Unscented Kalman filter with advanced adaptation of scaling parameter

The paper deals with state estimation of the nonlinear stochastic systems by means of the unscented Kalman filter with a focus on specification of the σ$\sigma$-points. Their position is influenced by two design parameters—the scaling parameter determining the spread of the σ$\sigma$-points and a covariance matrix decomposition determining rotation of the σ$\sigma$-points. In this paper, a choice of the scaling parameter is analyzed. It is shown that considering other values than the standard choice may lead to increased quality of the estimate, especially if the scaling parameter is adapted. Several different criteria for the adaptation are proposed and techniques to reduce computational costs of the adaptation are developed. The proposed algorithm of the unscented Kalman filter with advanced adaptation of the scaling parameter is illustrated in a numerical example.     

带观测滞后和不确定噪声方差的多智能体传感网络鲁棒序贯协方差交叉融合Kalman滤波

针对带观测滞后和不确定噪声方差的分簇多智能体传感网络系统,研究鲁棒序贯协方差交叉融合Kalman滤波器的设计问题.应用最邻近法则,传感网络被分成簇.应用极大极小鲁棒估计原理,基于带噪声方差最差保守上界的最差保守传感网络系统,提出了两级序贯协方差交叉(SCI)融合鲁棒稳态Kalman滤波器,可减小通信和计算负担并节省能量,且保证实际滤波误差方差有一个最小保守上界.一种Lyapunov方程方法被提出用于证明局部和融合滤波器的鲁棒性.提出了鲁棒精度的概念且证明了局部和融合鲁棒Kalman滤波器的鲁棒精度关系.证明全局SCI融合器的鲁棒精度高于每簇SCI融合器的精度且两者的鲁棒精度都高于每个局部鲁棒滤波器的精度.一个跟踪系统的仿真例子证明了鲁棒性和鲁棒精度关系.     

参数化的Deslauriers-Dubuc插值小波——构造及图像编码性能分析

研究了采用提升构造具有任意偶数阶消失矩, 满足对称性, 且仅用一个自由参数表达的 Deslauriers-Dubuc (D-D)双正交插值小波. 首先,采用多相矩阵理论推导出了此类小波存在的条件; 然后,给出了对应小波滤波器和插值小波变换的构造算法. 采用算法具体构造了分别具有消失矩对(4, 2)、(4, 4)、(6, 2)以及(6, 4) 等4类一参数表达的D-D插值小波; 最后, 以自由参数为自变量, 根据编码增益准则, 优化设计了4种用于图像编码的插值小波, 其滤波器系数全为二进制分数, 可实现非乘法运算的离散小波变换(Discrete wavelet transform, DWT). 系统分析表明, 两种小波的压缩性能超过CDF-9/7小波, 对于纹理图像, PSNR增益达到0.44.dB, 并且计算复杂度可降低17%以上. 实验同时表明, 新小波的重构图像具有更好的主观可视质量.     

Efficient material design for diesel particulate filters

This paper will give an overview about the filter development for diesel particulate emission control in automotive applications. The material development for passenger car diesel particulate filters led to new materials like silicon carbide while for heavy duty applications still Cordierite plays a major role. But in the future other materials might also be used for passenger cars. This paper will show the basic difference between both applications and describe the material design in terms of filter properties (base material, back pressure aspects, filtration efficiency, coating impact). Current application on vehicles with catalysed soot filters (CSF) with and without oxidation catalyst will be presented. Furthermore an outlook will be given on materials for catalysed soot filters for the future.     

基于硬件Kalman滤波器的航拍云台姿态获取

航拍云台姿态获取是航空摄影中相机姿态校正的基本依据,介绍了一种基于硬件Kalman滤波器的航拍云台姿态获取的实现方法。设计中采用MPU6050作为系统的姿态传感器,它提供三轴角速度和三轴加速度数据。根据系统特征建立Kalman滤波方程对这些数据进行数据融合处理,Kalman滤波过程中的加减乘除浮点数运算由FPGA实现,外部数据的采集和时序的控制也由FPGA完成。经过对实际数据的处理实验,得出该硬件模块可以获得较为准确的航拍云台姿态,输出结果误差在-1.5°~1.5°范围内。     

免疫荧光定量分析仪设计

设计了免疫荧光定量分析仪,用以对人体血液和尿液中的各种分析物(CRP、PCT、NTpro BNP、c Tn I等)含量进行快速准确的定量分析。光源采用大功率LED灯珠,采用窄带干涉滤光片对激发光和荧光进行滤光,采用内置运放的光电转换芯片OPT101进行荧光强度的检测。采用步进电机驱动,皮带传动方式带动双排滚珠宽体滑块在单根精密直线导轨上滑动,实现对检测样品的扫描式检测。通过与标准仪器进行对比试验,结果表明样机在小型化、快速性以及低成本的基础上,测量结果准确,测量精度高,稳定性好,能满足临床应用要求。     

珍珠岩助滤剂在天然卤水精制中的应用

通过实验 ,得出在天然卤水制小苏打的生产过程中 ,使用珍珠岩助滤剂对天然卤水精制是可行的。     

工业污水深度处理回用技术研究

通过对石化企业工业污水进行曝气生物滤池、连续微滤、反渗透等深度处理,使出水满足工业化用水的水质要求,从而得以回用。     

Detecting similarities in virtual machine behavior for cloud monitoring using smoothed histograms

The growing size and complexity of cloud systems determine scalability issues for resource monitoring and management. While most existing solutions consider each Virtual Machine (VM) as a black box with independent characteristics, we embrace a new perspective where VMs with similar behaviors in terms of resource usage are clustered together. We argue that this new approach has the potential to address scalability issues in cloud monitoring and management. In this paper, we propose a technique to cluster VMs starting from the usage of multiple resources, assuming no knowledge of the services executed on them. This innovative technique models VMs behavior exploiting the probability histogram of their resources usage, and performs smoothing-based noise reduction and selection of the most relevant information to consider for the clustering process. Through extensive evaluation, we show that our proposal achieves high and stable performance in terms of automatic VM clustering, and can reduce the monitoring requirements of cloud systems.