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arXiv 2020年

作者： Theodosis, Dionysios Berkane, Soulaimane Dimarogonas, Dimos V. Dynamic Systems and Simulation Laboratory School of Production Engineering and Management Technical University of Crete Greece Département d’informatique et d’ingénierie Université du Québec en Outaouis GatineauQC Canada Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

This paper deals with the problem of state estimation for a class of linear time-invariant systems with quadratic output measurements. An immersion-type approach is presented that transforms the system into a state-affine system by adding a finite number of states to the original system. Under suitable persistence of excitation conditions on the input and its higher derivatives, global state estimation is exhibited by means of a Kalman-type observer. A numerical example is provided to illustrate the applicability of the proposed observer design for the problem of position and velocity estimation for a vehicle navigating in the n−dimensional Euclidean space using a single position range measurement. Copyright © 2020, The Authors. All rights reserved.

关键词： State estimation

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The design of a feedback law to control the fuze in high spin stability projectiles: An internal-model based approach

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Revista de la Facultad de Ingenieria 2017年第1期32卷 386-394页

作者： Luo, Xiaolin Li, Dongguang Science and Technology on Electormechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing100081 China Mechanic and Electronic Engineering North University of China Taiyuan030051 China

To despin the fuze of a spinning flying vehicle is difficult in a few seconds, an internal-model based approach is to solution the problem of speed tracking control and load torque disturbance rejection. We first formulate the problem into a global robust output regulation problem of a special class of multivariable systems. Then we further convert the output regulation problem into a global stabilization problem of an augmented system composed of the original plant and an internal model. Finally, through the simulation analysis, this technique, in conjunction with a particular nonlinear internal model, leadsto an effective solution to the problem.

关键词： Feedback

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Research on the Cushioning Effect of Protective Materials under High Impact

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Journal of Physics: Conference Series 2020年第1期1635卷

作者： Runfeng Chen Li Sui Qiang Liu Qiangqiang Qiu Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing China Northwest Industries Group Co. Ltd. Xi'an China

Aiming at the protection of the internal components of the projectile during penetration, the cushion performance of common protective materials such as polyurethane, felt, polytetrafluoroethylene (PTFE), and copper were tested. The test results show that the copper and felt have a certain cushioning effect, which can reduce the acceleration amplitude of 23,000 g by 18% and extend the pulse width of acceleration overload. The cushioning effect of PTFE material is not obvious, but it can play a role in mechanical filtering, making the acceleration curve smoother. Polyurethane material will increase the acceleration amplitude of the buffered part, it is not suitable as a buffer material.

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Analysis for Cooperative Combat System of Manned-unmanned Aerial Vehicles and Combat Simulation

Analysis for Cooperative Combat System of Manned-unmanned Ae...

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2017 IEEE International Conference on Unmanned Systems (ICUS)

作者： Jieru Fan Dongguang Li Rupeng Li Tianyuan Yang Qixian Wang Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

Manned-unmanned aerial vehicle cooperative combat has became a focus in the research of combat operation *** maximizes the UAVs' autonomous combat capability and the manned aircraft's command and control capability so that it improves the comprehensive operational *** present,the research on manned-unmanned aerial vehicles cooperative combat is still in exploration *** concept of cooperative combat is incomplete,and further simulation experiments need to be *** this paper,the basic concept of cooperative combat of manned-unmanned aerial vehicle is described,system composition and structure are analyzed,and collaborative combat process is given.A new generalized Lanchester combat model with battlefield sensing coefficient and command & control capacity is *** simulation results show that improving the cooperative combat capability,such as overall sensing capability and command &control capability is beneficial for a combat with relatively smaller *** combat model has theoretical reference value to research information war.

关键词： UAV Combined formation Cooperative engagement Generalized Lanchester combat model Battlefield sensing coefficient

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Roll Estimation for Smart Munitions Using a 3D Magnetometer Only

Roll Estimation for Smart Munitions Using a 3D Magnetometer ...

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2017 IEEE International Conference on Unmanned Systems (ICUS)

作者： Qixian Wang Dongguang Li Rupeng Li Jieru Fan Tianyuan Yang Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology

ISBN: (纸本)9781538631089;9781538631072

Accurate roll angle and roll angular rate are important to improve the target detection accuracy for the smart *** of the limited space in the fuze,only a three-axis magnetometer is used to estimate the roll attitude on the whole *** two methods of roll estimation are proposed and *** is an iterative method based on the attitude transformation matrix,in which the pitch angle and yaw angle at the previous moment are utilized to estimate the roll angle at the moment and then the three angles are kept being *** the other is an extended Kalman filter(EKF) *** state space model is derived by the dynamic characteristic of the smart munitions,and the measurement model is derived by the relationship between geomagnetic field and the output of a three-axis *** simulation results show that the EKF method is able to accurately estimate the roll attitude and is more practical than the iterative method.

关键词： Roll estimation Magnetometer Iterative method EKF Smart Munition

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Analysis of Passive Millimeter Wave Detection Signal Based on Entropy Feature

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IOP Conference Series: Earth and Environmental science 2019年第2期252卷

作者： Yichang Zhao Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an China

It is easy to be planar metal and ground water mistakenly identified as an armored target, when the signal amplitude value was deemed as a decisive characteristic in passive millimeter wave detection system. Aiming at this problem, this paper proposes a new characteristic which named entropy. The extraction method of entropy is proposed from the point of view of the antenna temperature of typical objects in the millimeter wave passive detection. Studied a certain amount of samples detection signal's entropy. The results showed that the entropy of the armored targets and metal plane and ground water have obvious difference, the armored target recognition research provides a new analysis method and theoretical guidance.

