Asymptotic switched composite adaptive control with application to robotic interaction tasks

This article proposes a new switched adaptive control design for uncertain switched systems with composite (time-driven and state-dependent) switching and shows its applicability in switched impedance control. A composite switched adaptive control design, consisting of the direct switched adaptive control and the indirect switched adaptive control counterpart, is developed to improve the control performance. Specifically, a new stability condition for composite switching is proposed by making use of differential matrix equations and Sylvester matrix equations, which are a generalization of Lyapunov matrix equations. The design results in a time-varying multiple Lyapunov function that is decreasing at the switching instants. From the theoretical point of view, the relevance of this work is the construction of the adaptive laws that guarantee asymptotic tracking error and asymptotic estimation for the direct and indirect switched adaptive control loops, respectively. From the practical point of view, the relevance of this work is validated in a new switched impedance control for the robot interaction with uncertain and discontinuous environments.     

A novel approach of data race detection based on CNN-BiLSTM hybrid neural network

Neural Computing and Applications - Existing data race detection approaches based on deep learning are suffering from the problems of unique feature extraction and low accuracy. To this end, this...     

Ultrafast measurement of transient electroosmotic flow in microfluidics

We present a non-intrusive molecular dye based method, i.e., laser-induced fluorescence photobleaching anemometer (LIFPA), to significantly increase temporal resolution (TR) for velocity measurement of fast transient electrokinetic flows. To our knowledge, the TR has been for the first time achieved to 5–10 μs, about 100 times better than that published from state-of-the-art micro particle image velocimetry (μPIV), which is currently the most widely used velocimetry in the microfluidics community. The new method provides us with new opportunities to study experimentally the fundamental phenomena of unsteady electrokinetics (EK) and to validate relevant theoretical models. One application of the new method is demonstrated by measuring the rise time of DC electroosmotic flows (EOFs) in a microcapillary of 10 μm in diameter.     

余度IMU精度分析与数据融合方法改进

针对现有余度IMU（inertial measurement unit）数据融合精度不高的问题,在对六单轴传感器非正交配置的余度IMU数据融合特性及测量误差与融合误差之间关系进行研究的基础上,提出了1种基于最小二乘简单、有效的余度传感器测量误差估计及数据融合方法。首先对最小二乘融合的空间矢量在测量轴上的投影与测量值之间的误差进行方差统计,统计结果作为传感器测量误差估计的依据及加权最小二乘的权值参考。然后利用加权最小二乘对传感器测量数据进行融合。仿真结果表明：该方法能有效估计传感器测量误差大小,提高余度IMU数据融合及余度惯性导航系统精度。     

基于Zigbee的无线粮情监控网络中测量节点的设计

针对传统有线粮情监控系统存在的缺陷,提出"平面分离、上下贯通"的无线粮情监控网络的设计思路,实现了设计目标的基本单元测量杆的功能结构,规划了基于Zigbee的无线粮仓温湿度监控网络.根据节能需求将无线监控网络中的节点分为测量节点和路由节点,完成了测量节点的接口电路和主程序设计,并对测量节点中的关键技术进行了阐述.     

Fast k-nearest neighbor search algorithm based on pyramid structure of wavelet transform and its application to texture classification

Traditional fast k-nearest neighbor search algorithms based on pyramid structures need either many extra memories or long search time. This paper proposes a fast k-nearest neighbor search algorithm based on the wavelet transform, which exploits the important information hiding in the transform coefficients to reduce the computational complexity. The study indicates that the Haar wavelet transform brings two kinds of important pyramids. Two elimination criteria derived from the transform coefficients are used to reject those impossible candidates. Experimental results on texture classification verify the effectiveness of the proposed algorithm.     

Comparison of two novel MRAS based strategies for identifying parameters in permanent magnet synchronous motors

Two model reference adaptive system (MRAS) estimators are developed for identifying the parameters of permanent magnet synchronous motors (PMSM) based on the Lyapunov stability theorem and the Popov stability criterion, respectively. The proposed estimators only need online measurement of currents, voltages, and rotor speed to effectively estimate stator resistance, inductance, and rotor flux-linkage simultaneously. The performance of the estimators is compared and verified through simulations and experiments, which show that the two estimators are simple, have good robustness against parameter variation, and are accurate in parameter tracking. However, the estimator based on the Popov stability criterion, which can overcome parameter variation in a practical system, is superior in terms of response speed and convergence speed since there are both proportional and integral units in the estimator, in contrast to only one integral unit in the estimator based on the Lyapunov stability theorem. In addition, the estimator based on the Popov stability criterion does not need the expertise that is required in designing a Lyapunov function.     

基于ARM9的航空相机测控系统设计与实现

性能测试是航空数码相机生产和装备过程中非常重要的一个环节,对其的使用评估有着不可替代的作用;以三星的ARM9处理器S3C2440A和Windows CE操作系统为核心,结合现代接口技术,介绍了某型航空数码相机地面检测系统总体设计思路和系统构成,重点分析了主体电路的硬件设计和Windows CE系统下相关软件的编写;通过BCD拨码器,串口电路,处理器和LED数码管组成模块模拟飞行状态输入和显示,编写相关软件完成了图像数据的格式转变和实时显示;实际使用结果显示,该检测系统运行稳定可靠,具有一定的实用性和参考价值。     

智能引爆机器人的研究与制作

为了代替人类完成危险情况下的工作任务,例如,进行危桥、危楼的爆破,危险环境下重要物品的拾取等;研究与制作了基于单片机技术和RS232串口通信技术的远程遥控引爆机器人;重点解决智能引爆机器人上位机控制软件的开发、RS232串口通信技术、单片机及传感器电路设计、无线摄像头的数据采集、多自由度机械手的设计等技术模块,利用Pro/E对机械结构仿真设计及Protel99se进行硬件电路仿真设计;通过机械结构和电子电路仿真,设计并制作了机器人实体结构和控制系统硬件电路,经过多次实物实验,设计制作的机器人能圆满地实现预期功能,控制系统运行状态良好.