This paper proposes a steady-state errors correction(SSEC)method for eliminating measurement errors.This method is based on the detections of error signal E(s)and output C(s)which generate an expected output R(s).In c...This paper proposes a steady-state errors correction(SSEC)method for eliminating measurement errors.This method is based on the detections of error signal E(s)and output C(s)which generate an expected output R(s).In comparison with the conventional solutions which are based on detecting the expected output R(s)and output C(s)to obtain error signal E(s),the measurement errors are eliminated even the error might be at a significant level.Moreover,it is possible that the individual debugging by regulating the coefficient K for every member of the multiple objectives achieves the optimization of the open loop gain.Therefore,this simple method can be applied to the weak coupling and multiple objectives system,which is usually controlled by complex controller.The principle of eliminating measurement errors is derived analytically,and the advantages comparing with the conventional solutions are depicted.Based on the SSEC method analysis,an application of this method for an active power filter(APF)is investigated and the effectiveness and viability of the scheme are demonstrated through the simulation and experimental verifications.展开更多
Based on the concept of the constitutive relation error along with the residuals of both the origin and the dual problems, a goal-oriented error estimation method with extended degrees of freedom is developed. It lead...Based on the concept of the constitutive relation error along with the residuals of both the origin and the dual problems, a goal-oriented error estimation method with extended degrees of freedom is developed. It leads to the high quality locM error bounds in the problem of the direct-solution steady-state dynamic analysis with a frequency-domain finite element, which involves the enrichments with plural variable basis functions. The solution of the steady-state dynamic procedure calculates the harmonic response directly in terms of the physical degrees of freedom in the model, which uses the mass, damping, and stiffness matrices of the system. A three-dimensional finite element example is carried out to illustrate the computational procedures.展开更多
在车辆高速剧烈运动场景下,现有激光雷达-惯性里程计(LiDAR-inertial odometry,LIO)因IMU前向传播误差的快速累积,导致车辆的运动畸变补偿精度下降,进而引发"补偿误差-配准误差-状态估计误差"的级联效应,最终造成车辆定位轨...在车辆高速剧烈运动场景下,现有激光雷达-惯性里程计(LiDAR-inertial odometry,LIO)因IMU前向传播误差的快速累积,导致车辆的运动畸变补偿精度下降,进而引发"补偿误差-配准误差-状态估计误差"的级联效应,最终造成车辆定位轨迹显著偏离真实状态,本文提出了基于迭代误差卡尔曼滤波(iterated error-state Kalman filter,IESKF)的自适应激光雷达-惯性里程计(state-adaptive update LiDAR-inertial odometry,SAU-LIO)。首先,提出基于协方差特征值阈值的动态调整策略,以实时监测LIO误差累积趋势,自适应缩短状态更新时间间隔,有效抑制剧烈运动下的误差发散;其次,结合线特征与面特征的联合提取策略,构建概率观测模型,通过观测协方差矩阵约束实现不同置信度特征的最优加权融合,实现环境特征的有效利用。最后,基于NCLT(the university of Michigan north campus long-term vision and LIDAR dataset)、UTBM(EU long-term dataset with multiple sensors for autonomous driving)标准数据集及实车试验平台的验证结果表明:SAU-LIO算法在保证实时性的前提下,与对比算法相比具有更高的定位精度,在低速工况下,平均定位误差较次优的对比算法减小14.3%,在组合工况下,平均定位误差较次优的对比算法减小9.4%。展开更多
针对基于数据分发服务的分散式组网导航系统(decentralized networked navigation system based on DDS,DDS-DNNS)单定位节点状态估计问题,考虑节点能量约束及传感器增益退化,以Bayes理论为基础,设计了具有随机事件触发机制(stochastic ...针对基于数据分发服务的分散式组网导航系统(decentralized networked navigation system based on DDS,DDS-DNNS)单定位节点状态估计问题,考虑节点能量约束及传感器增益退化,以Bayes理论为基础,设计了具有随机事件触发机制(stochastic event-triggered,SET)的DDS-DNNS最小均方误差状态估计器。其中,SET机制通过比较是否传输测量值对应的后验估计的差异来决定测量值的重要程度。以此为基础,选取Wasserstein距离作为度量来表示后验估计的差异,并利用Wasserstein距离的性质及Bayes定理证明了后验估计是Gaussian的,从而得到了估计器的类Kalman滤波递推形式以及SET机制的显式表达式。证明了估计器的预测误差协方差有界,且上界和下界均收敛,同时,证明了平均信息传输率有界并推导得到了上界和下界的表达式。利用算例仿真演示了如何通过平均信息传输率的上界和下界确定调整矩阵,模拟了SET机制中一阶矩信息和二阶矩信息对SET机制的影响,同时采用比较实验验证了估计器的有效性。展开更多
