双足机器人稳定步行模式预测控制实现方法的研究

针对现有的预测控制生成步行模式方法中忽略了参数间关系和参数取值范围的问题进行探讨.预测控制通过控制质心运动生成步行模式以实现ZMP目标轨迹跟踪,根据预测控制器模型研究参数间的关系,并通过极点分析讨论其取值范围,提出关键参数在容许取值范围内,可以保证系统的稳定性,并生成满足稳定步行的质心运动.通过仿真实验分析了在存在扰动情况下,关键参数取适当值,能够生成稳定的步行模式.     

One-shot methods in function space for PDE-constrained optimal control problems

We state and analyse one-shot methods in function space for the optimal control of nonlinear partial differential equations (PDEs) that can be formulated in terms of a fixed-point operator. A general convergence theorem is proved by generalizing the previously obtained results in finite dimensions. As application examples we consider two nonlinear elliptic model problems: the stationary solid fuel ignition model and the stationary viscous Burgers equation. For these problems we present a more detailed convergence analysis of the method. The resulting algorithms are computationally implemented in combination with an adaptive mesh refinement strategy, which leads to an improvement in the performance of the one-shot approach.     

基于对称KL距离的自适应粒子滤波算法

针对粒子滤波算法中粒子数自适应的问题,提出了一种新的算法.将当前滤波时刻的粒子随机划分为粒子数相同的两个粒子群,并采用对称KL距离方法计算他们之间的信息距离,然后根据信息距离的大小决定增加或者减少下一时刻参与滤波的粒子数,从而实现了滤波过程中粒子数目的自适应.该方法在确保一定滤波精度的基础上,能够减少滤波过程中需要的粒子数,为降低粒子滤波算法的时间复杂度提供了新的途径.仿真结果表明了算法的有效性.     

Vehicle Dynamics Modeling and Simulation for ACC

A 7 degree-of-freedom (DOF) 4 wheels vehicle dynamics model based on Matlab-Simulink is established,and 7 DOF vehicle dynamics equations in the form of nonlinear state-space standards are given.The characters of the electronic throttle and the active braking system have been analyzed.And the electronic throttle model and the active braking system model are built according to the test results respectively.Off-line simulation results indicate that the model is suitable for the vehicle adaptive cruise control ...     

3-D direct current resistivity forward modeling by adaptive multigrid finite element method

Based on the fact that 3-D model discretization by artificial could not always be successfully implemented especially for large-scaled problems when high accuracy and efficiency were required, a new adaptive multigrid finite element method was proposed. In this algorithm, a-posteriori error estimator was employed to generate adaptively refined mesh on a given initial mesh. On these iterative meshes, V-cycle based multigrid method was adopted to fast solve each linear equation with each initial iterative term interpolated from last mesh. With this error estimator, the unknowns were nearly optimally distributed on the final mesh which guaranteed the accuracy. The numerical results show that the multigrid solver is faster and more stable compared with ICCG solver. Meanwhile, the numerical results obtained from the final model discretization approximate the analytical solutions with maximal relative errors less than 1%, which remarkably validates this algorithm.     

基于近邻消息传递的自适应局部线性嵌入

针对局部线性嵌入(LLE)降维算法中邻域参数的人工设定及其全局性的缺陷,研究了聚类和降维的内在联系,提出了邻域参数的自适应选取策略,构建了一种聚类和降维的自适应局部线性嵌入(ALLE)算法,为每个样本点设计最佳的近邻搜索空间,自适应选取邻近点计算权值重建矩阵,基于类信息重新定义了重构误差函数。实验表明,新算法更能体现出数学上流形概念的局部坐标化本质,对不相关数据、冗余数据和噪声数据具有良好的鲁棒性,在实际识别问题中体现出优越的性能。     

基于侧抑制的红外图像自适应预处理

针对复杂海空背景下的红外图像,提出了一种基于侧抑制的红外图像自适应预处理的方法。根据不同背景图像方差加权信息熵的变化,建立了方差加权信息熵与侧抑制网络作用调节因子的对应关系。通过对不同实际场景自适应地调整侧抑制网络作用强度,实现了不同背景条件下实时红外序列图像的自适应处理。仿真实验表明,该方法能有效提高杂波背景下图像的信杂比,具有突出目标特征和适应复杂背景的能力。     

基于神经网络的图像亮度和对比度自适应增强

提出一种高频增强与神经网络相结合的图像亮度和对比度自适应增强方法。利用均值滤波获取原始图像的低频分量,由原始图像与低频分量的差值获取图像的高频分量。同时引入神经网络方法,建立图像的灰度均值、标准偏差与亮度和对比度两个增强系数的非线性映射关系,根据图像本身的均值与标准偏差自动获取增强系数,从而实现图像的亮度和对比度的自适应增强。该方法计算量小,实时性强,对亮度和对比度都较低的图像增强效果较好,可用于图像动态检测系统。为了验证算法的可行性,将所提出的方法应用到货车故障动态图像检测系统(TFDS)所采集的动态图像处理中,获得了好的效果。     

基于H.264/AVC的自适应快速多参考帧选择算法

在不同尺寸块编码模式下,时域和空域运动相关性对最优参考帧选取的影响是不同的.本文通过分析视频序列的统计特性和视频帧内的空间相关性,提出了一种基于运动相关性的自适应多参考帧快速选择算法.该算法根据视频序列自身特征,自适应地去除不必要的参考帧,降低编码复杂度.实验结果显示,在保证编码质量的前提下,本算法平均可以节省编码时间40%以上.