An EM‐based adaptive multiple target tracking filter

Tracking targets of interest is one of the major research areas in radar surveillance systems. We formulate the problem as incomplete data estimation and apply EM to the MAP estimate. The resulting filter has a recursive structure analogous to the Kalman filter. The advantage is that the measurement‐update deals with multiple measurements in parallel and the parameter‐update estimates the system parameters on the fly. Experiments tracking separate targets in parallel show that tracking maintenance ratio of the proposed system is better than that of NNF and RMS position error is smaller than that of PDAF. Also, the system parameters are correctly obtained even from incorrect initial values. Copyright © 2001 John Wiley & Sons, Ltd.     

RBF网络及其在卫星姿态控制中的应用

提出了一种基于RBF网络扰动力矩补偿的控制技术，通过在传统PID控制的基础上，引入RBF网络补偿环节，进一步抑制了扰动力矩的影响，提高了卫星姿态控制精度，首先给出了RBF网络的学习算法，然后根据全补偿原则设计了神经网络补偿姿态控制方案，最后结合某型卫星的姿态控制系统设计实例，进行了数学仿真，结果表明：有RBF网络补偿的系统，姿态的稳态精度得到了明显的改善。     

套管侧钻分支井钻井工程设计及应用原则

利用老井开窗侧钻分支井，可以提高原油采收率，增加产能和降低成本。对与分支井相关的分式设计。轨迹优化设计，钻柱设计，斜向器开窗方位的优化。开窗技术。轨迹控制应用等方面的主要原则进行了阐述。对进一步推广应用分支井技术，提高我国分支井钻井技术水平有一定的推动作用。     

一种基于判决反馈的OFDM系统载波频率跟踪算法

研究了多径信道下OFDM系统的一种新的载波频率跟踪算法，这种算法以判决反馈和接收端的时域信号重构为基础。推导了估计结果的精确解，比较了使用原估计结果和新的估计结果进行频偏补偿时系统跟踪性能的不同。通过对算法的仔细分析，发现除了通常的加性噪声外，信道估计误差、子载波数目和子载波的调制方式也影响频偏的估计结果和跟踪范围，而且子载波的数目和调制方式是决定性的因素。这种频率跟踪方法的优点是即使在很低的信噪比下仍然能获得高的跟踪精度，且实现相对简单。     

On the learning control of a robot manipulator

This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.     

An adaptive tracking problem for a family of retarded time-delay plants

Most of the existing switching control techniques are developed specifically for finite-dimensional linear time-invariant (LTI) systems. In many practical applications, however, it is essential to take time delay into consideration in the modelling as the control system can be highly sensitive to delay. In this paper, a multi-model switching control algorithm is proposed for retarded time-delay systems. It is assumed that the plant is represented by a family of known multi-input multi-output, observable, LTI models with multiple delays in the states, and that corresponding to each model in the known family, there exists a high-performance finite-dimensional LTI controller. In addition, it is supposed that a bound on the magnitude of the external inputs and disturbances is available. It is then shown that the proposed switching controller can stabilize the uncertain system, and that under some mild conditions, output tracking can be achieved in the given problem setting. Copyright © 2007 John Wiley & Sons, Ltd.     

A novel distributed approach to robust fault detection and identification

In this paper, we propose a novel distributed robust fault detection and identification (RFDI) scheme for a class of nonlinear systems. Firstly, a detection and identification estimator—robust fault tracking approximator (RFTA) is designed for online health monitoring. A novel feature of the RFTA is that it can simultaneously detect and accurately identify the shape and magnitude of the fault and disturbance. Moreover, it takes less online training time compared with the traditional neural network based fault diagnosis schemes. For some distributed systems, a network of distributed estimators is constructed where the RFTA is embedded into each estimator. Then we use consensus filter to filter the outputs of each estimator. One of the most important merits of the consensus filter is that its outputs can dramatically improve the accuracy of fault detection and identification. Next, the stability of the distributed RFDI scheme is rigorously investigated. Finally, two numerical examples are given to illustrate the feasibility and effectiveness of the proposed approach.     

Pedestrian detection and tracking at crossroads

This paper presents a system that can perform pedestrian detection and tracking using vision-based techniques. A very important issue in the field of intelligent transportation system is to prevent pedestrians from being hit by vehicles. Recently, a great number of vision-based techniques have been proposed for this purpose. In this paper, we propose a vision-based method, which combines the use of a pedestrian model as well as the walking rhythm of pedestrians to detect and track walking pedestrians. Through integrating some spatial and temporal information grabbed by a vision system, we are able to develop a reliable system that can be used to prevent traffic accidents happened at crossroads. In addition, the proposed system can deal with the occlusion problem. Experimental results obtained by executing some real world cases have demonstrated that the proposed system is indeed superb.     

A global output-feedback controller for stabilization and tracking of underactuated ODIN: A spherical underwater vehicle

This paper presents a method to design an output-feedback controller that simultaneously solves global asymptotic stabilization and tracking of an underactuated omni-directional intelligent navigator—a spherical underwater vehicle moving in a horizontal plane (i.e. at a constant depth). The vehicle does not have a sway actuator and has only position and orientation measurements available. The control development is based on Lyapunov's direct method, backstepping technique and use of interconnected structure of the vehicle dynamics. Numerical simulations demonstrate the results.     

Fixed mesh front‐tracking methodology for finite element simulations

A direct front‐tracking method using an Eulerian–Lagrangian formulation is developed in two space dimensions. The front‐tracking method is general in that it can track any type of interface once its local velocity is specified or has been determined by calculation. The method uses marker points to describe the interface position and tracks the interface evolution on a fixed finite‐element mesh, including growth, contraction, splitting and merging. Interfacial conditions are applied directly at the interface position. The method is applied to three scenarios that involve different interface conditions and are based on energy and mass diffusion. The three calculations are for the dendritic solidification of a pure substance, the cellular growth of an alloy, and the Ostwald ripening of silica particles in silicon. Numerical results show that very complicated interface morphologies and topological changes can be simulated properly and efficiently. Copyright © 2004 John Wiley & Sons, Ltd.