The accurate position estimation plays an critical role in the autonomous navigation for Micro Aerial Vehicles(MAV).Global positioning System(GPS) and inertial measurement unit(IMU) are two common sensors for navigati...
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The accurate position estimation plays an critical role in the autonomous navigation for Micro Aerial Vehicles(MAV).Global positioning System(GPS) and inertial measurement unit(IMU) are two common sensors for navigation widely used on MAVs in the urban environment. Both of them have its distinct disadvantages that the GPS is susceptible to environmental interference and the IMU has accumulative errors. To overcome these problems, a GPS/IMU integrated system based on the factor graph optimization is developed in this paper. Unlike the conventional extended Kalman filter(EKF)-based method, the graph optimization method takes the whole trajectory into consideration so that it can achieve enough accuracy even after a long distance. Furthermore, the IMU preintegration method is used to avoid the repeated computation of high-rate IMU *** with the EKF method, the experimental results on the Zurich urban micro aerial vehicle dataset show the superior accuracy of the proposed factor graph optimization algorithm.
This paper presents a comprehensive investigation on the $${{\mathcal H}_{\infty}}$$ control problem of linear multidimensional...
This paper presents a comprehensive investigation on the
$${{\mathcal H}_{\infty}}$$
control problem of linear multidimensional (nD) discrete systems described by the nD Roesser (local) state-space model. A Bounded Real Lemma consisting of a series of conditions is first established for general nD systems. The proposed nD conditions directly reduce to their 1D counterparts when n = 1, and besides several sufficient conditions which include the existing 2D results as special cases, some necessary and sufficient conditions are also shown to explore further insights to the considered problem. By applying a linear matrix inequality (LMI) condition of the nD Bounded Real Lemma, the nD
$${{\mathcal H}_{\infty}}$$
control problem is then considered for three kinds of control laws, namely, static state feedback (SSF) control, dynamic output feedback (DOF) control and static output feedback (SOF) control, respectively. The nD
$${{\mathcal H}_{\infty}}$$
SSF and DOF control problems are formulated in terms of an LMI and LMIs, respectively, and thus tractable by using any available LMI solvers. In contrast, the solution condition of the nD
$${{\mathcal H}_{\infty}}$$
SOF controller is not strictly in terms of LMIs, therefore an iterative algorithm is proposed to solve this nonconvex problem. Finally, numerical examples are presented to demonstrate the application of these different kinds of nD
$${{\mathcal H}_{\infty}}$$
control solutions to practical nD processes as well as the effectiveness of the proposed me
In this article, a system for automatic recognition, including detection and classification, of emergency vehicles based on images from video recorders is proposed. The system utilizes YOLO v8 artificial neural networ...
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ISBN:
(数字)9788362065486
ISBN:
(纸本)9798350373806
In this article, a system for automatic recognition, including detection and classification, of emergency vehicles based on images from video recorders is proposed. The system utilizes YOLO v8 artificial neural network. Recognition accuracy tests were conducted on a specially prepared database of frames from real recordings. It includes marked and unmarked police vehicles (which are very difficult to distinguish and typically not included in automatic recognition systems), fire, ambulance, military vehicles and other reference images. The experiments concerned the recognition of vehicle types and the state of emergency lighting. The highest value of total (for all classes) F1 measure is over 86%. In selected classes the F1 reaches 91%, while precision is 94% and sensitivity is 89%. They can be considered as satisfactory results, what indicates the possibility of using the presented system in practice.
Signal inhomogeneity in MRI can influence significantly automatic data processing like segmentation, etc. or even affect the diagnostic procedure. In this work, a new method of intensity nonuniformity correction is pr...
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ISBN:
(纸本)9781538693865;9781538693858
Signal inhomogeneity in MRI can influence significantly automatic data processing like segmentation, etc. or even affect the diagnostic procedure. In this work, a new method of intensity nonuniformity correction is presented. Our idea was to replace FCM clustering by k-harmonic means in the method that uses a standard N3 correction procedure. The algorithm was tested with MRI dataset acquired from a phantom object using a breast MRI coil to simulate real conditions during the study. Results were compared with five other methods using two indexes-integral uniformity and standard deviation of the signal inside the object. For the presented and improved method, the lowest integral uniformity and the reasonable low signal deviation were obtained.
In the paper properties of adaptive feedforward active noise controlsystems with adaptation based on LMS algorithm are discussed from the point of view of initialization of adaptation. A focus on average rate of conv...
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In the paper properties of adaptive feedforward active noise controlsystems with adaptation based on LMS algorithm are discussed from the point of view of initialization of adaptation. A focus on average rate of convergence of the corresponding active noise control algorithms is given. The ideas presented are illustrated by simulation examples in which mixed spectrum and wide-band noises are attenuated.
The robust stability of uncertain linear neutral systems with multiple delays is investigated in this paper. For the neutral systems with equal neutral and discrete delays, we established a new integral inequality whi...
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There exists a vast amount of literature how dissipativity properties can be exploited to design controllers for stability and performance guarantees for the closed loop. With the rising availability of data, there ha...
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ISBN:
(数字)9781728174471
ISBN:
(纸本)9781728174488
There exists a vast amount of literature how dissipativity properties can be exploited to design controllers for stability and performance guarantees for the closed loop. With the rising availability of data, there has therefore been an increasing interest in determining dissipativity properties from data as a means for data-driven systems analysis and control with rigorous guarantees. Most existing approaches, however, consider dissipativity properties that hold only over a finite horizon and mostly only qualitative statements can be made in the presence of noisy data. In this work, we present a novel approach to determine dissipativity of linear time-invariant systems from data where we inherently consider properties that hold over the infinite horizon. Furthermore, we develop a method to verify dissipativity from noisy data with guaranteed robustness.
The goal of this article is to study fundamental mechanisms behind so-called indirect and direct data-driven control for unknown systems. Specifically, we consider policy iteration applied to the linear quadratic regu...
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A new chemical reactor, the Open Plate Reactor, is being developed by Alfa Laval AB. It combines good mixing with high heat transfer capacity. With the new concept, highly exothermic reactions can be produced using mo...
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A new chemical reactor, the Open Plate Reactor, is being developed by Alfa Laval AB. It combines good mixing with high heat transfer capacity. With the new concept, highly exothermic reactions can be produced using more concentrated reactants. A utility system to provide the reactor with cooling water is designed and experimentally verified. The utility temperature controller is based on a mid-ranging control structure to increase the operating range of the hydraulic equipment. A Model Predictive controller is proposed to maximize the reaction yield under hard input and state constraints. Simulations show that the designed process control system gives high reaction yield and ensures that the temperatures inside the reactor do not exceed a predefined safety limit.
A molecular dynamics model of nanoelectromechanical (NEM) switch is established and the dynamic characteristic of this model is investigated. The air damping effect on nanostructure is studied and auto-oscillation of ...
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A molecular dynamics model of nanoelectromechanical (NEM) switch is established and the dynamic characteristic of this model is investigated. The air damping effect on nanostructure is studied and auto-oscillation of an atom is simulated when carbon nanotube (CNT) is in balanced state. For obtaining the natural frequency of CNT by means of exerting external force on the end of CNT, the curve of amplitude-frequency response is given too. Finally, the amplitude is analyzed when CNT has resonance vibration in low vacuum. The simulation results show the natural vibration frequency of atom is 2 THz and the natural frequency of CNT is 4.79 GHz. The results also show that the frequency of CNT decreases with the applied force increase at first, but then increases with the force increase, until the switch is closed. Finally, the experiment indicates that if the variation range of pressure is in the same, the amplitude variation under low pressure is higher than that under high pressure.
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