The paper presents a theorem to show the relationship between the parameters of the Moving Average (MA) process and those of its inversed process. The theorem can be used for the parameter identification of the MA pro...
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The paper presents a theorem to show the relationship between the parameters of the Moving Average (MA) process and those of its inversed process. The theorem can be used for the parameter identification of the MA process. It is further shown in this paper that the parameter identification of autoregressive moving average with exogenous variable model (ARMAX), based on the identification of its MA part, can be easily achieved. The approach, at first, achieves the identification of the ARX part by directly using least-square estimations to find out a straightforward relationship between estimated parameters and observed data. Then, the inversed model of the MA part is identified in a similar way. Finally, the noise variance can be computed by using identified MA parameters. Numerical simulations validate the effectiveness and efficiency of the proposed approach.
In this paper time-driven learning refers to the machine learning method that updates parameters in a prediction model continuously as new data arrives. Among existing approximate dynamic programming (ADP) and reinfor...
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Accurate terrain estimation is essential for unmanned ground vehicle (UGV) to achieve autonomous navigation. However, some existing approaches are difficult to reconstruct the 3D surface in real-time because of seriou...
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ISBN:
(纸本)9781509041039
Accurate terrain estimation is essential for unmanned ground vehicle (UGV) to achieve autonomous navigation. However, some existing approaches are difficult to reconstruct the 3D surface in real-time because of serious amount of computation. A method of environmental terrain estimation based on multi-scale radial basis function with a 3D lidar mounted on a moving vehicle was proposed in this paper. By combining kernel template with terrain grid map, the approach is applicable to the non-uniform density distribution of laser point cloud with the increasing detection range and improves the efficiency of calculation. What's more, the estimation of culverts and trees will be more accurate if treat the point cloud in separate layers for suspended obstacles problem. All terrain estimation approaches were verified with good performance in an interactive system, which is set up with Virtual Robot Experimentation Platform (VREP) and actual vehicle.
This paper studies the finite-time tracking consensus in probability of multi-agent systems with noises and time delay. By using the method of pinning control and observer, the system both with and without the leader ...
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ISBN:
(纸本)9781665412667;9781665429412
This paper studies the finite-time tracking consensus in probability of multi-agent systems with noises and time delay. By using the method of pinning control and observer, the system both with and without the leader as the root of a spanning tree is considered. According to algebraic graph theory, stochastic Lyapunov stability theory and control theory, sufficient conditions for the tracking consensus are given. Numerical simulations are given to verify the effectiveness of the main results.
In order to solve the multi-UAV cooperative path planning problem of low-altitude penetration, the paper proposes an improved Multi-agent Coevolutionary Algorithm (IMACEA), which introduces co-evolution mechanism base...
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In this paper, aimed at the problem of conventional image restore method faced to unknown reason of image degrading, a new IGA(improved GA) is brought out and applied to image restoration. And aimed at image restorati...
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ISBN:
(纸本)9787894631046
In this paper, aimed at the problem of conventional image restore method faced to unknown reason of image degrading, a new IGA(improved GA) is brought out and applied to image restoration. And aimed at image restoration problem, the operation of heredity, the group strategy, and maintenance the group variety are all improved as a whole. In this algorithm, the Chaos optimization, the mixed selection and elite reservation method are added, so the algorithm of this paper can give attention to both global search ability and convergence speed and it can give out satisfy restoration result.
Model linearization problem is studied for the longitudinal nonlinear dynamics of hypersonic vehicle. Based on parameter-dependent Lyapunov functions, static feedback controller which guarantees the robust tracking pe...
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ISBN:
(纸本)9787894631046
Model linearization problem is studied for the longitudinal nonlinear dynamics of hypersonic vehicle. Based on parameter-dependent Lyapunov functions, static feedback controller which guarantees the robust tracking performance is designed for the closed-loop system. Finally, the application to numerical example shows the validity of the proposed design approaches.
The error of Code Tracking Loop(CTL) of GPS receiver influences the error of carrier tracking loop in the presence of multipath. The error models of carrier tracking loop are established in the multipath environment w...
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ISBN:
(纸本)9787894631046
The error of Code Tracking Loop(CTL) of GPS receiver influences the error of carrier tracking loop in the presence of multipath. The error models of carrier tracking loop are established in the multipath environment when the non-coherent Early Minus Late(EML) power mode CTL and the non-coherent Dot-product(DOT) power mode CTL are used. The impacts of multipath parameters and correlator spacing on the error of carrier tracking loop are analyzed by simulation. The simulation results show that the two non-coherent CTLs have little difference in affecting the carrier tracking error. Furthermore, the narrow correlator technology cannot reduce the error of carrier tracking loop.
To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and h...
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ISBN:
(纸本)9781479973989
To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.
Algorithm based on NMI feature matching and Position Prediction for automatic target tracking are develop for realize an DSP based real-time target tracking system. The target is firstly detected with a improved frame...
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ISBN:
(纸本)9787894631046
Algorithm based on NMI feature matching and Position Prediction for automatic target tracking are develop for realize an DSP based real-time target tracking system. The target is firstly detected with a improved frame-difference method, and then the target area is segmented based on threshold segmentation and region growth. The NMI feature is used for matching. Finally a combining forecast algorithm is used in the tracking system. This tracking system is implemented with a DSP controller and software is accomplished on DSP/BIOS operation system. It is proved that it can be meet the needs of real-time stably tracking and overcome the disturbance brought by attitude variances and short time occlusion.
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