Temperature （T） and salinity （S） profiles from conductivity-temperature-depth data collected during the Northern South China Sea Open Cruise from August 16 to September 13, 2008 are assimilated using Ensemble Kalm...Temperature （T） and salinity （S） profiles from conductivity-temperature-depth data collected during the Northern South China Sea Open Cruise from August 16 to September 13, 2008 are assimilated using Ensemble Kalman Filter （EnKF）. An adaptive observational error strategy is used to prevent filter from diverging. In the meantime, aiming at the limited improvement in some sites caused by the T and S biases in the model, a T-S constraint scheme is adopted to improve the assimilation performance, where T and S are separately updated at these locations. Validation is performed by comparing assimilated outputs with independent in situ data （satellite remote sensing sea level anomaly （SLA）, the OSCAR velocity product and shipboard ADCP）. The results show that the new EnKF assimilation scheme can significantly reduce the root mean square error （RMSE） of oceanic T and S compared with the control run and traditional EnKF. The system can also improve the simulation of circulations and SLA.展开更多
Space exploration has become a major focus in the field of technology,with gear transmissions in aerospace equipment playing a crucial role.In the extreme environment of space,gear transmissions face challenges like l...Space exploration has become a major focus in the field of technology,with gear transmissions in aerospace equipment playing a crucial role.In the extreme environment of space,gear transmissions face challenges like large temperature differentials,deformation and maintenance difficulties,which will severely impact transmission accuracy and service life.To meet the growing demands for high-performance gear transmissions with high transmission efficiency and error adaptability in the aerospace field,this paper proposes a novel curve-surface conjugate internal gear drive consisting of an involute internal gear and a curve-surface gear.The fundamental theory of curve-surface conjugation is introduced,and the construction method for curve-surface gear based on a selected contact path and meshing tube is presented.The analysis models including induced curvature,sliding ratio and tooth contact analysis with errors(ETCA)are simulated to evaluate the meshing characteristics.Additionally,prototypes are manufactured and experimental setups are established to validate the transmission performance.These results indicate that as the rotational speed increases,the transmission efficiency of the curve-surface conjugate internal gear drive improves,which is contrary to the trend observed in involute gear drives.And the transmission efficiency of the curve-surface conjugate internal gear drive surpasses that of the involute gear drive at higher rotational speeds.Moreover,this novel gear drive exhibits excellent error adaptability,maintaining intact contact paths and high transmission efficiency even in the presence of assembly errors.This study provides new ideas for the design and manufacture of high-performance gear transmissions from the perspective of spatial geometric elements.展开更多
Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations dur...Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system（ANFIS）has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace.An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot.展开更多
Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, ...Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive error elimination algorithm and optimization-based nonlinear optimal predictive control(NOPC) framework. The novelty of the proposed work lies in that an adaptive error elimination controller is designed to deal with the problem of stabilization of walking gait, which ensures that robot joint trajectory can compensate for the limitation of the template model. In order to be independent of system parameters and disturbances, a sliding mode controller is further designed under an uncertain environment. This approach takes into account simultaneously with foot position and orientation based on NOPC optimization. It tracks the modified trajectories constrained with the centroidal momentum dynamics. Finally, simulations is utilized to verify the efectiveness of the mentioned methods. The results indicate that the tracking efect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm.展开更多
Contour following is one of the most important issues faced by many computer-numerical-control(CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aimi...Contour following is one of the most important issues faced by many computer-numerical-control(CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aiming at reducing the contouring error caused by facts such as servo lag and dynamics mismatch in parametric curved contour-following tasks. Due to the lack of high-precision contouring-error estimation method for free-form parametric curved toolpath, the error can hardly be compensated effectively. Therefore, an adaptive accurate contouring-error estimation algorithm is proposed first, where a tangential-error backstepping method based on Taylor's expansion is developed to rapidly find the closest point on the parametric curve to the actual motion position. On this foundation, the contouring error is compensated using a proposed nonlinear variable-gain compensation method, where the compensation gain is obtained according to not only the contouring-error magnitude but also its direction variation. The stability of the system after compensation is analyzed afterwards according to the Jury stability criterion.By design of the compensator in accordance with the presented contouring-error compensation method as well as the stability analyzation result, the balance between the response speed and the contour control stability can be effectively made. Experimental tests demonstrate the feasibility of the presented methods in both contouring-error estimation and contour-accuracy improvement.Contributions of this research are significant for enhancing the contour-following performance of the CNC machine tools.展开更多
