Observer‐based fault estimators using iterative learning scheme for nonlinear time‐delay systems with intermittent faults

This paper deals with the intermittent fault estimation problem for a class of nonlinear time‐delay systems with measurement noise. The time delays are assumed to occur in state vector, nonlinear term as well as output vector, thus reflecting the time delays influence in reality more closely. The aim of the problem is to estimate the intermittent fault by using iterative learning scheme, with the property of index, hence attenuating the influence from measurement noise. Different from existing fault estimating schemes, the state error information and fault estimating information in the previous iteration are used in the current iteration to improve the estimating results. The stability and convergence of iterative learning observer and uniform boundedness of dynamic error system are achieved by using Lyapunov function and optimal function design. Simultaneously, an improved sufficient condition for the existence of such an estimator is established in terms of the linear matrix inequality by the Schur complements and Young relations. Furthermore, the results are both suited for the systems with time‐varying delay and the systems with constant delay. Finally, two numerical examples are proposed to illustrate the effectiveness of the proposed method, and a comparability example is presented to demonstrate its superiority. Copyright © 2017 John Wiley & Sons, Ltd.     

颅骨点云模型的局部特征配准方法

目的 点云配准是计算机视觉领域里的一个研究热点,其应用领域涉及3维重建、目标识别、颅面复原等多个方面。颅骨配准是颅面复原的一个重要步骤,其配准的正确与否将直接影响到颅面复原的结果。为了提高颅骨配准的精度和收敛速度,提出一种基于局部特征的颅骨点云模型配准方法。方法 首先提取颅骨点云模型的局部深度、法线偏角和点云密度等局部特征;然后计算局部特征点集的相关性,得到相关候选点集,并通过删减外点实现颅骨点云的粗配准;最后采用基于高斯概率模型和动态迭代系数的改进迭代最近点 （ICP） 算法实现颅骨的细配准。结果 通过对公共点云数据模型以及颅骨点云数据模型分别进行配准实验,结果表明,基于局部特征的点云配准算法可以完成点云模型的精确配准,特别是对颅骨点云模型具有较好的配准效果。在颅骨细配准阶段,跟ICP算法相比,改进ICP算法的配准精度和收敛速度分别提高了约30%和60%;跟概率迭代最近点 （PCP） 算法相比,其配准精度差异不大,收敛速度提高了约50%。结论 基于局部特征的点云配准算法不仅可以用于公共点云数据模型的精确配准,而且更适用于颅骨点云数据模型的配准,是一种精度高、速度快的颅骨点云模型配准方法。     

基于GMRES的超声过程层析成像算法研究

当前超声气固两相流层析成像的难点在于难以获得有效的信号和图像重建算法精度不高。鉴于此,作者以超声衰减理论为基础,提出一种基于广义最小残差(GMRES)迭代的超声层析成像重建算法：首先利用广义极小残差迭代算法获取初始物体浓度分布信息,然后采用均值滤波并设定灰度门槛的方法对其进行修正以提高图像精度。为验证该算法的可行性,利用数值仿真在较少有效信息条件下,求解欠定稀疏线性方程,将结果与现有几种图像重建算法比较发现该方法成像精度高,之后进行的超声气固两相流层析成像实验结果表明：采用该算法的成像系统能够反映管道内气固两相流截面固相浓度分布特征。     

求解二维对流扩散方程的投影迭代法

鉴于目前流行的求解大型稀疏代数方程组的投影迭代法中,为提高迭代效率,在迭代前通常需要对稀疏矩阵进行预处理,改善迭代矩阵的条件数,从而减少迭代次数,这使得发展稀疏矩阵的存储技术变得尤为关键。基于二维对流扩散方程的四阶紧致差分格式,将其转化为代数方程组,得到其三对角块形式的系数矩阵,利用稀疏矩阵存储技术和预条件迭代法进行求解,并与传统的中心差分格式所得数值解进行比较,充分说明了方法的高效性和可靠性。     

计算机辅助外科手术空间配准技术的研究

医学图像和实际手术空间的配准问题是计算机辅助外科手术技术的一个重要的研究热点,它能够帮助医生选择最佳手术路径和减小手术损伤,实现手术的方便快捷和微创,提高手术成功率。主要研究了一种基于ICP算法的计算机辅助外科手术中空间配准技术,通过获取实验模型的空间坐标信息,进行点集配准,找到最优旋转矩阵和最优平移向量。并通过仿真实验给出了模拟的配准结果,仿真试验结果表明,ICP算法配准精度高,适用于计算机辅助外科手术。     

一种时序电路的测试生成算法

本文提出了一种高效的时序电路测试生成算法,该算法是建立在自适应算法的基础上,并使用了十七值逻辑模型。文章详细介绍了该测试算法的内容及其实现过程,并举例说明了该算法的测试效率。     

Prediction-based Iterative Learning Control (PILC) for Uncertain Dynamic Nonlinear Systems Using System Identification Technique

Prediction-based Iterative Learning Control (PILC) is proposed in this paper for a class of time varying nonlinear uncertain systems. Convergence of PILC is analyzed and the uniform boundedness of tracking error is obtained in the presence of uncertainty and disturbances. It is shown that the learning algorithm not only guarantees the robustness, but also improves the learning rate despite the presence of disturbances and slowly varying desired trajectories in succeeding iterations. The effectiveness of the proposed PILC is presented by simulations.     

非线性系统的学习控制及其在机器人中的应用

分析了一类非线性系统的迭代学习控制问题,给出了迭代算法收敛的充分条件,使得经过逐次迭代后系统输出严格跟踪理想信号,且迭代初始状态与理想状态及理想输入无关。最后,机器人系统的仿真结果表明了本文方法的可行性及实用性。     

Expansion of a matrix in terms of external products of configuration vectors

The paper proposes a neural-net iterative algorithm that allows us to represent any random symmetrical N×N matrix as a weighted Hebbian series of configuration vectors with a given accuracy. The iterative algorithm is shown to demonstrate the fastest convergence when the vectors of expansion are stable nods of the N-dimensional space corresponding to the extremums of the neural-net energy functional. It so proves that all conclusions about neural networks and optimization algorithms that are based on Hebbian matrices are true for any other type of matrix. The text was submitted by the author in English.     

The application of a proportional difference type iterative learning control in active vibration control

Active vibration control is used to instead passive solutions in order to increase the performance at low frequencies, in a variety of different engineering systems. This method has improved the performance specifically. The paper will propose a proportional difference type iterative learning control algorithm to deal with the periodic sources and to investigate the active solution as the three degrees of freedom ＂mass spring damping＂ mount. Simulation shows that this method could get a better tracking performance, also the displacement could converge to zero with a fast speed.