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Dynamic modeling of a parafoil system considering flap deflection

Journal of Southeast University(English Edition) 2017年第4期33卷 416-425页

作者： Tao Jin Sun Qinglin Chen Zengqiang He Yingping Tianjin Key Laboratory of Intelligent Robotics Technology Nankai University Tianjin 300350 China College of Computer and Control Engineering Nankai University Tianjin 300350 China Aerospace Life-Support Industries L td . Aviation Industry Corporation of China Xiangyang 441003 China

In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigid body,a six degrees-of-freedom(DOF)dynamic model of a parafoil system including three DOF for translational motion and three DOF for rotational motion,is established according to the K rchhoff motion *** the flexible winged paafoil system flying at low altitude is more susceptibleto winds,the motion characteristics of the parafoil system Wth and Wthout winds are simulated and ***,the ardropm test is used to further verify the *** comparison results show that the simulation trajectory roughly overlaps with the actual flight *** horzontnl velocity of the simulation model is in good accordance with the airdrop test,with a deviation less than0.5m/s,while its simulated vertical velocity fuctuates slightly under the infuence of the wind,and shows a similar trend to the ardrop *** is concludedthat the established model can well describe the characteristics of the parafoil system.

关键词： parafoil system dynamic modeling and simulation fig h t chaacterstic airdrop experiment fap defection

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Variational autoencoders for deforming 3d mesh models

arXiv

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arXiv 2017年

作者： Tan, Qingyang Gao, Lin Lai, Yu-Kun Xia, Shihong Beijing Key Laboratory of Mobile Computing and Pervasive Device Institute of Computing Technology Chinese Academy of Sciences School of Computer and Control Engineering University of Chinese Academy of Sciences School of Computer Science and Informatics Cardiff University

3D geometric contents are becoming increasingly popular. In this paper, we study the problem of analyzing deforming 3D meshes using deep neural networks. Deforming 3D meshes are flexible to represent 3D animation sequences as well as collections of objects of the same category, allowing diverse shapes with large-scale non-linear deformations. We propose a novel framework which we call mesh variational autoencoders (mesh VAE), to explore the probabilistic latent space of 3D surfaces. The framework is easy to train, and requires very few training examples. We also propose an extended model which allows flexibly adjusting the significance of different latent variables by altering the prior distribution. Extensive experiments demonstrate that our general framework is able to learn a reasonable representation for a collection of deformable shapes, and produce competitive results for a variety of applications, including shape generation, shape interpolation, shape space embedding and shape exploration, outperforming state-ofthe-art methods. Copyright © 2017, The Authors. All rights reserved.

关键词： Deep neural networks

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Robust visual SLAM with point and line features

arXiv

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arXiv 2017年

作者： Zuo, Xingxing Xie, Xiaojia Liu, Yong Huang, Guoquan Institute of Cyber-Systems and Control Zhejiang University Zhejiang310027 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang310027 China Department of Mechanical Engineering University of Delaware NewarkDE19716 United States

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection, and bundle adjustment of both point and line features. In particular, as the main theoretical contributions of this paper, we, for the first time, employ the orthonormal representation as the minimal parameterization to model line features along with point features in visual SLAM and analytically derive the Jacobians of the re-projection errors with respect to the line parameters, which significantly improves the SLAM solution. The proposed SLAM has been extensively tested in both synthetic and real-world experiments whose results demonstrate that the proposed system outperforms the state-of-the-art methods in various scenarios. Copyright © 2017, The Authors. All rights reserved.

关键词： Machine learning

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A Single-Mobile-Anchor Based Distributed Localization Scheme for Sensor Networks 35

A Single-Mobile-Anchor Based Distributed Localization Scheme...

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第35届中国控制会议

作者： CHENG Peng HAN Tingrui ZHANG Xi ZHENG Ronghao LIN Zhiyun State Key Laboratory of Industrial Control Technology College of Electrical EngineeringZhejiang University Zhejiang Province Marine Renewable Energy Electrical Equipment and System Technology Research Laboratory

ISBN: (纸本)9781509009107

This paper investigates the distributed localization problem for a sensor network in the *** is assumed that one mobile robot wandering in the area acts as a mobile anchor.A distributed scheme is devised such that each node can localize itself using only its locally available distance measurements about its(possibly changing) *** key idea is based on a new way of calculating the bary centric coordinate of each node about its neighbors,which has the advantage that it is capable of handling distance measurement errors.A necessary and sufficient condition is obtained for the global convergence of the proposed distributed *** simulation and experiment using ZigBee devices are carried out to validate the proposed distributed localization scheme.

