A nonsmooth IMC method for mechanical systems with backlash

This paper proposes a discrete-time nonsmooth internal model control （NSIMC） approach for mechanical transmission systems described by so-called sandwich system with backlash. In this method, a dynamic compensator is introduced to compensate for the effect of the input linear subsystem. Thus, the sandwich systems with backlash can be simplified as a pseudo-Hammerstein system with backlash. The corresponding NSIMC strategy is designed to control this system. The design procedure of the controller is presented based on the analysis on the robust stability by considering the model errors involved with the effect of backlash as well as the compensated error of the input linear subsystem. Moreover, as the model is switched among the different operating zones, the robust filters are proposed to guarantee the robust stability and satisfactory control performance of the system.     

Nonsmooth identification of mechanical systems with backlash-like hysteresis

Backlash-like hysteresis is one of the nonsmooth and multi-valued nonlinearities usually existing in mechanical systems. The traditional identification method is quite difficult to be used to model the systems involved with such complex nonlinearities. In this paper, a nonsmooth recursive identification algorithm for the systems with backlash-like hysteresis is proposed. In this method, the concept of Clarke subgradient is introduced to approximate the gradients at nonsmooth points and the so-called bundle method is used to obtain the optimization search direction in nonsmooth cases. Then, a recursive algorithm based on the idea of bundle method is developed for parameter estimation. After that, the convergence analysis of the algorithm is investigated. Finally, simulation results to validate the proposed method on a simulated mechanical transmission system are presented.     

Multiconsensus of second order multiagent systems with directed topologies

A novel multiconsensus problem is introduced in multiagent systems. The states of multiple agents in each subnetwork asymptotically converge to a consistent value with information exchanges among subnetworks. The multiconsensus problem of second order multiagent systems with directed topologies is studied. Three linear protocols are proposed to solve the multiconsensus problem. Necessary and sufficient conditions are derived based on matrix theory. Simulations are provided to demonstrate the effectiveness of the theoretical results.     

一种基于FPGA的多通道数据采集系统的性能分析方法

以多路复用选择器作为模拟信号的输入端口,从而实现多路模拟信号的采集,再通过一定的信号滤波处理来确保最有效的模拟信号进入模数转换器中,经过转换,输出的数字量可暂存在FPGA的缓存区中,整个过程都是由FPGA来控制。最后,采用DAC-ADC间联调,比较结果,可以清楚地看到ADC的最终结果在14位。     

Image mosaicking for polyhedral scene and in particular singly visible surfaces

Image mosaic construction is about stitching together a number of images about the same scene to construct a single image with a larger field of view. The majority of the previous work was rooted at the use of a single image-to-image mapping termed planar homography for representing the imaged scene. However, the mapping is applicable only to cases where the imaged scene is either a single planar surface, or very distant from the cameras, or imaged under a pure rotation of the camera, and that greatly limits the range of applications of the mosaicking methods. This paper presents a novel mosaicking solution for scenes that are polyhedral (thus consisting of multiple surfaces) and that are pictured possibly in closed range of the camera. The solution has two major advantages. First, it requires only a few correspondences over the entire scene, not correspondences over every surface patch in it to work. Second, it conquers a seemingly impossible task—warping image data of surfaces that are visible in only one of the input images, which we refer to as the singly visible surfaces, to another viewpoint to constitute the mosaic there. We also provide a detail analysis of what determines whether a singly visible surface could be mosaicked or not. Experimental results on real image data are presented to illustrate the performance of the method.     

Color segmentation robust to brightness variations by using B-spline curve modeling

Color segmentation takes a great attention because color is an effective and robust visual cue for characterizing an object from the others. However, color segmentation suffers from color variations incurred by irregular illumination changes. We propose a reliable color modeling approach in hue–saturation–intensity (HSI) color space while considering intensity information by adopting the B-spline curve fitting to make a mathematical model for statistical characteristics of a color with respect to intensity. It is based on the fact that color distribution of a single-colored object is not invariant with respect to brightness variations even in the HS (hue–saturation) plane. The statistical characteristics contain the mean and standard deviation of hue and saturation with respect to intensity. They are mathematically expressed as four bar graphs. In order to fit the bar graphs to continuous curves, we use B-spline curve fitting procedure. From several experimental results, we verify that the proposed algorithm is successfully applied to color segmentation under various illumination conditions.     

基于模糊自适应免疫算法的非线性系统模型参数估计

复杂生产工艺中非线性系统的模型参数估计是系统建模优化问题中的难点, 为避免优化算法过早收敛于错误的参数估计值, 根据生物免疫机理和模糊逻辑原理提出了一种新颖的模糊自适应免疫算法, 该算法采用混沌超变异操作增强算法搜索能力, 并用免疫网络调节策略保持抗体群的多样性, 同时采用模糊逻辑调节算法参数以提高算法的自适应能力. 函数优化仿真结果表明其具有较好的收敛性能, 并能够克服早收敛问题. 最后将其成功应用于重油热解非线性模型参数估计中, 验证了该算法解决实际建模问题的可行性和有效性.     

有机磷水解酶生物传感器载体固定化酶的研究

有机磷水解酶（OPH）传感器作为检测农产品中农药残留的新型检测装置,其酶的固定化对OPH传感器的灵敏度和稳定性有重要的影响。研究了几种酶固定化载体、孔径大小、固定方式、固定方法（试剂组成）对传感器pH值的影响。结果显示：采用孔径为0.45μm的硝酸纤维素膜制备固定化酶片的pH值要大于其余几种;采用浸泡方式制备固定化酶片的pH值明显大于传统的滴定法;采用牛血清白蛋白（BSA）、戊二醛交联固定的效果优于酶直接吸附法和BSA固定法,且当戊二醛体积分数为2.5％,BSA为10％时,酶固定化效果最好。     

CCD摄像机标定

在基于单目视觉的农业轮式移动机器人自主导航系统中,CCD摄像机标定是农业轮式移动机器人正确和安全导航的前提和关键。摄像机标定确立了地面某点的三维空间坐标与计算机图像二维坐标之间的对应关系,机器人根据该关系计算出车体位姿值自主导航。因此,根据CCD摄像机针孔成像模型,利用大地坐标系中平面模板上已知的各点坐标,建立与计算机图像空间中各对应像素值之间的关系方程组,在Matlab环境下拟合出摄像机各内外参数。实验结果表明：该方法可以正确完成CCD摄像机标定。