计算阶段中,提出了蛙跳定位算法。该算法在适应度函数设计中,根据节点间的测距信息对锚节点进行了加权处理,以降低测距误差对定位结果的影响。结合最小最大法构造初始种群,使其包含更多可行解,从而提高算法效率。仿真结果表明,与采用极大似然估计法或总体最小二乘法来进行位置计算的距离式定位算法相比,该算法有效降低了距离误差对定位精度的影响,具有较高的定位精确度和稳定性,是一种实用的无线传感器网络节点定位方法。     

基于人工鱼群算法的空洞探测

针对目前解决空洞探测算法复杂度高,近似解不能很好地逼近于最优解等问题,提出了一种基于人工鱼群算法解决空洞探测的方法。该方法将每一条鱼视为一个空洞,将理论时间与观测时间的误差作为鱼游动的标准,以鱼群逐渐向空洞实际位置游动对应的误差逐渐变小为基本思想,将在最小误差情况下对应的鱼群位置作为空洞位置。经计算仿真表明,该算法迭代次数少,复杂度低,能很好地逼近于最优解,是一种解决空洞探测的有效算法。     

A neuro-genetic-simulated annealing approach to the inverse kinematics solution of robots: a simulation based study

In this study, a hybrid intelligent solution system including neural networks, genetic algorithms and simulated annealing has been proposed for the inverse kinematics solution of robotic manipulators. The main purpose of the proposed system is to decrease the end effector error of a neural network based inverse kinematics solution. In the designed hybrid intelligent system, simulated annealing algorithm has been used as a genetic operator to decrease the process time of the genetic algorithm to find the optimum solution. Obtained best solution from the neural network has been included in the initial solution of genetic algorithm with randomly produced solutions. The end effector error has been reduced micrometer levels after the implementation of the hybrid intelligent solution system.     

A neuro-simulated annealing approach to the inverse kinematics solution of redundant robotic manipulators

The neural-network-based inverse kinematics solution is one of the recent topics in the robotics because of the fact that many traditional inverse kinematics problem solutions such as geometric, iterative and algebraic are inadequate for redundant robots. However, since the neural networks work with an acceptable error, the error at the end of inverse kinematics learning should be minimized. In this study, simulated annealing (SA) algorithm was used together with the neural-network-based inverse kinematics problem solution robots to minimize the error at the end effector. The solution method is applied to Stanford and Puma 560 six-joint robot models to show the efficiency. The proposed algorithm combines the characteristics of neural network and an optimization technique to obtain the best solution for the critical robotic applications. Three Elman neural networks were trained using separate training sets and different parameters, since one of them can give better results than the others can. The best result is selected within three neural network results by computing the end effector error via direct kinematics equation of the robotic manipulator. The decimal part of the neural network result was improved up to 10 digits using simulated annealing algorithm. The obtained best solution is given to the simulated annealing algorithm to find the best-fitting 10 digits for the decimal part of the solution. The end effector error was reduced significantly.     

基于改进MOEAD算法的主从式PID控制器参数寻优

为了有效解决电液伺服系统主从控制结构中主缸和从缸PID控制器的参数设定问题,提出了一种基于多目标优化算法与模型仿真相结合的求解方法。在该求解方法中,将参数设定问题建模为了一个多目标优化问题,其目标空间包括主从同步误差、调节时间、超调量和积分平方误差四个维度,建立了主从结构的PID控制仿真模型,来获取目标空间的目标值。改进了MOEAD算法,通过亲代选择以及子代生成算子选择强化算法子代的多样性,通过个体与权重向量的绑定机制和外部种群对无效权重向量的替换策略对原始算法中的权重向量进行重调整。由改进的MOEAD算法获取了最终的Pareto非支配解集,在最终解集中选取了拐点个体作为控制器的最优参数,提高了主从同步结构的控制品质。     

基于改进型粒子群算法的PID神经网络控制系统

针对传统的PID神经网络(PIDNN)应用范围受限及积分误差规则难以获取的问题.为实现对非线性多变量系统的有效控制,拓展神经网络控制系统的应用范围,提出了基于改进型粒子群算法在PID神经网络控制系统设计中的解决方案,取代了传统的BP反向传播算法.仿真结果表明,与传统的PIDNN相比,系统的稳定性、鲁棒性及精确性都有了明...     

八心圆弧拟合椭圆误差的理论解析及最优解及最优解

在数控加工领域,由于加工刀具一般采用的是球刀,因此在加工非圆的曲面时采 用的是用圆弧拟合的方法转换成圆弧加工,理论拟合精度决定了加工误差;圆弧拟合椭圆有无 数解,针对八心圆弧拟合椭圆没有准确的误差算法导致拟合椭圆的精度较模糊这一问题,根据 图形学理论提出了等差拟合弧的概念,确定了八心圆弧拟合椭圆的定解区间,导出了拟合椭圆 的八心圆弧法向误差超越方程解析式,并用二分法求解,在AutoCAD 环境下应用Visual LISP 语言编程,求解出根据法向误差确定八心圆弧拟合椭圆的最小误差带,从而确定八心圆弧拟合 椭圆的最优解,使八心圆弧是否可以拟合给定形状公差的椭圆有了准确的判断依据。     

自适应T样条曲面重建

为了进行快速高精度的曲面重建,提出了一种新的基于T样条的曲面自动重建算法。由于T样条控制网格具有特殊性质,因此在使用T样条进行曲面重建时,一个关键的问题是如何构造好一个T网格。该新算法在进行曲面重建时,用三角网格的参数化方法,先将数据点同胚映射到平面,然后再利用平面四叉树细分的方法将无结构散乱数据自动生成合理有效的T网格,最后将曲面重构模型转化为最优化问题,并由最小二乘法求解,同时在误差较大的区域辅以T样条的局部修正,以使重建曲面与原网格面的最大误差小于指定的误差值。由于该新的曲面重建方法是一个基于细节的重建方法,因此采样点密集区域所插入的T网格点也就相应地增多,这样既抓住了网格曲面的特征,又能很好地减少过多的T网格控制顶点,这就提高了算法效率。另外,该新算法还具有高效、易操作、能适应复杂曲面重建、曲面自动生成且满足相应精度要求等优点。重构结果显示,该新的曲面重建算法不仅重构应用范围广,且重构精度高。     

DCCP下的一种流媒体重传机制

由于差错重传机制存在各种缺点,并不适合流媒体传输,若它的处理过程占用最小网络带宽和时间,将大大提高流媒体的质量。提出了一种基于DCCP的源端控制的选择重传机制（TBSR）,其重传由决策算法决定,而发送速率和拥塞控制由TFRC控制。仿真结果表明,机制能大大提高流媒体视频质量。     

一种改进的正则图象

把正则图象的误差分成两部分：一部分为逼近误差，它是和原图象相关的确定型误差，另一部分为噪声传递误差，它是和噪声相关的随机型误差．通过正则图象代替原图象，求得逼近误差的近似值，然后将逼近误差近似值补给正则解，得到改进型正则解．对正则解以及逼近误差的计算，提出了快速算法，并有严密的理论推导．实验结果表明改进型正则图象的恢复效果优于传统正则解．在一敷的正则化方法中，可以借鉴本文提到的方法改进正则解．