Part-based adaptive detection of workpieces using differential evolution

In many industrial applications, detection of workpieces is the prerequisite of the subsequent operations such as automatic grasping and assembly tasks. However, the detection of workpieces under challenging conditions such as occlusion and cluttered background is still an open problem, which needs better solutions and further investigations. In this paper, a part-based adaptive detection approach is proposed to deal with abovementioned problems. The whole workpiece template is automatically divided into multiple subtemplates, which are equipped with adjustable weights adjusted according to their discriminative abilities. Then the weight adjustment process and the object localization process are finally embedded in an optimization framework—Differential Evolution (DE), which finally leads to the detection of workpieces. Experimental results demonstrate the effectiveness and robust performance of the proposed algorithm under challenging conditions.     

Integrated control and mechanism design for the variable input-speed servo four-bar linkages

This paper presents an integrated design approach for variable input-speed servo four-bar linkages. In order to satisfy the kinematic requirements, to reduce the shaking force and moment, to improve the speed trajectory tracking performance and to minimize the motor power dissipation, the dimensions of the links, the counterweights, the input-speed trajectory and the controller parameters are considered as the design variables simultaneously. The proposed integrated design approach is introduced and formulated with the optimization design problem. Examples are given to compare the results of the proposed design approach with the other two approaches and demonstrate the feasibility of the proposed integrated design approach.     

A novel approach for coefficient quantization of low-pass finite impulse response filter using differential evolution algorithm

Evolutionary computational techniques have been employed judiciously in various signal processing applications of late. In this paper, such an attempt has been made to design a low-pass linear-phase multiplier-less finite duration impulse response (FIR) filter using differential evolution (DE) algorithm. This particular evolutionary optimization technique has been explored to search the impulse response coefficients of the FIR filter in the form of sum of power of two (SPT) in order to avoid the multipliers during design process. The performance of the designed low-pass filter has been studied thoroughly in terms of its frequency characteristics and primitive requirement of fundamental hardware blocks. The superiority of our design has been ascertained over a number of existing techniques by various means. Finally, the proposed filter of different lengths has been implemented on a field programmable gate array (FPGA) chip for evaluating the competency of this work. The percentage improvement in hardware complexity produced by our design has also been computed and clearly listed in this paper for convenience.     

一种信道自适应的无线视频流差错控制机制

提出了一种自适应的无线视频流差错保护方法。该方法充分考虑MPEG-4FGS码流细粒度可扩展的特性,根据码流的重要性程度采用不等的保护措施,同时能够自适应地根据无线信道的具体状况,将信道带宽在MPEG-4FGS信源编码速率和信道编码速率之间进行最优化分配,使得接收端能获得最佳的重建视频质量。实验结果表明,在各种不同信道状况下,与均等错误保护和固定的不等错误保护方法相比,该方法均可获得更好的性能。     

Sensorless control of salient PMSM with adaptive integrator and resistance online identification using strong tracking filter

This article presents a sensorless control approach of salient PMSM with an online parameter identifier. Adaptive Integrator is proposed and utilised for the estimation of active flux and rotor position. As a result, integrator overflow caused by DC offset is avoided. Meanwhile, an online stator resistance identification algorithm using strong tracking filter is employed, and the identified stator resistance is fed back to the estimating algorithm. Thus, the estimating algorithm can calculate the rotor position correctly. Simulations and experimental results validate the feasibility of both adaptive integrator and the parameter identification method.     

基于自适应差分进化算法的拉曼放大器设计

为满足下一代6G网络对光通信网络提出的传输容量大、速率高及传输时延低的要求,本文将碲酸盐光纤作为光纤增益介质,并利用自适应差分进化(adaptive differential evolution,ADE)算法 对拉曼光纤放大器(Raman fiber amplifier,RFA) 的泵浦参数进行优化。该算法通过引入自适应算子控制变异率的大小,在保持个体多样性的同时增强全局搜 索最优解的能力。最终设计出一款覆盖100 nm带宽范围、平均增益为28.27 dB、增益平坦度为 0.65 dB的多泵浦RFA。同时,在该模型基础上分别研究了泵浦功率和光纤长度对拉曼放大器增益及增益平坦度的影响,为设计和优化多泵浦拉曼放大器模型提供了参考。     

基于差分演化算法的FBG参数重构技术

文章提出了一种基于差分演化算法的光纤布拉格光栅(FBG)参数重构技术.基于均匀FBG的目标反射谱,可利用差分演化算法寻找一组光栅参数,根据这组参数计算得到的反射谱与目标反射谱偏差最小,该组参数即为重构的光纤光栅参数.数值实例表明,差分演化算法计算效率高,结果精确,是一种实用的参数重构方法.     