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Knee compliance reduces peak swing phase collision forces in a lower-limb exoskeleton leg: A test bench evaluation

arXiv

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arXiv 2019年

作者： Schrade, Stefan O. Menner, Marcel Shirota, Camila Winiger, Peter Stutz, Alex Zeilinger, Melanie N. Lambercy, Olivier Gassert, Roger Rehabilitation Engineering Laboratory ETH Zurich Zurich8092 Switzerland Institute for Dynamic Systems and Control ETH Zurich Zurich8092 Switzerland Laboratory for Mechanical Systems Engineering Swiss Federal Laboratories for Materials Science and Technology EMPA Dübendorf Dubendorf8600 Switzerland

Powered lower limb exoskeletons are a viable solution for people with a spinal cord injury to regain mobility for their daily activities. However, the commonly employed rigid actuation and pre-programmed trajectories increase the risk of falling in case of collisions with external objects. Compliant actuation may reduce forces during collisions, thus protecting hardware and user. However, experimental data of collisions specific to lower limb exoskeletons are not available. In this work, we investigated how a variable stiffness actuator at the knee joint influences collision forces transmitted to the user via the exoskeleton. In a test bench experiment, we compared three configurations of an exoskeleton leg with a variable stiffness knee actuator in (i) compliant or (ii) stiff configurations, and with (iii) a rigid actuator. The peak torque observed at the pelvis was reduced from 260.2 Nm to 116.2 Nm as stiffness decreased. In addition, the mechanical impulse was reduced by a factor of three. These results indicate that compliance in the knee joint of an exoskeleton can be favorable in case of collision and should be considered when designing powered lower limb exoskeletons. Overall, this could decrease the effort necessary to maintain balance after a collision and improved collision handling in exoskeletons could result in safer use and benefit their usefulness in daily life. Copyright © 2019, The Authors. All rights reserved.

关键词： Joints (anatomy)

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Compressive hyperspectral imaging mask optimization 18

Compressive hyperspectral imaging mask optimization

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10th International Conference on Internet Multimedia Computing and Service, ICIMCS 2018

作者： Lv, Binbin Wu, Jiamin Yan, Chenggang Hao, Xinhong Ding, Guiguang Zhang, Yongdong Dai, Qionghai Department of Automation Hangzhou Dianzi University Hangzhou China Department of Automation Tsinghua University Beijing China Science and Technology on Mechatronic Dynamic Control Laboratory Beijing Institute of Technology Beijing China School of Software Tsinghua University Beijing China School of Information Science and Technology University of Science and Technology of China Beijing China

ISBN: (纸本)9781450365208

Hyperspectral imaging is a hot topic nowadays. It is an urgent problem to be solved how to achieve swift hyperspectral imaging. In this thesis, our primary purpose is to further optimize how to place a mask in front of a sensor in order to achieve compressed Hyperspectral imaging. We apply optimized projection matrix, matrix differential, projection analysis and other related knowledge to optimizing this realistic matter. After we simply introduce the background of hyperspectral imaging, we will firstly present the basic principle of compressed hyperspectral imaging based on mask, and then mainly analyze the way to achieve projection matrix optimizing algorithm and the challenges these sort of realistic problems face. Finally, we compare the experiment results of these two methods, and the rebuilding results before and after the optimizing. © 2018 ACM.

关键词： Compressed sensing

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Piezoelectric thermoelastic dissipation research of piezoelectric harvester under different vibration 2

Piezoelectric thermoelastic dissipation research of piezoele...

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2nd International Conference on Electronic Information technology and Computer Engineering, EITCE 2018

作者： Liu, Yuting Deng, Jiahao Ye, Yong Hou, Zhuo Duan, Zuodong Xu, Sha School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing100081 China College of Information Engineering Shenzhen University Shenzhen518060 China National Key Laboratory of Electronic Measurement Technology North University of China Taiyuan030051 China

Piezoelectric materials are widely used to form piezoelectric energy harvesters. Also, the thermoelastic dissipation always influences the energy harvesting efficiency, during the energy harvest process. Therefore, in this paper, we discuss the effect of thermoelastic dissipation on the piezoelectric harvester through numerical calculation, simulation and experiment. The piezoelectric thermoelastic coupling governing equations under different vibration are derived, which are based on the Euler-Bernoulli beam theory, thermal conduction model and piezoelectric field model. Then, the structure frequency shift and thermoelastic damping are studied via numerical calculation and simulation. Meanwhile, we show the influence of the temperature field on the piezoelectric structure under different vibration modes. Furth more, we research the variations of piezoelectric structure thermoelastic dissipation characteristics under different structure geometry sizes. Based on these analyses, the effect of piezoelectric thermoelastic dissipation on the piezoelectric harvester is researched © The Authors, published by EDP sciences, 2018.

关键词： Energy harvesting

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PID Sliding Mode control for Electro-hydraulic Servo System

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Journal of Physics: Conference Series 2019年第2期1168卷

作者： Wang Xingxu He Guang Gao Rui Science and Technology on Electromechanical Dynamic Control Laboratory Beijing Institute of Technology Beijing 100081

In general, an advanced control strategy is necessary for electro-hydraulic servo system to obtain fast and accurate system response. A novel control scheme called PID sliding mode control was proposed by combining conventional sliding mode control and PID control strategy. The linear dynamic mode of electro-hydraulic servo system was established precisely. The PID sliding mode control law was deduced in detail. The chattering problem caused by original sliding mode control was weakened by a continuous PID algorithm. The simulation results of electro-hydraulic servo system demonstrated the effectiveness of the proposed method.

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