This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is t...
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ISBN:
(纸本)9781479900305
This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is three times as much as the other'*** noises of different sensors are cross-correlated and are also coupled with the system noise of the previous step. By use of the projection theorem and induction hypothesis repeatedly,a distributed fusion estimation algorithm is *** algorithm is proven to be distributed optimal in the sense of Linear Minimum Mean Square Error(LMMSE) and can effectively reduces the oscillation existed in the sequential ***,a numerical example is shown to illustrate the effectiveness of the proposed algorithm.
A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors a...
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A biomimetic underwater vehicle propelled by two undulating long-fins is introduced in this paper. The concerned vehicle is propelled by two symmetrical undulating long-fins installed on both sides. Ten servo motors are employed to drive the long-fins and cosine wave function is employed for motor control. A real-time control system is designed for controlling the long-fins by adjusting its oscillating frequency and oscillating amplitude. An inertial measurement unit is installed to collect the accelerations and angular velocity. To obtain the relationship between oscillating frequency/amplitude and swimming performance, kinematic analysis and hydromechanic analysis are given. By dividing the long-fin into many small elements and computing the hydrodynamic force acting on each element, the instantaneous thrust generated by the long-fin is obtained. Then the average thrust of the long-fin is obtained by summing up the forces acted on the elements in one undulating period. Then swimming experiments are carried out to validate the vehicle design and kinematic analysis and hydromechanic analysis. And two swimming motion modes including marching and rotating locomotion are chosen. Finally, discussions between the swimming performance and the oscillating parameters are given.
Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an
ISBN:
(纸本)9781479900305
Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an
That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system (GPS). In this paper, an algorithm based on le...
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That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system (GPS). In this paper, an algorithm based on length-4 symmetric/anti-symmetric (SA4) orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust (GHM), Chui-Lian (CL) and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties (GMPs), it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform.
Micro-simulation becomes more and more important in the intelligent Transportation systems (ITS) research, because it can provide detailed descriptions of the system. For a multi-agent systems (MAS) modeling of an ITS...
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ISBN:
(纸本)9781479929153
Micro-simulation becomes more and more important in the intelligent Transportation systems (ITS) research, because it can provide detailed descriptions of the system. For a multi-agent systems (MAS) modeling of an ITS, the computation burden is large, as it involves the computation of the state changing of all the agents. And, there are many multi-objective optimization problems in the ITS research. In this paper, we solve the traffic light signaling optimization problem and we take the average delay time and the average stop times as two objectives. We use a famous method of Non-dominated Sorting Genetic Algorithm II (NSGA-II). As NSGA-II can be viewed as an intelligent way of running a number of micro-simulations, usually the computation burden is huge. Graphics Processing Units (GPUs) have been a popular tool for parallel computing. The real transportation system runs in parallel and we think that a parallel tool is more suitable for the simulation and optimization of the system. We test GPU based NSGA-II method on a 4 intersection lattice road network, and on the 18 intersection road network of the Zhongguancun area of Beijing. Compared with the CPU version, the GPU version implementation achieves a speedup factor of 21.46 and 27.64 respectively.
It is now well known that the time-varying sliding mode control (TVSMC) is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical...
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It is now well known that the time-varying sliding mode control (TVSMC) is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control (DOTVSMC) algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.
A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is ne...
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ISBN:
(纸本)9781467303644
A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.
Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve...
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ISBN:
(纸本)9781467303644
Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.
This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control ...
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This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the...
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