Robust integrated sequential covariance intersection fusion Kalman filters and their convergence and stability for networked sensor systems with five uncertainties

For networked sensor systems (NSSs) with hard and soft sensors including five uncertainties, two universal approaches of solving the robust fusion estimation problems are presented. It includes an integrated sequential covariance intersection (SCI) fusion minimax robust Kalman filtering approach with cross-covariance information and a generalized Lyapunov equation approach with four pairs of Lyapunov equations. Applying them, the robust local and SCI fused time-varying and steady-state Kalman filters are presented in the sense that their actual estimation error variances are guaranteed to have the corresponding minimal upper bounds. The equivalent batch SCI fusers are also presented. Their robustness and accuracy relations are proved, and the sensitivity of the SCI fuser with respect to the fused orders of sensors is analyzed. Applying the dynamic error system analysis method and the dynamic variance error system analysis method, a new convergence and absolute asymptotic stability theory of robust fusion Kalman filtering is presented. The classical Kalman filtering convergence and stability theory is developed. Compared with the original covariance intersection fuser, they significantly reduced the computational complexity and burden. Compared with the optimal and conservative SCI fusers, they significantly improved the robust accuracies. They are suitable to deal with asynchronous or random delayed data and are suitable for real-time applications. A simulation applied to the two-mass spring damper mechanical system shows their effectiveness.     

基于ATLG混合模型的股票价格预测

股市是金融市场的重要组成部分,对股票价格预测有着重要的意义.同时,深度学习具有强大的数据处理能力,可以解决金融时间序列的复杂性所带来的问题.对此,本文提出一种结合自注意力机制的混合神经网络模型(ATLG).该模型由长短期记忆网络(LSTM)、门控递归单元(GRU)、自注意力机制构建而成,用于对股票价格的预测.实验结果表明:(1)与LSTM、GRU、RNN-LSTM、RNN-GRU等模型相比, ATLG模型的准确率更高;(2)引入自注意力机制使模型更能聚焦于重要时间点的股票特征信息;(3)通过对比,双层神经网络起到的效果更为明显.(4)通过MACD (moving average convergence and divergence)指标进行回测检验,获得了53%的收益,高于同期沪深300的收益.结果证明了该模型在股票价格预测中的有效性和实用性.     

基于三阶超螺旋滑模观测器算法的机器人力矩估计方法

本文研究了六自由度(6-DOF)机器人关节力矩估计问题.为了提高机器人关节力矩估计精度,本文设计了一种三阶超螺旋滑模关节力矩观测器.在对观测器系统进行稳定性分析时,本文设计了一种新的Lyapunov函数证明了观测器闭环系统的稳定性.与已有的机器人力矩观测器结果不同,该力矩观测器仅以机器人关节角度作为观测器输入信号,减少了对机器人系统信息的依赖.最后,以6-DOF工业机器人为对象,开展实验验证.实验结果表明,与传统线性力矩观测器相比,本文提出的滑模力矩观测器估计误差小,验证理论的正确性.     

Adaptive prescribed time control for quadrotor formation with stochastic links failure

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.     

5G时代,有线接入网基础资源布局思路探讨

双千兆时代,网络规模空前巨大,有线接入网更是因覆盖范围广,建设规模大,投入人力多,投资占比高等因素,成为研究重点。文章根据有线接入网架构演进,从“点(各类业务及分纤点)、线(各级管线)、面(业务汇聚区)”三个层面对基站、家客、集客等业务接入、分纤点规划及业务汇聚机房等基础资源规划进行研究。     

Fast and accurate fuzzy C‐means algorithm for MR brain image segmentation

Fuzzy theory based intelligent techniques are widely preferred for medical applications because of high accuracy. Among the fuzzy based techniques, Fuzzy C‐Means (FCM) algorithm is popular than the other approaches due to the availability of expert knowledge. But, one of the hidden facts is that the computational complexity of the FCM algorithm is significantly high. Since medical applications need to be time effective, suitable modifications must be made in this algorithm for practical feasibility. In this study, necessary changes are included in the FCM approach to make the approach time effective without compromising the segmentation efficiency. An additional data reduction approach is performed in the conventional FCM to minimize the computational complexity and the convergence rate. A comparative analysis with the conventional FCM algorithm and the proposed Fast and Accurate FCM (FAFCM) is also given to show the superior nature of the proposed approach. These techniques are analyzed in terms of segmentation efficiency and convergence rate. Experimental results show promising results for the proposed approach. © 2016 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 26, 188–195, 2016     

基于回声状态网络的BOD在线软测量模型

针对污水处理过程的BOD建模问题,提出了一种基于回声状态网络的BOD在线软测量方法;基于梯度下降规则对回声状态网络的在线学习算法进行了研究;为保证学习算法的收敛性,基于Lyapunov理论对学习率范围进行了确定;实验表明,基于回声状态网络的在线BOD预测方法较常规神经网络预测精度提高约两个数量级,模型的适应性也大幅提高。     

基于改进双曲正切函数的变步长最小平均p范数算法

在信号处理领域,传统的自适应滤波算法采用的固定步长会导致稳态误差和收敛速度无法同时兼顾。针对这个问题,对最小平均p范数(Least Mean p-norm,LMP)算法进行改进,提出了一种基于改进双曲正切(tanh)函数的变步长最小平均p范数算法。该算法利用改进的tanh函数来调节步长,采用移动加权平均法构造变步长函数;同时引入了一个调节函数以进一步提升算法的性能。通过在海洋脉冲噪声干扰下进行仿真,实验表明,与已有的固定步长和变步长算法相比,改进的变步长LMP算法较好地兼顾系统的收敛速度和稳态误差;引入调节函数后的新算法在保证原有算法收敛速度的同时进一步降低了算法的稳态误差,从而兼顾了算法的收敛性和稳定性,具有较好的可行性。