To decrease the computational complexity of adaptive inter-layer prediction and improve the encoding efficiency in sealable video coding, a mode decision algorithm is proposed by exploiting the part of used candidate ...To decrease the computational complexity of adaptive inter-layer prediction and improve the encoding efficiency in sealable video coding, a mode decision algorithm is proposed by exploiting the part of used candidate modes of the co-located reference macrobloeks for Hierarchical-B pictures. This scheme reduces the amount of the candidate modes to generate a dynamic list for the current encoding macroblock according to the statistical information derived from the co-located reference macroblocks in different temporal levels. The experimental results show that this fast algorithm reduces approximately 31% encoding time on average with the negligible loss of encoding performance.展开更多
A fast intra mode decision algorithm is proposed in this paper to reduce the complexity of H. 264 encoder. The proposed algorithm adopted the pre-processing method based on edge feature in pictures to filter out some ...A fast intra mode decision algorithm is proposed in this paper to reduce the complexity of H. 264 encoder. The proposed algorithm adopted the pre-processing method based on edge feature in pictures to filter out some impossible prediction modes. Context information and pre-computed threshold are used to determine whether it is necessary to check the DC mode. This method is able to get rid of most of candidate modes so that only 66--150 modes are left for the final mode decision, instead of 592 modes in the case of full search （FS） method of H. 264. Simulation results demonstrate that the coding time of the proposed algorithm falls down 71.7% compared with FS method, while the performance loss is trivial compared with FS mode decision scheme.展开更多
In Video-based Point Cloud Compression(V-PCC),2D videos to be encoded are generated by 3D point cloud projection,and compressed by High Efficiency Video Coding(HEVC).In the process of 2D video compression,the best mod...In Video-based Point Cloud Compression(V-PCC),2D videos to be encoded are generated by 3D point cloud projection,and compressed by High Efficiency Video Coding(HEVC).In the process of 2D video compression,the best mode of Coding Unit(CU)is searched by brute-force strategy,which greatly increases the complexity of the encoding process.To address this issue,we first propose a simple and effective Portable Perceptron Network(PPN)-based fast mode decision method for V-PCC under Random Access(RA)configuration.Second,we extract seven simple hand-extracted features for input into the PPN network.Third,we design an adaptive loss function,which can calculate the loss by allocating different weights according to different Rate-Distortion(RD)costs,to train our PPN network.Finally,experimental results show that the proposed method can save encoding complexity of 43.13%with almost no encoding efficiency loss under RA configuration,which is superior to the state-of-the-art methods.The source code is available at https://github.com/Mesks/PPNforV-PCC.展开更多
For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advant...For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.展开更多
An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this paper.It can significantly accelerate the convergence rate of the state error which is initially far from the...An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this paper.It can significantly accelerate the convergence rate of the state error which is initially far from the origin and achieve the fixed-time convergence.In addition,conventional double power term based reaching law is improved to ensure the convergence of sliding state in the presence of disturbances.The proposed approach is applied to the hovering control of an unmanned underwater vehicle.The controller exhibits both fast convergence and strong robustness to model uncertainty and external disturbances.展开更多
Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is ...Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances.展开更多
A feedback control system is needed to restrain plasma vertical displacement in EAST （Experimental Advanced Superconducting Toknmak）. A fast control power supply excites active feedback coils, which produces a magne...A feedback control system is needed to restrain plasma vertical displacement in EAST （Experimental Advanced Superconducting Toknmak）. A fast control power supply excites active feedback coils, which produces a magnetic field to control the plasma＇s displacement. With the development of EAST, new demands on the new fast control power supply have led to an enhanced ability of fast response and output current, as well as a new control mode. The structure of cascaded and paralleled H-bridges can meet the demand of extended capacity, and digital control can reMize current and voltage mixed control mode. The validity of the proposed scheme is confirmed by experiments.展开更多
This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior mag...This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation.展开更多
This paper describes a method for fast engineering evaluation of the transmission characteristicsof single-mode optical fibers.A versatile microcomputer program is presented which can be utilized to ana-lyze mode fiel...This paper describes a method for fast engineering evaluation of the transmission characteristicsof single-mode optical fibers.A versatile microcomputer program is presented which can be utilized to ana-lyze mode field characteristics of single-mode fibers with arbitrary refractive index profiles.Our computationshows that the mathematical algorithm and the corresponding programs developeod in this paper are rela-tively simple and accurate enough for the engineenring design of single-mode fibers for optical communica-tion systems.展开更多
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No. HEUCF11805)
文摘To decrease the computational complexity of adaptive inter-layer prediction and improve the encoding efficiency in sealable video coding, a mode decision algorithm is proposed by exploiting the part of used candidate modes of the co-located reference macrobloeks for Hierarchical-B pictures. This scheme reduces the amount of the candidate modes to generate a dynamic list for the current encoding macroblock according to the statistical information derived from the co-located reference macroblocks in different temporal levels. The experimental results show that this fast algorithm reduces approximately 31% encoding time on average with the negligible loss of encoding performance.
