Nonlinear vehicle side-slip estimation with friction adaptation

A nonlinear observer for estimation of the longitudinal velocity, lateral velocity, and yaw rate of a vehicle, designed for the purpose of vehicle side-slip estimation, is modified and extended in order to work for different road surface conditions. The observer relies on a road-tire friction model and is therefore sensitive to changes in the adhesion characteristics of the road surface. The friction model is parametrized with a single friction parameter, and an update law is designed. The adaptive observer is proven to be uniformly globally asymptotically stable and uniformly locally exponentially stable under a persistency-of-excitation condition and a set of technical assumptions, using results related to Matrosov's theorem. The observer is tested on recorded data from two test vehicles and shows good results on a range of road surfaces.     

Partial state observers for linear systems with unknown inputs

We consider the problem of constructing partial state observers for discrete-time linear systems with unknown inputs. Specifically, for any given system, we develop a design procedure that characterizes the set of all linear functionals of the system state that can be reconstructed through a linear observer with a given delay. By treating the delay as a design parameter, we allow greater flexibility in estimating state functionals, and are able to obtain a procedure that directly produces the corresponding observer parameters. Our technique is also applicable to continuous-time systems by replacing delayed outputs with differentiated outputs.     

Comment on ‘Frequency domain identification of Wiener models’, by E.W. Bai, Automatica 39 (2003), 1521–1530

A frequency-domain identification method is proposed by Bai (2003) for Wiener systems. The key component is a phase estimator that gives estimates of the linear subsystem phase for different frequencies. These estimates are then used to identify the whole system. In this note, it is shown that the phase estimator is not generally consistent. Consequently, consistency of the overall identification method is in turn not generally guaranteed.     

Analytical estimation of error in flank milling of ruled surfaces

This article introduces a method to estimate geometric error during flank milling of a ruled surface. The various positioning schemes developed by researchers are intended to reduce this geometric error in order to mill with larger sized milling cutters while respecting the tolerance interval. There are two trends in positioning: either positioning is simple and right from the start it is easy to determine design of the maximum allowed milling cutter radius, or positioning is complex and determination of the maximum milling cutter dimensions can only be conducted after digital calculations of the error. It will then be necessary to choose another milling cutter radius and recommence the positioning procedure and error calculation in order to validate the tool. In the present study, a method to estimate error in the scope of complex positioning is presented. The aim is to be capable of choosing a maximum cutting tool radius that respects the tolerance interval.     

计算机曲线拟合求解析氢反应的动力学参数

应用电化学稳态极化方法,研究1M NaOH电解液中镍硫合金电极表面析氢反应电催化活性与沉积层中含硫量之间的关系.根据析氢反应机理,用理论电化学极化方程拟合实验稳态极化曲线,得到不同含硫量的镍硫合金电极表面氢原子吸附和脱附反应的速率常数、反应对称系数等动力学参数.     

基音周期估计中倍数检验算法的研究

讨论了基于自相关函数法基音周期估计过程中的倍数检验和校正问题。自相关函数法是语音信号处理中的一种重要方法,但往往会把真实基音周期的倍数误判为真实的基音周期。为了防止误判,提出了倍数检验算法。实验表明:使用该算法,提高了基音周期估计的准确性,改善了基音周期轨迹的平滑度。     

面向对象的空中交通流量管理系统建模与仿真

针对我国空中交通流量日益增长的空中交通管理的现状,研究建立空中交通流量管理系统,通过监视一定范围的空中交通状况,进行交通流量的预测和控制。面向对象理论已成为复杂系统设计和分析中一种必不可缺的工具,这种技术为交通流量管理系统的研究提供了重要的平台。利用抽象、分类、封装、继承、关联、消息通讯等概念建立的交通流量管理系统的模型结构清晰,更好的反映了系统的工作流程和各模块间的交互关系。     

基于EA／QFT的飞行控制律设计及其稳定性评估

提出特征结构配置和定量反馈理论相结合的鲁俸控制设计方法,并应用该方法对某型飞机横侧向进行控制律设计,然后通过μ分忻对控制律进行稳定性评估。仿真结果表明：该方法使某飞机不仅具有良好解耦效果和动态响应,而且具有较强的鲁棒性。     

基于形态学滤波和小角度边缘搜索的运动自适应去隔行

为实现隔行扫描到逐行扫描的视频格式转换,提出了一种运动自适应的去隔行算法,主要包括运动估计、运动向量的形态学滤波、小角度边缘搜索、时空插值权重自适应插值等。该算法通过同极性场的像素块绝对值差和(SAD)与运动阈值的比较实现运动估计,并对运动向量进行形态学滤波处理,消除噪声影响。在小角度边缘搜索中采用自适应搜索半径和并行搜索树的策略实现最小6°的检测精度。最后,通过时空权重自适应的插值算法实现去隔行处理,取得了很好的处理效果。     

一种面向H.264/AVC的运动估计算法

提出了一种使用具有方向偏向性搜索模板和基于预测模式自适应选择运动估计方案的EPZS(enhanced predictive zonal search)改进算法。该算法将运动估计过程与H.264/AVC中多参考帧、多预测模式等编码工具紧密结合,充分利用视频中运动具有高度时空相关性的特点,综合考虑速度、图像质量及压缩效率等方面的性能。实验结果表明,该算法以极小的计算量得到了与全搜索方法接近的效果;与EPZS算法相比,运动估计的处理速度有了较大幅度的提高,同时保持了与之相当、有时甚至更优的率失真性能。此外,该算法具有很好的鲁棒性,并且能够产生平滑的运动矢量场。