两级式三相光伏并网系统的MPPT控制策略

基于Matlab／Simulink仿真建立了两级式三相光伏并网系统,以研究最大功率点跟踪（MPPT）控制策略．前级DC／DC变换器采用扰动观察法实现MPPT,后级逆变电路采取电压外环、电流内环的双闭环PI控制,以稳定直流母线电压,实现网侧电流的跟踪控制．仿真结果表明,采用的MPPT控制策略具有良好的动态响应性能,且能较好地稳定直流母线电压．     

间歇过程点对点迭代学习控制的初始状态误差分析

针对间歇过程点对点跟踪控制问题,在轨迹更新的迭代学习控制算法框架下,针对非理想初始状态情况下3种不同的初始误差,通过2D Roesser模型对其进行描述并分析其收敛性。给出了不同的情况下系统相对参考轨迹的零误差跟踪或者收敛到特定邻域的条件,在零误差跟踪不能实现的情况下给出了邻域的范围。通过数值模型仿真验证了给出的收敛条件和收敛边界,并分析了不同因素对收敛边界的影响。     

A class of genetic algorithms for multiple-level warehouse layout problems

A new kind of warehouse layout problem, multiple-level warehouse layout problem (MLWLP), is investigated. Both horizontal and vertical travel costs need to be considered when making a layout. In the problem, unit travel costs are item-dependent and different items can be mixed in a cell. An IP model is proposed, which is shown to be NP-hard. An effective assignment method is presented and genetic algorithm heuristics developed. Extensive computational experiments are conducted to verify the effectiveness of the algorithms.     

Design and validation of a motion-tracking system for ROM measurements in home rehabilitation

This work deals with the design, implementation and experimental validation of a home rehabilitation system capable of bringing a real-time 3D reconstruction of human posture to the therapist’s desk. The system has been validated against two commercial systems, capable of providing joint angle measurements and commonly used in rehabilitation gyms, which are used profitably to assist clinics in limb motor dysfunction treatment. Early experimental results promise to provide measurements accurate enough to complement the subjective therapist’s perception with objective observations, leading to quantitative evaluation.     

Modelling and analysis of bacterial tracks suggest an active reorientation mechanism in Rhodobacter sphaeroides

Most free-swimming bacteria move in approximately straight lines, interspersed with random reorientation phases. A key open question concerns varying mechanisms by which reorientation occurs. We combine mathematical modelling with analysis of a large tracking dataset to study the poorly understood reorientation mechanism in the monoflagellate species Rhodobacter sphaeroides. The flagellum on this species rotates counterclockwise to propel the bacterium, periodically ceasing rotation to enable reorientation. When rotation restarts the cell body usually points in a new direction. It has been assumed that the new direction is simply the result of Brownian rotation. We consider three variants of a self-propelled particle model of bacterial motility. The first considers rotational diffusion only, corresponding to a non-chemotactic mutant strain. Two further models incorporate stochastic reorientations, describing ‘run-and-tumble’ motility. We derive expressions for key summary statistics and simulate each model using a stochastic computational algorithm. We also discuss the effect of cell geometry on rotational diffusion. Working with a previously published tracking dataset, we compare predictions of the models with data on individual stopping events in R. sphaeroides. This provides strong evidence that this species undergoes some form of active reorientation rather than simple reorientation by Brownian rotation.     

Tracking and characterizing the head motion of unanaesthetized rats in positron emission tomography

Positron emission tomography (PET) is an important in vivo molecular imaging technique for translational research. Imaging unanaesthetized rats using motion-compensated PET avoids the confounding impact of anaesthetic drugs and enables animals to be imaged during normal or evoked behaviour. However, there is little published data on the nature of rat head motion to inform the design of suitable marker-based motion-tracking set-ups for brain imaging—specifically, set-ups that afford close to uninterrupted tracking. We performed a systematic study of rat head motion parameters for unanaesthetized tube-bound and freely moving rats with a view to designing suitable motion-tracking set-ups in each case. For tube-bound rats, using a single appropriately placed binocular tracker, uninterrupted tracking was possible greater than 95 per cent of the time. For freely moving rats, simulations and measurements of a live subject indicated that two opposed binocular trackers are sufficient (less than 10% interruption to tracking) for a wide variety of behaviour types. We conclude that reliable tracking of head pose can be achieved with marker-based optical-motion-tracking systems for both tube-bound and freely moving rats undergoing PET studies without sedation.     

Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator

A two-link robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order Fuzzy Proportional-Integral-Derivative (FOFPID) controller for a two-link planar rigid robotic manipulator for trajectory tracking problem is investigated. Robustness testing of FOFPID controller for model uncertainties, disturbance rejection and noise suppression is also investigated. To study the effectiveness of FOFPID controller, its performance is compared with other three controllers namely Fuzzy PID (FPID), Fractional Order PID (FOPID) and conventional PID. For tuning of parameters of all the controllers, Cuckoo Search Algorithm (CSA) optimization technique was used. Two performance indices namely Integral of Absolute Error (IAE) and Integral of Absolute Change in Controller Output (IACCO) having equal weightage for both the links are considered for minimization. Numerical simulation results clearly indicate the superiority of FOFPID controller over the other controllers for trajectory tracking, model uncertainties, disturbance rejection and noise suppression.     

An adaptive control scheme using multiple reference models

This paper develops an extended model reference adaptive control scheme to expand the capacity of state feedback state tracking adaptive control to handle the plant‐model matching uncertainties for single‐input LTI systems. The extended scheme is developed, using multiple reference model systems (only one of which is required to be able to match the controlled plant), and multiple controllers (which are updated from adaptive laws generated from multiple reference model systems based estimation errors), as two key features of such design to relax a plant‐model matching condition. A switching mechanism is constructed using those multiple estimation errors, capable of selecting the suitable control input from the multiple control signals, to achieve the desired system performance. An aircraft flight control example is presented to show the capacity of such design in relaxing a practical design condition. Copyright © 2013 John Wiley & Sons, Ltd.     

融合重检测机制的卷积回归网络目标跟踪算法

针对基于人工特征的背景感知相关滤波（CACF）算法在形变、运动模糊、低分辨率情形跟踪效果较差以及跟踪器遇到严重遮挡等情形容易陷入局部最优而导致跟踪失败的问题，提出一种融合重检测机制的卷积回归网络（CRN）目标跟踪算法。在训练阶段，将相关滤波作为CRN层融入进深度神经网络，使网络成为一个整体进行端到端训练；在跟踪阶段，通过残差连接融合不同网络层及其响应值，同时引入重检测机制使算法从潜在的跟踪失败中恢复，当响应值低于给定阈值时激活检测器。在数据集OTB-2013上的实验表明，所提算法在50个视频序列上精确度达到88.1%，相比原始CACF算法提高9.7个百分点，在具有形变、运动模糊等属性的视频序列上相比原始算法表现更优秀。