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Simulation method for three-dimensional atmospheric turbulence in virtual test

Journal of Computational Information Systems 2011年第4期7卷 1021-1028页

作者： Wu, Yang Jiang, Shouda Lin, Lianlei Wang, Chunyuan Department of Automation Measurement and Control Engineering Harbin Institute of Technology Harbin 150001 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin 150001 China

Atmospheric turbulence is an important issue for successful flight in aeronautical experimentation. In the virtual test of aircraft, building a three-dimensional atmospheric turbulence field (3D-ATF) is necessary for integral simulation. Most classical methods which were based on building one-dimensional atmospheric turbulence simulation do not suit simulating the 3D-ATF. And several existing 3D-ATF simulation methods were not applicable in a large 3D space. This paper that addresses these problems proposes a new method for generating 3D-ATF based on the correlation function. The recursive formulae for the generation of 3D-ATF are deduced based on the self-correlation function and one step correlation function, and the original 3D-ATF is obtained. To achieve the good statistical characteristic the original 3D-ATF is optimized by the twice filtering. The new method is applied to build a 400 × 400 × 400 atmospheric turbulence field. Simulation results indicate that the relativity of 3D-ATF based on the correlation function method is near to the theoretic value. And the relativity of the 3D-ATF optimized by filtering performs the better fitting characteristics to the theoretic value. Consequently, the proposed simulation method is effective for building 3D-ATF in virtual test of aircraft. Copyright © 2011 Binary Information Press.

关键词： Atmospheric turbulence

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control of Upper-Limb Power-Assist Exoskeleton Based on Motion Intention Recognition

Control of Upper-Limb Power-Assist Exoskeleton Based on Moti...

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2011 IEEE International Conference on Robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yongji Wang Jian Huang Weiguang Huo Jun Wu Lei Cheng Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technol Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Educa

Recognizing the user motion intention plays an important role in the study of power-assist robots. An intention-guided control strategy is proposed for the upper-limb power-assist exoskeleton. A force sensor system comprised of force sensing resistors (FSRs) is designed to online estimate the motion intention of user upper limb. A new concept called “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and the observation model of IRD are obtained by enumerating the upper limb behavior modes and analyzing the relationship between the measured force signals and the motion intention. Based on these two models, the IRD can be online inferred by applying filtering technology. Guided by the estimated IRD, an admittance control strategy is assumed to control the motions of three DC motors in the joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by the experiments on a 3-DOF robotic exoskeleton.

关键词： Joints Exoskeletons Force Humans Robot sensing systems Jacobian matrices

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Aspects of wireless communication of sensors

Aspects of wireless communication of sensors

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International Carpathian control Conference (ICCC)

作者： Tumenbayar Lkhagvanseren Vladimir Gerlich Frantisek Hruska Department of Electronics and Measurement Tomas Bata University Zlin Zlin Czech Republic Department of Automation and Control Engineering Tomas Bata University Zlin Zlin Czech Republic

Over the past 10 years there have been rapid advances in wireless technologies and an importance of a radio frequency (RF) communication system is expanding day by day due to its advantages. In the meantime, a huge number of researchers are investigating from the various aspects of a such field. Electromagnetic wave propagation in an indoor environment and penetration trough environment medium is still under consideration. In this paper, we reveal a measured result from the different indoor environments for different transmitted power levels and frequencies. The experience can use to application of wireless communication between sensors.

关键词： Wireless communication Antenna measurements Frequency measurement Propagation losses Materials Wireless sensor networks Sensors

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Retrieval of particle size distribution in multispectral region

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Proceedings of SPIE - The International Society for Optical engineering 2011年 8201卷

作者： Wang, Li Sun, Xiaogang Sun, Kun Li, Feng Department of Automation Measurement and Control Engineering Harbin Institute of Technology Harbin 150001 China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin 150027 China School of Electrics Information Engineering Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9780819488428

In spectral extinction particle sizing technique, the particle size distribution (PSD) can be retrieved based on the measurement of extinction values at multiple wavelengths. If the measurement is performed at wavelengths within only a narrow spectral range, the accuracy and the antinoise ability of retrieval results will be affected to some degree. In this paper, the retrieval of PSD at multiple wavelengths in the ultraviolet-visible-infrared spectral region is proposed. The extinction efficiency calculated by the Mie theory with different wavelengths is studied, and then the retrieval of PSD in multispectral region is performed. Simulation tests both in the dependent model and in the independent model indicate that the retrieval results in the multispectral region are more stable and accurate than that of only in the visible spectrum region. The retrieval results are satisfactory in the multispectral region with the presence of 5% random noise for unimodal distribution and 3% random noise for bimodal distribution. © 2011 SPIE.

关键词： Particle size

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Novel variance-constrained filtering for uncertain systems subject to randomly varying sensor delay

Novel variance-constrained filtering for uncertain systems s...