文摘A fast intra mode decision algorithm is proposed in this paper to reduce the complexity of H. 264 encoder. The proposed algorithm adopted the pre-processing method based on edge feature in pictures to filter out some impossible prediction modes. Context information and pre-computed threshold are used to determine whether it is necessary to check the DC mode. This method is able to get rid of most of candidate modes so that only 66--150 modes are left for the final mode decision, instead of 592 modes in the case of full search （FS） method of H. 264. Simulation results demonstrate that the coding time of the proposed algorithm falls down 71.7% compared with FS method, while the performance loss is trivial compared with FS mode decision scheme.
基金supported by the National Natural Science Foundation of China(No.62001209).
文摘In Video-based Point Cloud Compression(V-PCC),2D videos to be encoded are generated by 3D point cloud projection,and compressed by High Efficiency Video Coding(HEVC).In the process of 2D video compression,the best mode of Coding Unit(CU)is searched by brute-force strategy,which greatly increases the complexity of the encoding process.To address this issue,we first propose a simple and effective Portable Perceptron Network(PPN)-based fast mode decision method for V-PCC under Random Access(RA)configuration.Second,we extract seven simple hand-extracted features for input into the PPN network.Third,we design an adaptive loss function,which can calculate the loss by allocating different weights according to different Rate-Distortion(RD)costs,to train our PPN network.Finally,experimental results show that the proposed method can save encoding complexity of 43.13%with almost no encoding efficiency loss under RA configuration,which is superior to the state-of-the-art methods.The source code is available at https://github.com/Mesks/PPNforV-PCC.
基金National Natural Science Foundation of China(No.61673042)Shanxi Province Science Foundation for Youths(No.201701D221123)。
文摘For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.
文摘An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this paper.It can significantly accelerate the convergence rate of the state error which is initially far from the origin and achieve the fixed-time convergence.In addition,conventional double power term based reaching law is improved to ensure the convergence of sliding state in the presence of disturbances.The proposed approach is applied to the hovering control of an unmanned underwater vehicle.The controller exhibits both fast convergence and strong robustness to model uncertainty and external disturbances.
基金the National Natural Science Foundation of China(No.52175100)the Natural Science Foundation of Jiangsu Province(No.BK20201379)+2 种基金the 2020 Industrial Transformation and Upgrading Project of Industry and Information Technology Department of Jiangsu Province(No.JITC-2000AX0676-71)the Natural Science Foundation of Nanjing University of Posts and Telecommunications(No.NY221076)the Scientific and Technological Achievements Transformation Project of Jiangsu Province(No.BA2020004)。
文摘Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor aircraft.First,a NDO is proposed to estimate the actual values of uncertainties and disturbances.Second,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude subsystem.Moreover,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking performance.Finally,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances.
基金supported by ITER Program of China(973 Program)(No.2011GB109002)National Natural Science Foundation of China(No.11275056)Hefei University of Technology Doctor Research Foundation of China(No.2011HGBZ1292)
文摘A feedback control system is needed to restrain plasma vertical displacement in EAST （Experimental Advanced Superconducting Toknmak）. A fast control power supply excites active feedback coils, which produces a magnetic field to control the plasma＇s displacement. With the development of EAST, new demands on the new fast control power supply have led to an enhanced ability of fast response and output current, as well as a new control mode. The structure of cascaded and paralleled H-bridges can meet the demand of extended capacity, and digital control can reMize current and voltage mixed control mode. The validity of the proposed scheme is confirmed by experiments.
基金supported by the National Natural Science Foundation of China(No.11372210 and No.51405343)the Research Fund for the Doctoral Program of Higher Education of China(No.20120032110010)Tianjin Research Program of Application Foundation and Advanced Technology(No.12JCZDJC28000 and No.15JCQNJC05000)
基金supported by the Natural Science Foundation of China under Grant No.61733004the Scientific Research Fund of the Hunan Provincial Education Department under Grand No.18A267.
文摘This paper presents a novel non-singular fast terminal sliding mode control(NFTSMC)based on the deep flux weakening switching point tracking method in order to improve the control performance of permanent interior magnet synchronous motor(IPMSM)drive systems.The mathematical model of flux weakening(FW)control is established,and the deep flux weakening switching point is calculated accurately by analyzing the relationship between the torque curve and voltage decline curve.Next,a second-order NFTSMC is designed for the speed loop controller to ensure that the system converges to the equilibrium state in finite time.Then,an extended sliding mode disturbance observer(ESMDO)is designed to estimate the uncertainty of the system.Finally,compared with both the PI control and sliding mode control(SMC)by simulations and experiments with different working conditions,the method proposed has the merits of accelerating convergence,improving steady-state accuracy,and minimizing the current and torque pulsation.
文摘This paper describes a method for fast engineering evaluation of the transmission characteristicsof single-mode optical fibers.A versatile microcomputer program is presented which can be utilized to ana-lyze mode field characteristics of single-mode fibers with arbitrary refractive index profiles.Our computationshows that the mathematical algorithm and the corresponding programs developeod in this paper are rela-tively simple and accurate enough for the engineenring design of single-mode fibers for optical communica-tion systems.
