A new car-following model was developed to describe the motion of the dynamical traffic flow with a synthesized optimal velocity function which depends on not only headway of the immediately preceding vehicle but also...
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According to the biased angles provided by the bistatic sensors, the necessary condition of observability and Cramer-Rao low bounds for the bistatic system are derived and analyzed, respectively. Additionally, a dual ...
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According to the biased angles provided by the bistatic sensors, the necessary condition of observability and Cramer-Rao low bounds for the bistatic system are derived and analyzed, respectively. Additionally, a dual Kalman filter method is presented with the purpose of eliminating the effect of biased angles on the state variable estimation. Finally, Monte-Carlo simulations are conducted in the observable scenario. Simulation results show that the proposed theory holds true, and the dual Kalman filter method can estimate state variable and biased angles simultaneously. Furthermore, the estimated results can achieve their Cramer-Rao tow bounds.
A new discrete-time adaptive iterative learning control (AILC) approach is developed to deal with systems in presence of time-varying parametric uncertainties. By using the analogy between the discrete time axis and t...
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ISBN:
(纸本)7900719229
A new discrete-time adaptive iterative learning control (AILC) approach is developed to deal with systems in presence of time-varying parametric uncertainties. By using the analogy between the discrete time axis and the iterative learning axis, the new adaptive ILC can incorporate a Projection algorithm, hence the learning gain can be tuned iteratively along the learning axis and pointwisely along the time axis. The major advantage of the new AILC is that it can relax the identical conditions on the initial state and reference trajectory, in the sequel achieves an almost perfect tracking performance.
Electromagnetic Tomography (EMT) which combined electromagnetic theory and computerized tomography technology is one of the electrical tomography technologies. This technology can reconstruct the spatiotemporal distri...
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Aim at design question of dexterous-hand optimization structure parameter confirming and optimal dexterous, a new optimization design method was proposed. The bionics principle of mankind finger was introduced to the ...
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Aim at design question of dexterous-hand optimization structure parameter confirming and optimal dexterous, a new optimization design method was proposed. The bionics principle of mankind finger was introduced to the structure parameter optimization algorithm. Firstly the dexterity of the single finger was analyzed, the design criteria of dexterity with optimum index was adopted, space best dexterity area, relation of every rod length and rotation range of every joint were confirmed. Then MATLAB optimization toolbox was used to optimize the above-mentioned structure parameter, it gained the optimal dimension of content task of grasping. Finally the method of ration numeration relative position of fingers was proposed. It is applied to the real design of housework service robot, optimal flexible performance is obtained.
To speed up convergence rates and resolve local convergence issues in traditional adaptive genetic algorithms, an improved adaptive genetic algorithm was developed. According to the concentrating degree of fitness of ...
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To speed up convergence rates and resolve local convergence issues in traditional adaptive genetic algorithms, an improved adaptive genetic algorithm was developed. According to the concentrating degree of fitness of the populations, a kind of adaptive crossover probability and mutation probability were designed in terms of three variables of maximal fitness, minimal fitness and average fitness of the populations, whereby the crossover probabilities and mutation probabilities of the whole populations could be adjusted.. Based on this, an improved adaptive genetic algorithm was developed. Simulation results prove that the new adaptive algorithm can converge faster than the unimproved algorithm and is highly effective at avoiding the premature convergence of the adaptive genetic algorithm.
In terms of the problem of bearings-only maneuvering target tracking, two kinds of acceleration method are developed, i.e., the first one is to derive the acceleration based on the bearing angles, and the other one is...
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In terms of the problem of bearings-only maneuvering target tracking, two kinds of acceleration method are developed, i.e., the first one is to derive the acceleration based on the bearing angles, and the other one is to obtain the acceleration value by the neural fuzzy network based on the wavelet basis function. Simulation results show that the acceleration value can be estimated and fulfilled by both the proposed methods. For the case of fast maneuvering target, the neural fuzzy network based method is preferred, and for the case of the slow maneuvering target, the first one not only estimates the true acceleration value, but also detects when the maneuver occurs and ends.
Combining rolling planning principle with radial-basis-function-neural-network (RBFNN), this paper brings forward a new hybrid obstacle-avoidance algorithm, which aims at dynamic obstacles and can be utilized in local...
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ISBN:
(纸本)9781424417612;1424417619
Combining rolling planning principle with radial-basis-function-neural-network (RBFNN), this paper brings forward a new hybrid obstacle-avoidance algorithm, which aims at dynamic obstacles and can be utilized in local path planning for mobile robot in dynamic and uncertainty environment. The method uses camera to collect the motion path of dynamic obstacles, picks up heart-shaped sequence and then with these data, builds the prediction model using RBFNN. A rolling window in the scan range of ultrasonic sensor is built according to the present location in the case of the real-time plan of mobile robot. When the planner finds there is a dynamic obstacle in the rolling window, then begins the prediction calculation. It predicts the obstacle's motion path in the next period based on three time sequence value of the obstacle in contiguous period of time. So the dynamic obstacle avoidance issue can be converted to the instantaneous static one and make the real-time plan feasible. The method can enhance the safety of dynamic avoidance and the real time of plan. The simulation results have proved the algorithm's feasibility and efficiency.
Augmented Reality (AR) is a new technology which is developed from Virtual Reality (VR). It is the key technology of modern Virtual Prototyping. As same as Virtual Reality technology, AR enables the interactive and ea...
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Augmented Reality (AR) is a new technology which is developed from Virtual Reality (VR). It is the key technology of modern Virtual Prototyping. As same as Virtual Reality technology, AR enables the interactive and easy-to-understand workbench of digital design. The basic concept of AR and the comparison between AR and VR are explored first in this paper. Based on the characteristics of AR, the viewpoint of closely combining product design with simulation of digital prototyping and functional prototyping is presented in the paper. The virtual prototyping simulation system and hardware-in-loop simulation are jointed. The way of using AR and the potential for future applications are also studied in this paper.
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