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Chinese control and Decision Conference, CCDC

作者： Yijing Wang Zhiqiang Zuo Daniel W. C. Ho Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University TJU Tianjin China Department of Mathematics City University of Hong Kong Kowloon Hong Kong China

In this paper, the problem of robust filtering for a class of uncertain discrete-time stochastic systems under randomly varying distributed sensor delay is reconsidered. A new and efficient method for robust filter design is introduced to achieve some performance requirements, that is, the error state of filtering process is mean square bounded and the steady-state variance of the estimation error for each state is less than the individual prescribed upper bound. Different from the previous method which involves a two-step design procedure with algebraic Riccati-like inequalities and linear constraint, it is shown that this problem can be directly converted to the feasibility of some linear matrix inequalities. Furthermore, the inequality used for handling the parameter uncertainty in the previous literature is no required which reduces the conservatism of the obtained results. An example is carried out to illustrate the effectiveness of the method and the improvement over the existing result in the literature.

关键词： Delay Steady-state Robustness Uncertain systems Linear matrix inequalities Symmetric matrices Mathematical model

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Terrain mapping and obstacle detection using Gaussian processes

Terrain mapping and obstacle detection using Gaussian proces...

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10th International Conference on Machine Learning and Applications, ICMLA 2011

作者： Kjærgaard, Morten Bayramoglu, Enis Massaro, Alessandro S. Jensen, Kjeld Technical University of Denmark Department of Electrical Engineering Automation and Control Group Elektrovej Bld 326 DK-2800 Kgs. Lyngby Denmark DTU Space Measurement and Instrumentation Elektrovej Bld 327 DK-2800 Kgs. Lyngby Denmark University of Southern Denmark Inst. of Chem.- Bio.- and Env. Technology Campusvej 55 DK-5230 Odense M Denmark

ISBN: (纸本)9780769546070

In this paper we consider a probabilistic method for extracting terrain maps from a scene and use the information to detect potential navigation obstacles within it. The method uses Gaussian process regression (GPR) to predict an estimate function and its relative uncertainty. To test the new methods, we have arranged two setups: an artificial flat surface with an object in front of the sensors and an outdoor unstructured terrain. Two sensor types have been used to determine the point cloud fed to the system: a 3D laser scanner and a stereo camera pair. The results from both sensor systems show that the estimated maps follow the terrain shape, while protrusions are identified and may be isolated as potential obstacles. Representing the data with a covariance function allows a dramatic reduction of the amount of data to process, while maintaining the statistical properties of the measured and interpolated features. © 2011 IEEE.

关键词： Gaussian distribution

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Phase properties of odd and even circular states

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Chinese Physics B 2010年第5期19卷 297-304页

作者：王月媛刘正君廖庆洪刘树田 Department of Physics Harbin Institute of Technology Department of Automation Measurement and Control Engineering Harbin Institute of Technology Department of Physics Harbin Normal university

Phase properties of the even and odd circular states are studied within the Hermitian phase formalism of Pegg and *** analytical formulas for the distribution function and the variance of the phase operator are obtained and used to examine whether or not the even and odd circular states exhibit photon-number squeezing and phase squeezing.

关键词： even and odd circular states Pegg-Barnett phase formalism phase probability distribution phase squeezing and photon-number squeezing

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The research on multi-mode sequential flocking in uncertain environment for multiple mobile robots

The research on multi-mode sequential flocking in uncertain ...

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Chinese control Conference (CCC)

作者： Lei Cheng Huaiyu Wu Yongji Wang Quanmin Zhu Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Faculty of Environment and Engineering University of the West of England Bristol United Kingdom BS16 1QY

To provide a generic solution to the local minimum problem encountered within flocking systems in uncertain environment, this paper presents a further design of a multi-model flocking control for multiple mobile robots in terms of behavior-based robotics. Within this framework, several new behavior modes are integrated with the sequential flocking strategy, including multi-robot rigid-body bouncing behavior, multi-robot wall-following behavior and their fusion state. The simulation studies are comprehensively conducted to demonstrate the well environment-adaptability of the proposed procedure in static/dynamic irregular obstacles environment.

关键词： Lead Mobile robots Electronic mail Argon automation

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Properties of the fractional dual nonlinear correlator

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Guangxue Xuebao/Acta Optica Sinica 2011年第1期31卷

作者： Yang, Xiujuan Zhang, Xiaoqiu Yang, Ming Liu, Zhengjun Liu, Shutian Department of Physics Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Automation Measurement and Control Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

The fractional Foruier transform (FrFT) is introduced into the dual nonlinear optical correlation. The dual nonlinear fractional correlation can be realized by the nonlinear operations on the FrFT of the reference images and the target ones. The proposed scheme gives different weights to different shapes and textures by nonlinear parameters and fractional orders. Therefore the properties of target recognition can be controlled. The dual nonlinear fractional correlator can be implemented by an opto-electronical setup. The simulation results show that the most remarkable characteristic of this system is that it has the variable and adjustable discrimination capability to shape changes and texture distortions of the objects. In addition it can improve the performances of the correlation output peak and it has better rubustness to noise.

关键词： Optical correlation

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Terrain Mapping and Obstacle Detection Using Gaussian Processes

Terrain Mapping and Obstacle Detection Using Gaussian Proces...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Morten Kjaergaard Enis Bayramoglu Alessandro S. Massaro Kjeld Jensen Department of Electrical Engineering Automation and Control Group Technical University of Denmark Kongens Lyngby Denmark Measurement and Instrumentation DTU Space Kongens Lyngby Denmark Inst. of Chem.-Bio.-& Env. Technology University of Southern Denmark Odense M Denmark

关键词： Estimation Gaussian processes Lasers Sensors Cameras Three dimensional displays Object detection

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