针对可见光通信(visible light communication,VLC)系统中用户分布动态变化及非理想信道状态信息(channel state information,CSI)反馈带来的性能退化问题,对两用户协作非正交多址接入(non-orthogonal multiple access,NOMA)VLC系统进...针对可见光通信(visible light communication,VLC)系统中用户分布动态变化及非理想信道状态信息(channel state information,CSI)反馈带来的性能退化问题,对两用户协作非正交多址接入(non-orthogonal multiple access,NOMA)VLC系统进行了研究。建立了基于远端用户位置分布的信道增益概率密度函数模型,并推导了系统误比特概率(bit error probability,BEP)的解析表达式。在此基础上,结合最大比合并(maximal ratio combining,MRC)技术,对协作与非协作系统性能进行了对比分析。仿真结果表明:随信噪比增加,采用MRC的协作系统能够显著提升系统性能,并有效降低BEP;在对比的L-脉冲位置调制(pulse position modulation,PPM)和开关键控(on-off keying,OOK)调制方式中,8-PPM表现最佳,其次为4-PPM与OOK,而2-PPM性能最差;系统性能随外环半径减小而改善,说明外环参数对动态分布用户的覆盖性能影响更为显著;此外,非理想CSI会导致误码率上升,验证了精确信道估计的重要性。所建立的动态信道模型和协作机制为NOMA-VLC系统在智能家居与工业物联网中的应用提供了理论支撑。展开更多
Multistation machining process is widely applied in contemporary manufacturing environment. Modeling of variation propagation in multistation machining process is one of the most important research scenarios. Due to t...Multistation machining process is widely applied in contemporary manufacturing environment. Modeling of variation propagation in multistation machining process is one of the most important research scenarios. Due to the existence of multiple variation streams, it is challenging to model and analyze variation propagation in a multi-station system. Current approaches to error modeling for multistation machining process are not explicit enough for error control and ensuring final product quality. In this paper, a mathematic model to depict the part dimensional variation of the complex multistation manufacturing process is formulated. A linear state space dimensional error propagation equation is established through kinematics analysis of the influence of locating parameter variations and locating datum variations on dimensional errors, so the dimensional error accumulation and transformation within the multistation process are quantitatively described. A systematic procedure to build the model is presented, which enhances the way to determine the variation sources in complex machining systems. A simple two-dimensional example is used to illustrate the proposed procedures. Finally, an industrial case of multistation machining part in a manufacturing shop is given to testify the validation and practicability of the method. The proposed analytical model is essential to quality control and improvement for multistation systems in machining quality forecasting and design optimization.展开更多
In this paper, an analogue correction method of errors （ACE） based on a complicated atmospheric model is further developed and applied to numerical weather prediction （NWP）. The analysis shows that the ACE can eff...In this paper, an analogue correction method of errors （ACE） based on a complicated atmospheric model is further developed and applied to numerical weather prediction （NWP）. The analysis shows that the ACE can effectively reduce model errors by combining the statistical analogue method with the dynamical model together in order that the information of plenty of historical data is utilized in the current complicated NWP model, Furthermore, in the ACE, the differences of the similarities between different historical analogues and the current initial state are considered as the weights for estimating model errors. The results of daily, decad and monthly prediction experiments on a complicated T63 atmospheric model show that the performance of the ACE by correcting model errors based on the estimation of the errors of 4 historical analogue predictions is not only better than that of the scheme of only introducing the correction of the errors of every single analogue prediction, but is also better than that of the T63 model.展开更多