A novel transmitter architecture for combined baseband data and subcarrier-multiplexed control links using differential Mach-Zehnder external modulators

We propose, analyze, and demonstrate a novel transmitter architecture for links that support transmission of base-band data and subcarrier multiplexed control channels. The architecture utilizes a differential external integrated-optic modulator to electrooptically combine the base-band and subcarrier multiplexed data onto an optical carrier. An analytical model is presented that allows optimization of the SNR of the received base-band and control data channels based on modulation parameters. This optimization is based on tradeoffs that result when the base-band and subcarrier channel are combined using a nonlinear modulator transfer function. We experimentally demonstrate a link based on this architecture with 2.5-Gb/s base-band and 100-Mb/s control data multiplexed on a 5.5-GHz subcarrier. Analytical and measured experimental results are compared and are shown to be in good agreement.     

Indirect torque control of switched reluctance motors using iterative learning control

This paper proposes the use of iterative learning control (ILC) in designing a torque controller for switched reluctance motors (SRMs). The demanded motor torque is first distributed among the phases using a torque-sharing function. Following that, the phase torque references are converted to phase current references by a torque-to-current converter and the inner current control loop tracks the phase current references. SRM torque is a highly nonlinear and coupled function of rotor position and phase current. Hence, the phase current references for a given demanded torque can not be obtained analytically. Assumption of linear magnetization characteristics results in an invertible torque function. However, the nominal phase current references obtained using this torque function will lead to some torque error as motor enters into magnetic saturation. For a constant demanded torque, the error in the phase current references will be periodic with rotor position. Hence, we propose to use ILC to add a compensation current to the nominal phase current references so that torque error is eliminated. Similarly, current tracking for the nonlinear and time-varying system is achieved by combining a simple P-type feedback controller with an ILC controller. The proposed scheme uses ILC to augment conventional feedback techniques and hence, has better dynamic performance than a scheme using only ILC. Experimental results of the proposed scheme for an 8/6 pole, 1-hp SRM show very good average as well as instantaneous torque control.     

Planar antenna pattern nulling using differential evolution algorithm

Differential evolution algorithm is used for the pattern synthesis of planar antenna arrays with prescribed pattern nulls by position-only and position-amplitude optimization. The position-only optimization for a planar array allows null synthesis in any prescribed direction. For planar antenna array thinning it is necessary to use position-amplitude optimization for problems involving more than two nulls.     

Registration of image feature points using differential evolution

Registrationoffeaturepointsisacommonproblemof imageregistration[1,2].Theproblemaddressedinthispaperistosearchfortheoptimaltransformationthat makesthebestalignmentoftwofeaturepointsetswith outcorrespondences.Theregistrationofpointsetscanbeformulatedintermsofglobaloptimizationwhicha voidsbothlocalentrapmentandexhaustivesearch.In theframeworkofoptimization,theobjectivefunctiontobeminimizedisusuallymappedtothesimilaritybe tweenthepointsets,whilethefunctionalvariablesare thetransformationparamet…     

