Fast, large-scale model predictive control by partial enumeration

Partial enumeration (PE) is presented as a method for treating large, linear model predictive control applications that are out of reach with available MPC methods. PE uses both a table storage method and online optimization to achieve this goal. Versions of PE are shown to be closed-loop stable. PE is applied to an industrial example with more than 250 states, 32 inputs, and a 25-sample control horizon. The performance is less than 0.01% suboptimal, with average speedup factors in the range of 80-220, and worst-case speedups in the range of 4.9-39.2, compared to an existing MPC method. Small tables with only 25-200 entries were used to obtain this performance, while full enumeration is intractable for this example.     

Cubic Bézier approximation of a digitized curve

In this paper we present an efficient technique for piecewise cubic Bézier approximation of digitized curve. An adaptive breakpoint detection method divides a digital curve into a number of segments and each segment is approximated by a cubic Bézier curve so that the approximation error is minimized. Initial approximated Bézier control points for each of the segments are obtained by interpolation technique i.e. by the reverse recursion of De Castaljau's algorithm. Two methods, two-dimensional logarithmic search algorithm (TDLSA) and an evolutionary search algorithm (ESA), are introduced to find the best-fit Bézier control points from the approximate interpolated control points. ESA based refinement is proved to be better experimentally. Experimental results show that Bézier approximation of a digitized curve is much more accurate and uses less number of points compared to other approximation techniques.     

Target differentiation with simple infrared sensors using statistical pattern recognition techniques

This study compares the performances of various statistical pattern recognition techniques for the differentiation of commonly encountered features in indoor environments, possibly with different surface properties, using simple infrared (IR) sensors. The intensity measurements obtained from such sensors are highly dependent on the location, geometry, and surface properties of the reflecting feature in a way that cannot be represented by a simple analytical relationship, therefore complicating the differentiation process. We construct feature vectors based on the parameters of angular IR intensity scans from different targets to determine their geometry and/or surface type. Mixture of normals classifier with three components correctly differentiates three types of geometries with different surface properties, resulting in the best performance (100%) in geometry differentiation. Parametric differentiation correctly identifies six different surface types of the same planar geometry, resulting in the best surface differentiation rate (100%). However, this rate is not maintained with the inclusion of more surfaces. The results indicate that the geometrical properties of the targets are more distinctive than their surface properties, and surface recognition is the limiting factor in differentiation. The results demonstrate that simple IR sensors, when coupled with appropriate processing and recognition techniques, can be used to extract substantially more information than such devices are commonly employed for.     

Robust control of polytopic systems by convex optimization

Robust control synthesis of linear time-invariant SISO polytopic systems is investigated using the polynomial approach. A convex set of all stabilizing controllers for a polytopic system is given over an infinite-dimensional space. A finite-dimensional approximation of this set is obtained using the orthonormal basis functions and represented by a set of LMIs thanks to the KYP lemma. Then, an LMI based convex optimization problem for robust pole placement with sensitivity function shaping in two- and infinity-norm is proposed. The simulation results show the effectiveness of the proposed method.     

Information cut for clustering using a gradient descent approach

We introduce a new graph cut for clustering which we call the Information Cut. It is derived using Parzen windowing to estimate an information theoretic distance measure between probability density functions. We propose to optimize the Information Cut using a gradient descent-based approach. Our algorithm has several advantages compared to many other graph-based methods in terms of determining an appropriate affinity measure, computational complexity, memory requirements and coping with different data scales. We show that our method may produce clustering and image segmentation results comparable or better than the state-of-the art graph-based methods.     

3D model retrieval using principal plane analysis and dynamic programming

Three dimensional models play an important role in many applications; the problem is how to select the appropriate models from a 3D database rapidly and accurately. In recent years, a variety of shape representations, statistical methods, and geometric algorithms have been proposed for matching 3D shapes or models. In this paper, we propose a 3D shape representation scheme based on a combination of principal plane analysis and dynamic programming. The proposed 3D shape representation scheme consists of three steps. First, a 3D model is transformed into a 2D image by projecting the vertices of the model onto its principal plane. Second, the convex hall of the 2D shape of the model is further segmented into multiple disjoint triangles using dynamic programming. Finally, for each triangle, a projection score histogram and moments are extracted as the feature vectors for similarity searching. Experimental results showed the robustness of the proposed scheme, which resists translation, rotation, scaling, noise, and destructive attacks. The proposed 3D model retrieval method performs fairly well in retrieving models having similar characteristics from a database of 3D models.     

Robust pole clustering in a good ride quality region of aircraft for matrices with structured uncertainties

This paper presents a general analysis of robust pole clustering in a good ride quality region (GRQR) of aircraft for matrices with structured uncertainties. This region is an intersection of a ring and a horizontal strip, located in the left half-plane, which is a specific non-Ω-transformable region providing good ride quality of aircraft. The paper applies the Rayleigh principle along the norm theory to analyze robust pole clustering within this region since the generalized Lyapunov theory is not valid for non-Ω-transformable regions. Concerned uncertainties are structured/parametric uncertainties, including interval matrices. The results are useful for robust control analysis and design, especially, of robust good ride quality of aircraft, shuttles, vehicles and space station, as well as some industrial systems. An example of the F-16 dynamics for which GRQR is suitable is included to illustrate the results.     

基于GRACE的京津冀地下水储量变化

基于2003—2019年GRACE陆地水储量变化数据和全球陆地水文模型（global land data assimilation system,GLDAS）数据反演京津冀地下水储量变化,运用时空分析方法对地下水等效水高变化进行时空演变特征分析。在空间变化上,整个京津冀地下水等效水高变化速率约为-51.77 mm/a,其中：北京市变化速率最低,约为-38.15 mm/a;天津市变化速率最高,约为-62.85 mm/a;河北省变化速率与区域平均变化水平相当,约为-52.42 mm/a。基于Sen Slope和Mann-Kendall非参数检验法分析得出西部、西南部和中部地区地下水等效水高下降[JP]趋势最明显,东北部下降趋势最小。在时间变化上,地下水等效水高变化具有一定的季节性规律：夏季变化速率最大,约为-75.99 mm/a;冬季变化速率最小,约为-37.24 mm/a;春秋两季的变化速率大致相同,分别为-52.34 mm/a和-48.21 mm/a。在影响因素分析中,人类活动是引起京津冀地区地下水等效水高变化的主要因素。研究结果可为科学掌握京津冀地下水储量时空变化规律提供数据支撑。