关键词： Sensor Network Distributed Localization ZigBee Device

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Mesh-based autoencoders for localized deformation component analysis

arXiv

引用

arXiv 2017年

作者： Tan, Qingyang Gao, Lin Lai, Yu-Kun Yang, Jie Xia, Shihong Beijing Key Laboratory of Mobile Computing and Pervasive Device Institute of Computing Technology Chinese Academy of Sciences School of Computer and Control Engineering University of Chinese Academy of Sciences School of Computer Science & Informatics Cardiff University

Spatially localized deformation components are very useful for shape analysis and synthesis in 3D geometry processing. Several methods have recently been developed, with an aim to extract intuitive and interpretable deformation components. However, these techniques suffer from fundamental limitations especially for meshes with noise or large-scale deformations, and may not always be able to identify important deformation components. In this paper we propose a novel mesh-based autoencoder architecture that is able to cope with meshes with irregular topology. We introduce sparse regularization in this framework, which along with convolutional operations, helps localize deformations. Our framework is capable of extracting localized deformation components from mesh data sets with large-scale deformations and is robust to noise. It also provides a nonlinear approach to reconstruction of meshes using the extracted basis, which is more effective than the current linear combination approach. Extensive experiments show that our method outperforms state-of-the-art methods in both qualitative and quantitative evaluations. Copyright © 2017, The Authors. All rights reserved.

关键词： Mesh generation

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Nonlinear adaptive switching control for a class of non-affine nonlinear systems

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Chinese Journal of Chemical engineering 2016年第9期24卷 1243-1251页

作者： Miao Huang Xin Wang Zhenlei Wang Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology School of Optical–Electrical and Computer Engineering University of Shanghai for Science and Technology Center of Electrical & Electronic Technology Shanghai Jiao Tong University

An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.

关键词： Non-affine nonlinear systems Nonlinear adaptive switching control Incremental model

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Matryoshka-caged gold nanorods： Synthesis, plasmonic properties, and catalytic activity

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Nano Research 2016年第2期9卷 415-423页

作者： Wei Xiong Debabrata Sikdar Lim Wei Yap Pengzhen Guo Malin Premaratne Xinyong Li Wenlong Cheng Department of Chemical Engineering Monash University Clayton VIC 3800 Australia The Melbourne Centre for Nanofabrication 151 Wellington Road Clayton VIC 3168 Australia Key Laboratory of Industrial Ecology and Environmental Engineering and State Key Laboratory of Fine Chemicals School of Environmental Sciences and Technology Dalian University of Technology Dalian 116024 China Advanced Computing and Simulation Laboratory (AχL) Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

Matryoshka-caged gold nanorods （mCGNRs） were successfully synthesized by alternating between a seed-mediated silver-coating method and galvanic replacement reactions （GRRs）. As the number of matryoshka layers of the mCGNRs increased, the plasmon resonance peak broadened and was red-shifted, and the catalytic activity towards the reduction of 4-nitrophenol （4-NTP） increased. When mCGNRs with 6 layers were used as nanocatalysts in the reduction of 4-nitrophenol, the reaction rate coefficient was 5.2- and 3.7-times higher than that of the gold-nanorod- and caged-gold-nanorod-catalyzed reductions of 4-nitrophenol, respectively. In addition, the surface-plasmon-resonance-based absorption of light enhanced the catalytic performance of the mCGNRs. With the support of a polyurethane foam, the mCGNRs synthesized in this study can be applied as recydable heterogeneous catalysts for the reduction of 4-nitrophenol.

