Development of a Sensor Fusion Strategy for Robotic Application Based on Geometric Optimization

Fusion of multi-sensor information is an important technology, which is growing exponentially due to its tremendous application potential in many areas. Effective fusion of data from sensors is very critical in increasing an intelligent system's capability to accomplish complex tasks. Appropriate fusion technologies are needed to be developed specially when a system requires redundant sensors to be used. More the redundancy in sensors, more is the computational complexity for controlling the system and more is its intelligence level. This research presents a strategy developed for multiple sensor fusion, based on geometric optimization. Each sensor's uncertainty has been modeled using classical Lagrangian optimization techniques. However, the uniqueness and effectiveness of the present technique lies on the fact that starting from the optimized value as initial estimate the accuracy of the sensory information has further been improved up to any pre defined bounded range, by developing two architectures – FFA (fission–fusion architecture) and FDD (fusion in differential domain). Sufficient evidences and analyses have been provided in the paper to show its effectiveness in various applications.     

椭球形网壳结构静动力分析

大型的网壳结构具有受力合理、重量轻、造价低而且造型优美、形式新颖活泼等特点,成为近年来发展最快的结构形式之一。本文以某工程为例,使用ANSYS软件,结合时程分析法,对椭球形双层网壳结构进行动力分析,得到杆单元的轴力时程曲线。通过比较杆单元在不同方向的地震作用下的轴力时程曲线,分析网壳结构在地震作用下的内力规律,为今后的抗震分析设计提供依据。     

Fault tolerant control for singular systems with actuator saturation and nonlinear perturbation

In this paper, the problem of robust fault tolerant control for a class of singular systems subject to both time-varying state-dependent nonlinear perturbation and actuator saturation is investigated. A sufficient condition for the existence of a fixed-gain controller is first proposed which guarantees the regularity, impulse-free and stability of the closed-loop system under all possible faults. An optimization problem with LMI constraints is formulated to determine the largest contractively invariant ellipsoid. An adaptive fault tolerant controller is then developed to compensate for the failure effects on the system by estimating the fault and updating the design parameter matrices online. Both of these two controllers are in the form of a saturation avoidance feedback with the advantage of relatively small actuator capacities compared with the high gain counterpart. An example is included to illustrate the proposed procedures and their effectiveness.     

冗余度机器人基于任务的方向可操作度研究

分析了机器人传统可操作度概念在实际应用中的不妥之处,定义了基于任务的方向 可操作度,给出了其解析表达式,并利用方向可操作度作为目标函数进行冗余度机器人的运 动学优化．仿真结果表明,同传统的可操作度相比,基于任务的方向可操作度更具有实际应 用意义．     

Application of the independent molecule model to elucidate the dynamics of structure I methane hydrate: a second report

Two model systems of methane hydrate are constructed. One has a small cage surrounded by 12 large cages. The other has a large cage surrounded by four small cages and ten large cages. Three different H-bonding network patterns between waters are formed, and three random configurations of methane in each cage are chosen. A new method called the surface water fixed model is presented in which the energy minimum conformations for both model systems are preserved close to the X-ray crystallized structure. With normal mode analysis, we calculated frequencies of 2916.6 cm⁻¹ for a small cage at a centre, 2915.9 cm⁻¹ not at a centre, and 2911.7 cm⁻¹ for a large cage at a centre, and 2911.3 cm⁻¹ not at a centre. These frequencies are in moderate agreement with the corresponding Raman spectra, though not adequate. With our new method, however, it should be possible to improve agreement with the Raman spectra, if a model system vastly larger than the present model systems were constructed.     

On invariant ellipsoids for discrete-time systems by saturated optimal controls

Analytical approximation of the maximal invariant ellipsoid for discrete-time linear systems with saturated optimal control is established, which is less conservative than existing computationally un-intensive results. Simultaneously, necessary and sufficient conditions for such approximation being equal to the real maximal invariant ellipsoid is presented. All results are given analytically and can easily be implemented in practice. An illustrative example is given to show the effectiveness of the proposed approach.     

Mathematica在二次曲面形变法中的应用

探讨了用mathematica制作图形动画的原理与实现方法,并且以椭圆抛物面的形成为例,给出了用mathematica实现图形动画的具体步骤.     

终端椭圆约束的时滞系统预测控制

对于输入受约束的时滞系统，提出终端不变椭圆约束的时滞系统预测控制方法。为时滞系统构造特定的目标函数和终端不变椭圆集，保证了闭环系统稳定性，以LMI(Linear Matrix Inequalities)形式给出了系统稳定的充分条件，使得该方法简单，易于实现，最后通过数字仿真验证了该方法的有效性。