基金National Natural Science Foundation of China(No.61273172)
文摘This paper proposes a steady-state errors correction(SSEC)method for eliminating measurement errors.This method is based on the detections of error signal E(s)and output C(s)which generate an expected output R(s).In comparison with the conventional solutions which are based on detecting the expected output R(s)and output C(s)to obtain error signal E(s),the measurement errors are eliminated even the error might be at a significant level.Moreover,it is possible that the individual debugging by regulating the coefficient K for every member of the multiple objectives achieves the optimization of the open loop gain.Therefore,this simple method can be applied to the weak coupling and multiple objectives system,which is usually controlled by complex controller.The principle of eliminating measurement errors is derived analytically,and the advantages comparing with the conventional solutions are depicted.Based on the SSEC method analysis,an application of this method for an active power filter(APF)is investigated and the effectiveness and viability of the scheme are demonstrated through the simulation and experimental verifications.
基金Project supported by the National Natural Science Foundation of China (No. 10876100)
文摘Based on the concept of the constitutive relation error along with the residuals of both the origin and the dual problems, a goal-oriented error estimation method with extended degrees of freedom is developed. It leads to the high quality locM error bounds in the problem of the direct-solution steady-state dynamic analysis with a frequency-domain finite element, which involves the enrichments with plural variable basis functions. The solution of the steady-state dynamic procedure calculates the harmonic response directly in terms of the physical degrees of freedom in the model, which uses the mass, damping, and stiffness matrices of the system. A three-dimensional finite element example is carried out to illustrate the computational procedures.
文摘在车辆高速剧烈运动场景下,现有激光雷达-惯性里程计(LiDAR-inertial odometry,LIO)因IMU前向传播误差的快速累积,导致车辆的运动畸变补偿精度下降,进而引发"补偿误差-配准误差-状态估计误差"的级联效应,最终造成车辆定位轨迹显著偏离真实状态,本文提出了基于迭代误差卡尔曼滤波(iterated error-state Kalman filter,IESKF)的自适应激光雷达-惯性里程计(state-adaptive update LiDAR-inertial odometry,SAU-LIO)。首先,提出基于协方差特征值阈值的动态调整策略,以实时监测LIO误差累积趋势,自适应缩短状态更新时间间隔,有效抑制剧烈运动下的误差发散;其次,结合线特征与面特征的联合提取策略,构建概率观测模型,通过观测协方差矩阵约束实现不同置信度特征的最优加权融合,实现环境特征的有效利用。最后,基于NCLT(the university of Michigan north campus long-term vision and LIDAR dataset)、UTBM(EU long-term dataset with multiple sensors for autonomous driving)标准数据集及实车试验平台的验证结果表明:SAU-LIO算法在保证实时性的前提下,与对比算法相比具有更高的定位精度,在低速工况下,平均定位误差较次优的对比算法减小14.3%,在组合工况下,平均定位误差较次优的对比算法减小9.4%。
文摘针对基于数据分发服务的分散式组网导航系统(decentralized networked navigation system based on DDS,DDS-DNNS)单定位节点状态估计问题,考虑节点能量约束及传感器增益退化,以Bayes理论为基础,设计了具有随机事件触发机制(stochastic event-triggered,SET)的DDS-DNNS最小均方误差状态估计器。其中,SET机制通过比较是否传输测量值对应的后验估计的差异来决定测量值的重要程度。以此为基础,选取Wasserstein距离作为度量来表示后验估计的差异,并利用Wasserstein距离的性质及Bayes定理证明了后验估计是Gaussian的,从而得到了估计器的类Kalman滤波递推形式以及SET机制的显式表达式。证明了估计器的预测误差协方差有界,且上界和下界均收敛,同时,证明了平均信息传输率有界并推导得到了上界和下界的表达式。利用算例仿真演示了如何通过平均信息传输率的上界和下界确定调整矩阵,模拟了SET机制中一阶矩信息和二阶矩信息对SET机制的影响,同时采用比较实验验证了估计器的有效性。