关键词： matryoshka-caged gold nanorods galvanic replacement reaction 4-nitrophenol catalysis surface plasmon resonance

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Input optics systems of the KAGRA detector during O3GK (vol 2023, 023F01, 2023)

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PROGRESS OF THEORETICAL AND EXPERIMENTAL PHYSICS 2023年第5期2023卷

作者： Akutsu, T. Ando, M. Arai, K. Arai, Y. Araki, S. Araya, A. Aritomi, N. Asada, H. Aso, Y. Bae, S. Bae, Y. Baiotti, L. Bajpai, R. Barton, M. A. Cannon, K. Cao, Z. Capocasa, E. Chan, M. Chen, C. Chen, K. Chen, Y. Chiang, C-I Chu, H. Chu, Y-K Eguchi, S. Enomoto, Y. Flaminio, R. Fujii, Y. Fujikawa, Y. Fukunaga, M. Fukushima, M. Furuhata, T. Gao, D. Ge, G-G Ha, S. Hagiwara, A. Haino, S. Han, W-B Hasegawa, K. Hattori, K. Hayakawa, H. Hayama, K. Himemoto, Y. Hiranuma, Y. Hirata, N. Hirose, E. Hong, Z. Hsieh, B-H Huang, G-Z Huang, H-Y Huang, P. Huang, Y-C Huang, Y-J Hui, D. C. Y. Ide, S. Ikenoue, B. Imam, S. Inayoshi, K. Inoue, Y. Ioka, K. Ito, K. Itoh, Y. Izumi, K. Jeon, C. Jin, H-B Jung, K. Jung, P. Kaihotsu, K. Kajita, T. Kakizaki, M. Kamiizumi, M. Kanbara, S. Kanda, N. Kang, G. Kataoka, Y. Kawaguchi, K. Kawai, N. Kawasaki, T. Kim, C. Kim, J. Kim, J. C. Kim, Ws Kim, Y-M Kimura, N. Kita, N. Kitazawa, H. Kojima, Y. Kokeyama, K. Komori, K. Kong, A. K. H. Kotake, K. Kozakai, C. Kozu, R. Kumar, R. Kume, J. Kuo, C. Kuo, H-S Kuromiya, Y. Kuroyanagi, S. Kusayanagi, K. Kwak, K. Lee, H. K. Lee, H. W. Lee, R. Leonardi, M. Li, K. L. Lin, L. C-C Lin, C-Y Lin, F-K Lin, F-L Lin, H. L. Liu, G. C. Luo, L-W Majorana, E. Marchio, M. Michimura, Y. Mio, N. Miyakawa, O. Miyamoto, A. Miyazaki, Y. Miyo, K. Miyoki, S. Mori, Y. Morisaki, S. Moriwaki, Y. Nagano, K. Nagano, S. Nakamura, K. Nakano, H. Nakano, M. Nakashima, R. Nakayama, Y. Narikawa, T. Naticchioni, L. Negishi, R. Quynh, L. Nguyen Ni, W-T Nishizawa, A. Nozaki, S. Obuchi, Y. Ogaki, W. Oh, J. J. Oh, S. H. Ohashi, M. Ohishi, N. Ohkawa, M. Ohta, H. Okutani, Y. Okutomi, K. Oohara, K. Ooi, C. Oshino, S. Otabe, S. Pan, K-C Pang, H. Parisi, A. Park, J. Arellano, F. E. Pena Pinto, I. Sago, N. Saito, S. Saito, Y. Sakai, K. Sakai, Y. Sakuno, Y. Sato, S. Sato, T. Sawada, T. Sekiguchi, T. Sekiguchi, Y. Shao, L. Shibagaki, S. Shimizu, R. Shimoda, T. Shimode, K. Shinkai, H. Shishido, T. Shoda, A. Somiya, K. Son, E. J. Sotani, H. Sugimoto, R. Suresh, J. Suzuki, T. Suzuki, T. Tagoshi, H. Takahashi, H Gravitational Wave Science Project National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Advanced Technology Center National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Department of Physics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Research Center for the Early Universe The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research KAGRA Observatory The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa City Chiba 277-8582 Japan Accelerator Laboratory High Energy Accelerator Research Organization (KEK) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Earthquake Research Institute The University of Tokyo 1-1-1 Yayoi Bunkyo-ku Tokyo 113-0032 Japan Department of Mathematics and Physics Graduate School of Science and Technology Hirosaki University 3 Bunkyo-cho Hirosaki Aomori 036-8561 Japan Kamioka Branch National Astronomical Observatory of Japan 238 Higashi-Mozumi Kamioka-cho Hida City Gifu 506-1205 Japan The Graduate University for Advanced Studies (SOKENDAI) 2-21-1 Osawa Mitaka City Tokyo 181-8588 Japan Korea Institute of Science and Technology Information 245 Daehak-ro Yuseong-gu Daejeon 34141 Republic of Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 Beon-gil Yuseong-gu Daejeon 34047 Republic of Korea International College Osaka University 1-1 Machikaneyama-cho Toyonaka City Osaka 560-0043 Japan School of High Energy Accelerator Science The Graduate University for Advanced Studies (SOKENDAI) 1-1 Oho Tsukuba City Ibaraki 305-0801 Japan Department of Astronomy Beijing Normal University Xinjiekouwai Street 19 Haidian District Beijing 100875 China Department of Applied Physics Fukuoka University 8-19-1 Nanakuma Jonan Fukuoka City Fukuoka 814-0180 Japan Department of Physics Tamkang University No. 151 Yingzhuan Road Danshui Dist. New Taipei City 25137 Taiwan Department of Physics

