Interactive Simulation of Rigid Body Dynamics in Computer Graphics

Interactive rigid body simulation is an important part of many modern computer tools, which no authoring tool nor game engine can do without. Such high‐performance computer tools open up new possibilities for changing how designers, engineers, modelers and animators work with their design problems. This paper is a self contained state‐of‐the‐art report on the physics, the models, the numerical methods and the algorithms used in interactive rigid body simulation all of which have evolved and matured over the past 20 years. Furthermore, the paper communicates the mathematical and theoretical details in a pedagogical manner. This paper is not only a stake in the sand on what has been done, it also seeks to give the reader deeper insights to help guide their future research.     

基于SOM和 PCA的闽江流域地表水水质综合评价

根据2014年1月至2015年11月闽江流域19个断面的水质月均值监测数据,采用自组织特征映射网络(SOM)和主成分分析(PCA)法研究了闽江流域水质时空变化特征,并用水质指数对闽江水质进行了综合评价。SOM分析将水质样本分为3个空间群组,其中水质变化周期分2个阶段:4—11月、12月至次年3月。PCA法分析表明,春冬季沙溪和富屯溪支流以及闽江下游福州城区河段营养盐水平偏高,在春夏季上游部分河段和下游闽江口有机污染水平偏高。水质指数评价结果显示,闽江流域整体水质较好,其中三大子流域及闽江下游水质评价从优至劣顺序为:富屯溪流域、建溪流域、沙溪流域、闽江下游流域。     

Circle-criterion Based Nonlinear Observer Design for Sensorless Induction Motor Control

This paper deals with the design of a nonlinear observer for sensorless induction motor control. Based upon the circle criterion approach, a nonlinear observer is designed to estimate pertinent but unmeasurable state variables of the considered induction machine for sensorless control purpose. The observer gain matrices are computed as a solution of linear matrix inequalities(LMI) that ensure the stability conditions of the state observer error dynamics in the sense of Lyapunov concepts. Measured and estimated state variables can be exploited to perform a state feedback control of the machine system. The simulation results are presented to illustrate the effectiveness of the proposed approach for nonlinear observer design.     

Transient Stability Enhancement of Multi–Machine Power Systems: Synchronization via Immersion of a Pendular System

In this paper the problem of designing excitation controllers to improve the transient stability of multi‐machine power systems is addressed adopting two new perspectives. First, instead of the standard formulation of stabilization of an equilibrium point, we aim here at the more realistic objective of keeping the difference between the generators rotor angles bounded and their speeds equal—which is called synchronization in the power literature—and translates into a problem of stabilization of a set. Second, we adopt the classical viewpoint of power systems as a set of coupled nonlinear pendula, and express our control objective as ensuring that some suitable defined pendula dynamics are (asymptotically) immersed into the power system dynamics. Our main contribution is the explicit computation of a control law for the two–machine system that achieves global synchronization. The same procedure is applicable to the n–machine case, for which the existence of a locally stabilizing solution is established.     

A New Derivation of the Cubature Kalman Filters

This paper investigates the cubature Kalman filtering (CKF) for nonlinear dynamic systems. This third‐degree rule based filter employs a spherical‐radial cubature rule to numerically compute the integrals encountered in nonlinear filtering problems, thereby removing the requirements of explicitly computing the Jacobians. The cubature rule, however, requires computing the intractable integrals over a high‐dimensional spherical region for multidimensional applications. Moreover, the cubature formula that has been used to construct the spherical cubature formula has some demerits, most notably its inconvenient properties in computation and low estimation accuracy. Aimed at these issues, a general class of CKFs that uses only cubature rules is derived in this paper. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes higher‐degree CKFs, especially two representative types of the fifth‐degree CKFs. Performance of the proposed algorithms is demonstrated via two target tracking problems. The experimental results, presented herein, illustrate the superior performance of higher‐degree CKFs to conventional nonlinear filters.     

On the Design of Observer for Nonlinear Time‐Delay Systems

This paper suggests a new method to design observers in a class of nonlinear time‐delay systems with delays in system states. The method is based on an extension of the well‐known state‐dependent Riccati equation (SDRE) technique. The conditions for locally asymptotic stability of the proposed observer are investigated. Some numerical simulations are provided to show the design procedure and the flexibility of the proposed observer.     

基于荧光卟啉传感器阵列系统的肺癌标志物检测研究

针对肺癌呼出挥发性有机气体（VOCs）中的特定标志物,提出了一种新型的基于荧光卟啉传感器阵列检测系统,并对4种肺癌呼出标志物进行检测研究。通过小波分析等数学工具对测得的荧光光谱数据进行特征提取,然后采用层次聚类、主成分分析等统计学方法对特征向量进行分析。不同体积分数的各类标志物在聚类分析中能够完全正确的聚到一起。通过主成分分析得到的前3个主成分包含了标志物的88%的信息,便能对不同类别的标志物进行识别。研究表明：该荧光卟啉传感器阵列系统能够快速有效地对不同肺癌标志物进行识别,有望在临床中得到应用。     

一种基于PCA的MPSK信号码元速率估计方法

针对MPSK信号的码元速率估计问题, 研究了有限数据条件下循环谱的谱线特征受到背景色噪声干扰的现象, 提出了一种基于主分量分析(PCA)的循环谱特征码元速率估计方法。PCA变换抑制了信号循环谱中的背景色噪声, 提高了估计精度, 减小了估计方差。仿真表明, 该方法在有限数据条件下具有良好的估计性能, 适用于不同成形滤波系数的MPSK信号。     

EFFICIENT DESIGNS FOR NONLINEAR MODELING

In the modeling of physical systems, such as chemical reactions, nonlinear models in a set of unknown parameters are commonly developed. Using the method of least squares for model fitting the efficiency of the process is measured by the large sample variance of the parameter estimates. Designs which yield desirable properties in the linear case, such as factorial and central composite designs, are often utilized in the nonlinear model setting. In this paper a method for transforming these standard designs, yielding more efficient estimators, in the nonlinear model case is proposed. The procedure is demonstrated on a typical kinetic reaction model.     

Modeling and control of Wiener-type processes

We develop a simple relay feedback method to identify Wiener-type nonlinear processes. It separates the identification problem of the nonlinear static function from that of the linear dynamic subsystem to simplify the identification procedure significantly. Owing to the separation, the unmeasurable output of the linear dynamic subsystem can be obtained in a straightforward manner. Then, determining the model structure of the nonlinear static function becomes very simple and the estimates are robust to additive output noises. We can identify the whole activated region of the nonlinear static function as well as the ultimate information of the linear dynamic subsystem from only one relay feedback test. More information on the linear dynamic subsystem can be estimated by well-established linear system identification methods from additional tests. We use a nonlinear control strategy to compensate the nonlinear dynamics of the Wiener process so that the design parameters can be determined by usual tuning rules developed for linear processes and a high control performance can be achievable as in linear processes.