文摘针对可见光通信(visible light communication,VLC)系统中用户分布动态变化及非理想信道状态信息(channel state information,CSI)反馈带来的性能退化问题,对两用户协作非正交多址接入(non-orthogonal multiple access,NOMA)VLC系统进行了研究。建立了基于远端用户位置分布的信道增益概率密度函数模型,并推导了系统误比特概率(bit error probability,BEP)的解析表达式。在此基础上,结合最大比合并(maximal ratio combining,MRC)技术,对协作与非协作系统性能进行了对比分析。仿真结果表明:随信噪比增加,采用MRC的协作系统能够显著提升系统性能,并有效降低BEP;在对比的L-脉冲位置调制(pulse position modulation,PPM)和开关键控(on-off keying,OOK)调制方式中,8-PPM表现最佳,其次为4-PPM与OOK,而2-PPM性能最差;系统性能随外环半径减小而改善,说明外环参数对动态分布用户的覆盖性能影响更为显著;此外,非理想CSI会导致误码率上升,验证了精确信道估计的重要性。所建立的动态信道模型和协作机制为NOMA-VLC系统在智能家居与工业物联网中的应用提供了理论支撑。
基金supported by National Department Fundamental Research Foundation of China (Grant No. B222090014)National Department Technology Fundatmental Foundaiton of China (Grant No. C172009C001)
文摘Multistation machining process is widely applied in contemporary manufacturing environment. Modeling of variation propagation in multistation machining process is one of the most important research scenarios. Due to the existence of multiple variation streams, it is challenging to model and analyze variation propagation in a multi-station system. Current approaches to error modeling for multistation machining process are not explicit enough for error control and ensuring final product quality. In this paper, a mathematic model to depict the part dimensional variation of the complex multistation manufacturing process is formulated. A linear state space dimensional error propagation equation is established through kinematics analysis of the influence of locating parameter variations and locating datum variations on dimensional errors, so the dimensional error accumulation and transformation within the multistation process are quantitatively described. A systematic procedure to build the model is presented, which enhances the way to determine the variation sources in complex machining systems. A simple two-dimensional example is used to illustrate the proposed procedures. Finally, an industrial case of multistation machining part in a manufacturing shop is given to testify the validation and practicability of the method. The proposed analytical model is essential to quality control and improvement for multistation systems in machining quality forecasting and design optimization.
基金Project supported by the National Natural Science Foundation of China （Grant Nos 40575036 and 40325015）.Acknowledgement The authors thank Drs Zhang Pei-Qun and Bao Ming very much for their valuable comments on the present paper.
文摘In this paper, an analogue correction method of errors （ACE） based on a complicated atmospheric model is further developed and applied to numerical weather prediction （NWP）. The analysis shows that the ACE can effectively reduce model errors by combining the statistical analogue method with the dynamical model together in order that the information of plenty of historical data is utilized in the current complicated NWP model, Furthermore, in the ACE, the differences of the similarities between different historical analogues and the current initial state are considered as the weights for estimating model errors. The results of daily, decad and monthly prediction experiments on a complicated T63 atmospheric model show that the performance of the ACE by correcting model errors based on the estimation of the errors of 4 historical analogue predictions is not only better than that of the scheme of only introducing the correction of the errors of every single analogue prediction, but is also better than that of the T63 model.