TRACE: time reservation using adaptive control for energy efficiency

Time reservation using adaptive control for energy efficiency (TRACE) is a time frame based media access control (MAC) protocol designed primarily for energy-efficient reliable real-time voice packet broadcasting in a peer-to-peer, single-hop infrastructureless radio network. Such networks have many application areas for various scenarios that obey a strongly connected group mobility model, such as interactive group trips, small military or security units, and mobile groups of hearing impaired people. TRACE is a centralized MAC protocol that separates contention and data transmission, providing high throughput, bounded delay, and stability under a wide range of data traffic. Furthermore, TRACE uses dynamic scheduling of data transmissions and data summarization prior to data transmission to achieve energy efficiency, which is crucial for battery operated lightweight radios. In addition, energy dissipation is evenly distributed among the nodes by switching network controllers when the energy from the current controller is lower than other nodes in the network, and reliability is achieved through automatic controller backup features. TRACE can support multiple levels of quality-of-service, and minimum bandwidth and maximum delay for voice packets are guaranteed to be within certain bounds. In this paper, we describe TRACE in detail and evaluate its performance through computer simulations and theoretical analysis.     

Robust adaptive sliding-mode control using fuzzy modeling for aninverted-pendulum system

In this paper, a new robust adaptive control architecture is proposed for operation of an inverted-pendulum mechanical system. The architecture employs a fuzzy system to adaptively compensate for the plant nonlinearities and forces the inverted pendulum to track a prescribed reference model. When matching with the model occurs, the pendulum will be stabilized at an upright position and the cart should return to its zero position. The control scheme has a sliding control input to compensate for the modeling errors of the fuzzy system. The gain of the sliding input is automatically adjusted to a necessary level to ensure the stability of the overall system. Global asymptotic stability of the algorithm is established via Lyapunov's stability theorem. Experiments on an inverted-pendulum system are given to show the effectiveness of the proposed control structure     

Piezoelectrically actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax

In this paper, a piezoelectrically actuated four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax for stroke amplification. PZT-5H- and PZN-PT-based unimorph actuators are utilized at the input link of the four-bar for a compact and lightweight thorax transmission mechanism. The kinematics and dynamics of the proposed wing structure with two parallel four-bar mechanisms are analyzed, optimal four-bar link size selection method is introduced, and quasistatic forces generated at the wing are computed for evaluating the feasibility of the design. Using laser micromachining and folding techniques, prototype four-bar structures are constructed. In the experiments, for a 10/spl times/1/spl times/0.12 mm/sup 3/ PZT-5H actuator-based four-bar mechanism, the stroke amplification of around 20 - 25 is held, and an attached polyester wing is resonated at 29 Hz with around 90/spl deg/ flapping motion. These results match closely with the predicted theoretical values.     

一种新的802.15.4 CSMA/CA信道接入机制

为了提高IEEE 802.15.4信道接入机制的性能,文中提出一种全新并且准确的马尔科夫链模型,该模型在原有基本模型的基础上加入了基于空闲状态的建模。根据马尔科夫链的基本准则推导出了稳态分布概率,并且得出饱和吞吐量的公式。数学分析结果表明,新机制的性能明显优于基本MAC机制。     

基于专家控制的无线网络拥塞控制机制的研究

由于无线网络中存在高误码、信号衰落、切换等原因，使得传统TCP的应用受到了挑战。本文提出了将专家控制用于无线网络的拥塞控制方案，它通过推理判断，确定当前的TCP连接状况，进而区分网络拥塞和无线链路差错，然后再针对不同的原因，选取正确的控制策略实施拥塞控制。仿真结果表明，该方法增强了网络对拥塞以及随机差错的实时处理能力，提高了网络的吞吐量，算法本身具有较强的顽健性。     

New adaptive law for robust adaptive control

The authors present a new adaptive law for robust adaptive control, using the e²-modification term in place of the e-modification term in the adaptive law, to improve the robustness of the adaptive system. Simulation results show that the adaptive law with the e²-modification yields improved performance as compared with the e-modification     

An adaptive checker for the fully differential analog code

This paper discusses the design of an adaptive checker for concurrent error detection in fully differential analog circuits. The checker monitors the fully differential analog code, which states that, in nominal operation, the common mode signal of any symmetric node pair remains within a narrow band around the quiescent DC bias. The checker measures the common mode voltage and reports an error whenever the measured value exceeds a threshold. Its key feature is that this comparison threshold is dynamically adjusted in order to lower the probability of false alarms. The design was fabricated in a 0.5-/spl mu/m CMOS technology. The chip test results prove the feasibility of the adaptive thresholding concept.