In this paper, we study adaptive finite element discretization schemes for an optimal control problem governed by elliptic PDE with an integral constraint for the state. We derive the equivalent a posteriori error est...In this paper, we study adaptive finite element discretization schemes for an optimal control problem governed by elliptic PDE with an integral constraint for the state. We derive the equivalent a posteriori error estimator for the finite element approximation, which particularly suits adaptive multi-meshes to capture different singularities of the control and the state. Numerical examples are presented to demonstrate the efficiency of a posteriori error estimator and to confirm the theoretical results.展开更多
The problem of adapting backward error recovery to parallel real time systems is discussed in this paper. Because of error propagation among different cooperating processes, an error occurring in one process may influ...The problem of adapting backward error recovery to parallel real time systems is discussed in this paper. Because of error propagation among different cooperating processes, an error occurring in one process may influence some important outputs in other processes. Therefore, a local output has to be delayed until its validity is confirmed globally. Since backward error recovery adopts redundancy of computing time instead of processing equipment, the variation of the actual execution time of a cooperating process may be very large if it works in an unreliable environment. These problems are the primary obstacles to be removed. Previous studies focus their attentions on how to eliminate domino-effect dynamically. But backward error recovery cannot be applied directly in parallel real time systems even under the condition that no domino-effect exists. How to reduce output delays efficiently if no domino-effect remains? How to estimate this delay time? How to calculate the actual execution time of every process and how to schedule these processes under an unstable condition? These problems were omitted in literature unfortunately. The interest of this paper is to provide satisfactory solutions to these problems to make it possible to adopt backward error recovery efficiently in parallel real time systems.展开更多
This paper presents an algorithm that can adaptively select the intermediate frequency（IF） and compensate the IQ mismatch according to the power ratio of the adjacent channel interference to the desired signal in a ...This paper presents an algorithm that can adaptively select the intermediate frequency（IF） and compensate the IQ mismatch according to the power ratio of the adjacent channel interference to the desired signal in a low-IF GSM receiver.The IF can be adaptively selected between 100 and 130 kHz.Test result shows an improvement of phase error from 6.78°to 3.23°.Also a least mean squares（LMS） based IQ mismatch compensation algorithm is applied to improve image rejection ratio（IRR） for the desired signal along with strong adjacent channel interference.The IRR is improved from 29.1 to 44.3 dB in measurement.The design is verified in a low-IF GSM receiver fabricated in SMIC 0.13μm RF CMOS process with a working voltage of 1.2 V.展开更多
基金The Strategic Priority Research Program of the Chinese Academy of Sciences under contract No.XDA10010405the Promgram of Guangdong Province Department of Science and Technology No.2012A032100004+1 种基金the National Natural Science Foundation of China under contract Nos 41476012,41521005 and 41406131the Knowledge Innovation Program of the Chinese Academy of Sciences under contract Nos SQ201001 and SQ201205
文摘Temperature （T） and salinity （S） profiles from conductivity-temperature-depth data collected during the Northern South China Sea Open Cruise from August 16 to September 13, 2008 are assimilated using Ensemble Kalman Filter （EnKF）. An adaptive observational error strategy is used to prevent filter from diverging. In the meantime, aiming at the limited improvement in some sites caused by the T and S biases in the model, a T-S constraint scheme is adopted to improve the assimilation performance, where T and S are separately updated at these locations. Validation is performed by comparing assimilated outputs with independent in situ data （satellite remote sensing sea level anomaly （SLA）, the OSCAR velocity product and shipboard ADCP）. The results show that the new EnKF assimilation scheme can significantly reduce the root mean square error （RMSE） of oceanic T and S compared with the control run and traditional EnKF. The system can also improve the simulation of circulations and SLA.
基金Supported by Major Projects in Aviation Engines and Gas Turbines(Grant No.J2019-IV-0001-0068).
文摘Space exploration has become a major focus in the field of technology,with gear transmissions in aerospace equipment playing a crucial role.In the extreme environment of space,gear transmissions face challenges like large temperature differentials,deformation and maintenance difficulties,which will severely impact transmission accuracy and service life.To meet the growing demands for high-performance gear transmissions with high transmission efficiency and error adaptability in the aerospace field,this paper proposes a novel curve-surface conjugate internal gear drive consisting of an involute internal gear and a curve-surface gear.The fundamental theory of curve-surface conjugation is introduced,and the construction method for curve-surface gear based on a selected contact path and meshing tube is presented.The analysis models including induced curvature,sliding ratio and tooth contact analysis with errors(ETCA)are simulated to evaluate the meshing characteristics.Additionally,prototypes are manufactured and experimental setups are established to validate the transmission performance.These results indicate that as the rotational speed increases,the transmission efficiency of the curve-surface conjugate internal gear drive improves,which is contrary to the trend observed in involute gear drives.And the transmission efficiency of the curve-surface conjugate internal gear drive surpasses that of the involute gear drive at higher rotational speeds.Moreover,this novel gear drive exhibits excellent error adaptability,maintaining intact contact paths and high transmission efficiency even in the presence of assembly errors.This study provides new ideas for the design and manufacture of high-performance gear transmissions from the perspective of spatial geometric elements.