KAGRA, the underground and cryogenic gravitational-wave detector, was operated for its solo observation from February 25 to March 10, 2020, and its first joint observation with the GEO 600 detector from April 7 to April 21, 2020 (O3GK). This study presents an overview of the input optics systems of the KAGRA detector, which consist of various optical systems, such as a laser source, its intensity and frequency stabilization systems, modulators, a Faraday isolator, mode-matching telescopes, and a high-power beam dump. These optics were successfully delivered to the KAGRA interferometer and operated stably during the observations. The laser frequency noise was observed to limit the detector sensitivity above a few kilohertz, whereas the laser intensity did not significantly limit the detector sensitivity.

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Evaluation of Lower-Limb Rehabilitation Based on Muscle Fatigue

Evaluation of Lower-Limb Rehabilitation Based on Muscle Fati...

引用

IEEE International Symposium on industrial Electronics

作者： Juan Zhao Jinhua She Dianhong Wang Edwardo F. Fukushima Min Wu Hiroshi Hashimoto School of Engineering Tokyo University of Technology Hachioji Tokyo Japan School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology Tokyo Japan

The purpose of this study was to investigate the features of muscle fatigue extracted from surface electromyography (sEMG) signals of lower limbs, and then to present an evaluation method of lower-limb rehabilitation to provide physical basis for the training effect of rehabilitation. Four healthy young university students were invited to perform a pedaling exercise for 40 days. The sEMG signals of four lower-limb muscles are recorded and processed using a Butterworth filter and a Daubechies 10 wavelet. Then, the change of the ratios of the spectrums of Types I and II muscle fibers to the total number of the spectrum along the exercise are examined. The time of the first intersection of the ratios for Types I and II for each muscle is used as a performance index. The increase in the time at the beginning and the end of the training period indicates the improvement of motor function, and thus it verifies the effectiveness of the rehabilitation.

关键词： SEMG Muscle fatigue Rehabilitation evaluation Unequal length segmentation

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On the nonexistence of event-based triggers that preserve Gaussian state in presence of package-drop

On the nonexistence of event-based triggers that preserve Ga...

引用

American control Conference

作者： Enoch Kung Junfeng Wu Dawei Shi Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Department of Automatic Control The Royal Institute of Technology (KTH) State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781509045839

State estimation is a core objective in cyber-physical systems. In the state estimation problem over linear systems, the Kalman filter is the standard solution. The filter is the format on which the solutions to subsequent estimation problems are based. Among these problems are the estimation problem in the presence of packet drops and estimation problem involving event-based triggers. We study in this paper both phenomena simultaneously. In an attempt to find the Kalman-like filter, which proves the Gaussianity of the state and offers a set of update equations, our paper shows that no such filter exists. More precisely, one cannot find an event-based trigger such that under possible packet drops, the state variable remains a Gaussian variable. This conclusion can be reasonably extended to a more general setting.

关键词： State estimation Packet drops Event-based triggers State estimation Event-based Filters State variable TRIGGERS Gauss

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