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.     

On the robust control of stable minimum phase plants with large uncertainty in a time constant. A fractional-order control approach

This paper addresses the problem of designing controllers that are robust to a great uncertainty in a time constant of the plant. Plants must be represented by minimum phase rational transfer functions of an arbitrary order. The design specifications are: (1) a phase margin for the nominal plant, (2) a gain crossover frequency for the nominal plant, (3) zero steady state error to step commands, and (4) a constant phase margin for all the possible values of the time constant (T$T$): 0<T<∞$0<T<\infty$. We propose a theorem that defines the structure of the set of controllers that fulfil these specifications and show that it is necessary for these robust controllers to include a fractional-order PI$PI$ term. Examples are developed for both stable and unstable plants, and the results are compared with a standard PI$PI$ controller and a robust controller designed using the QFT$QFT$ methodology.     

A novel method for camera external parameters online calibration using dotted road line

On board camera is the most important information source for driver assistant application which is based on computer vision. One problem for on board camera is that the external parameters are easy to be changed when moving on the road. Traditional method either calibrates external parameters offline or calibrates external parameters semi-online, which both need human intervention. By observation, it is found that corner connection of dotted road lane can form two groups of parallel lines. Using this geometric characteristics and through theoretical derivation, a novel online camera external parameter calibration method is proposed which focus on the situation when vehicle is moving. The pro of this method is that it maintains relatively high calculation accuracy and more important, it does not require any human intervention in whole calibration process. Experimental and comparison results show that this method is simple and have accurate results which fully meet the requirements of practical application.     

PARAMETER ESTIMATION IN EXPONENTIAL MODELS

Abstract. In this paper the problems of parameter estimation and order determination of an exponential (EX) model are studied in the time domain. In order to estimate the parameters, the parameter equations of an EX model are given in terms of the autocorrelation function, which is similar to the Yule-Walker equations of an autoregressive moving-average model. Estimates of parameters are obtained with the aid of the parameter equations and theorems are proved relating the convergence rate and asymptotic distribution of the estimates. We present two kinds of methods for estimating the order and prove that the estimates of the order are consistent.     

A virtual actuator and sensor approach for fault tolerant control of LPV systems

In this paper, a fault tolerant control (FTC) strategy using virtual actuators and sensors for linear parameter varying (LPV) systems is proposed. The main idea of this FTC method, initially developed for LTI systems, is to reconfigure the control loop such that the nominal controller could still be used without need of retuning it. The plant with the faulty actuator/sensor is modified adding the virtual actuator/sensor block that masks the actuator/sensor fault. The suggested technique is an active FTC strategy that reconfigures the virtual actuator/sensor on-line taking into account faults and operating point changes. The stability of the reconfigured control loop is guaranteed if the faulty plant is stabilizable/detectable. The LPV virtual actuator/sensor is designed using polytopic LPV techniques and linear matrix inequalities (LMIs). A two-tank system simulator is used to assess the performance of the proposed method. In particular, it is shown that the application of the proposed technique results in an improvement, in terms of performance, with respect to the LTI counterpart.     

β-甘露聚糖酶理化性质与其最适pH的相关性

为了探究影响GH5家族β-甘露聚糖酶最适pH的各种因素,利用该酶的序列信息,构建了基于氨基酸组成的β-甘露聚糖酶理化性质与其最适pH的相关性模型。结果表明:该酶N端氨基酸序列是影响其最适pH的重要因素,在243个理化性质中有17个呈极显著相关,其中7个呈正相关。优化的转移能量参数相关性最高,为0.78:7个正相关的理化性质中,与螺旋相关的理化性质占3个。优化的转移能量参数和螺旋是影响pH稳定性的最重要的因素。所建立的模型为研究该酶酸碱适应性机理提供了一种简单有效的方法。     

遥感器像移与图像参数的分析建模研究

卫星平台运动会产生恶化像质的像移,像移是影响遥感图像质量的重要因素.针对这种情况,建立了像移和图像参数的关系模型,可通过卫星生成图像的内在特征定量研究卫星成像过程中产生的像移,而不必通过产生像移的卫星平台等因素建立物理模型来研究像移.首先模拟了遥感器在轨成像过程,通过人工制造出影响因素的干扰获得了仿真图像数据,然后定量分析了像移与图像参数之间的相关性,选出了相关性较强且适合建模的图像参数,最后通过对这些图像参数构成的向量的降维得到了反映图像质量的综合参数,并建立了综合参数与像移的关系模型,以通过图像综合参数来计算像移.实验结果表明,这种模型能够很好地反映图像综合指标与像移之间的关系.该研究通过图像参数定量研究像移,为在轨运行卫星的遥感器像移与外景条件下的遥感图像要素的相关建模研究提供了部分技术支持.     

EMD-IT去噪算法的阈值估计方法

为解决EMD-IT去噪算法中阈值难以确定的问题,提出一种基于高斯白噪声能量分布的阈值估计方法。将含噪信号进行经验模态分解并估计各固有模态函数(IMF)中噪声的能量;根据模态单元阈值的含义,在各IMF中利用去除掉的模态单元包含的总能量等于噪声能量这一准则估计阈值。合成数据和实际心电信号的去噪仿真实验验证了该方法的有效性,其是自适应的且避免了阈值选择的主观性。     

Φ10007/00有压三产品重介旋流器结构参数优选与分选效果

辛置选煤厂针对原煤煤质变化后的特点 ,采用有压给料三产品重介旋流器为核心的高效选煤工艺系统分选 5 0～ 0mm原煤 ;对旋流器一段及二段中心管的直径和插入深度、二段底流口的直径等进行了优化调整 ,同时调整了介质泵的工作频率及悬浮液密度等参数 ,取得了分选效率高、产品质量稳定等显著效果     

气体控制参数对气体辅助成型产品翘曲的影响

从气体辅助注射成型工艺的角度探讨了气体的延迟时间和第一段压力这两个关键的参数对槽的影响进而对产品翘曲变形的影响，结果表明：虽然通过使用气体辅助注射成型技术能改善产品变形，但并不能完全消除变形；造成产品变形的原因和机理十分复杂，只有进行从设计到工艺的全方位考察才能有效的控制变形，气体手指效应也是造成产品变形的一个重要因素，工艺上可以通过调整延迟时间和气体压力来减小产品的变形量。