文摘Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system（ANFIS）has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace.An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot.
基金supported by the National Natural Science Foundation of China (No. 61573260,No. 62073245,No. U1713211)
文摘Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive error elimination algorithm and optimization-based nonlinear optimal predictive control(NOPC) framework. The novelty of the proposed work lies in that an adaptive error elimination controller is designed to deal with the problem of stabilization of walking gait, which ensures that robot joint trajectory can compensate for the limitation of the template model. In order to be independent of system parameters and disturbances, a sliding mode controller is further designed under an uncertain environment. This approach takes into account simultaneously with foot position and orientation based on NOPC optimization. It tracks the modified trajectories constrained with the centroidal momentum dynamics. Finally, simulations is utilized to verify the efectiveness of the mentioned methods. The results indicate that the tracking efect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm.
基金the National Natural Science Foundation of China(Grant Nos 51515081 and 51675081)National Science and Tech-nology Major Project of China(Grant No 2016ZX04001-002)+2 种基金Innovation Project for Supporting High-level Talent in Dalian(Grant No 2016RQ012)Science Fund for Creative Research Groups(Grant No 51621064)the Fundamental Research Funds for the Central Universities(Grant NoDUT17LAB13)
文摘Contour following is one of the most important issues faced by many computer-numerical-control(CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aiming at reducing the contouring error caused by facts such as servo lag and dynamics mismatch in parametric curved contour-following tasks. Due to the lack of high-precision contouring-error estimation method for free-form parametric curved toolpath, the error can hardly be compensated effectively. Therefore, an adaptive accurate contouring-error estimation algorithm is proposed first, where a tangential-error backstepping method based on Taylor's expansion is developed to rapidly find the closest point on the parametric curve to the actual motion position. On this foundation, the contouring error is compensated using a proposed nonlinear variable-gain compensation method, where the compensation gain is obtained according to not only the contouring-error magnitude but also its direction variation. The stability of the system after compensation is analyzed afterwards according to the Jury stability criterion.By design of the compensator in accordance with the presented contouring-error compensation method as well as the stability analyzation result, the balance between the response speed and the contour control stability can be effectively made. Experimental tests demonstrate the feasibility of the presented methods in both contouring-error estimation and contour-accuracy improvement.Contributions of this research are significant for enhancing the contour-following performance of the CNC machine tools.
基金supported by the National Basic Research Program of P.R.China under the grant 2005CB321703the NSFC under the grants:10441005 and 10571108the Research Fund for Doctoral Program of High Education by China State Education Ministry
文摘In this paper, we study adaptive finite element discretization schemes for an optimal control problem governed by elliptic PDE with an integral constraint for the state. We derive the equivalent a posteriori error estimator for the finite element approximation, which particularly suits adaptive multi-meshes to capture different singularities of the control and the state. Numerical examples are presented to demonstrate the efficiency of a posteriori error estimator and to confirm the theoretical results.
文摘The problem of adapting backward error recovery to parallel real time systems is discussed in this paper. Because of error propagation among different cooperating processes, an error occurring in one process may influence some important outputs in other processes. Therefore, a local output has to be delayed until its validity is confirmed globally. Since backward error recovery adopts redundancy of computing time instead of processing equipment, the variation of the actual execution time of a cooperating process may be very large if it works in an unreliable environment. These problems are the primary obstacles to be removed. Previous studies focus their attentions on how to eliminate domino-effect dynamically. But backward error recovery cannot be applied directly in parallel real time systems even under the condition that no domino-effect exists. How to reduce output delays efficiently if no domino-effect remains? How to estimate this delay time? How to calculate the actual execution time of every process and how to schedule these processes under an unstable condition? These problems were omitted in literature unfortunately. The interest of this paper is to provide satisfactory solutions to these problems to make it possible to adopt backward error recovery efficiently in parallel real time systems.
基金supported by the Important National Science and Technology Specific Projects of China(No.2009ZX01031-003-002)the National High Technology Research and Development Program of China(No.2009AA011605)the National Natural Science Foundation of China(No.61076028)
文摘This paper presents an algorithm that can adaptively select the intermediate frequency（IF） and compensate the IQ mismatch according to the power ratio of the adjacent channel interference to the desired signal in a low-IF GSM receiver.The IF can be adaptively selected between 100 and 130 kHz.Test result shows an improvement of phase error from 6.78°to 3.23°.Also a least mean squares（LMS） based IQ mismatch compensation algorithm is applied to improve image rejection ratio（IRR） for the desired signal along with strong adjacent channel interference.The IRR is improved from 29.1 to 44.3 dB in measurement.The design is verified in a low-IF GSM receiver fabricated in SMIC 0.13μm RF CMOS process with a working voltage of 1.2 V.
