For a vibration system with 2 DOF of bend and torsion, its critical flutter wind speed can be calculated by using complex mode frequency iteration (CMFI) method based on MatLab 5.2, the results of which are in agree ...For a vibration system with 2 DOF of bend and torsion, its critical flutter wind speed can be calculated by using complex mode frequency iteration (CMFI) method based on MatLab 5.2, the results of which are in agree with those acquired by wind tunnel test. Not only critical flutter wind speed, but also vibration characteristic of a system under different wind speeds can be determined. CMFI method is suitable for both of separated flow torsional flutter and classic coupling flutter analysis, which is presented by flutter analysis of an ideal thin plate and a bluff bridge deck. Furthermore, it is proved through the investigation of the relationship between flutter derivatives and its critical flutter wind speed that coupling aerodynamic derivatives are necessary for classic coupling flutter to occur.]展开更多
This paper models the complex simultaneous localization and mapping（SLAM） problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models al...This paper models the complex simultaneous localization and mapping（SLAM） problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models allow to incorporate： any motion model; any observation model regardless of the type of sensor being chosen; prior information of the map through a map model; maps of diverse natures; sensor fusion weighted according to the accuracy. On the other hand, the iterated conditional modes algorithm is a probabilistic optimizer widely used for image processing which has not yet been used to solve the SLAM problem. This iterative solver has theoretical convergence regardless of the Markov random field chosen to model. Its initialization can be performed on-line and improved by parallel iterations whenever deemed appropriate. It can be used as a post-processing methodology if it is initialized with estimates obtained from another SLAM solver. The applied methodology can be easily implemented in other versions of the SLAM problem, such as the multi-robot version or the SLAM with dynamic environment. Simulations and real experiments show the flexibility and the excellent results of this proposal.展开更多
This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sl...This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.展开更多
Traditional image segmentation methods based on MRF converge slowly and require pre-defined weight. These disadvantages are addressed, and a fast segmentation approach based on simple Markov random field （MRF） for S...Traditional image segmentation methods based on MRF converge slowly and require pre-defined weight. These disadvantages are addressed, and a fast segmentation approach based on simple Markov random field （MRF） for SAR image is proposed. The approach is firstly used to perform coarse segmentation in blocks. Then the image is modeled with simple MRF and adaptive variable weighting forms are applied in homogeneous and heterogeneous regions. As a result, the convergent speed is accelerated while the segmentation results in homogeneous regions and boarders are improved. Simulations with synthetic and real SAR images demonstrate the effectiveness of the proposed approach.展开更多
The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stab...The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.展开更多
In order to overcome the disadvantages of low accuracy rate, high complexity and poor robustness to image noise in many traditional algorithms of cloud image detection, this paper proposed a novel algorithm on the bas...In order to overcome the disadvantages of low accuracy rate, high complexity and poor robustness to image noise in many traditional algorithms of cloud image detection, this paper proposed a novel algorithm on the basis of Markov Random Field (MRF) modeling. This paper first defined algorithm model and derived the core factors affecting the performance of the algorithm, and then, the solving of this algorithm was obtained by the use of Belief Propagation (BP) algorithm and Iterated Conditional Modes (ICM) algorithm. Finally, experiments indicate that this algorithm for the cloud image detection has higher average accuracy rate which is about 98.76% and the average result can also reach 96.92% for different type of image noise.展开更多
In view of weak defect signals and large acoustic emission(AE) data in low speed bearing condition monitoring, we propose a bearing fault diagnosis technique based on a combination of empirical mode decomposition(EMD)...In view of weak defect signals and large acoustic emission(AE) data in low speed bearing condition monitoring, we propose a bearing fault diagnosis technique based on a combination of empirical mode decomposition(EMD), clear iterative interval threshold(CIIT) and the kernel-based fuzzy c-means(KFCM) eigenvalue extraction. In this technique, we use EMD-CIIT and EMD to complete the noise removal and to extract the intrinsic mode functions(IMFs). Then we select the first three IMFs and calculate their histogram entropies as the main fault features. These features are used for bearing fault classification using KFCM technique. The result shows that the combined EMD-CIIT and KFCM algorithm can accurately identify various bearing faults based on AE signals acquired from a low speed bearing test rig.展开更多
This paper presents a method for unsupervised segmentation of images consisting of multiple textures. The images under study are modeled by a proposed hierarchical random field model, which has two layers. The first l...This paper presents a method for unsupervised segmentation of images consisting of multiple textures. The images under study are modeled by a proposed hierarchical random field model, which has two layers. The first layer is modeled as a Markov Random Field (MRF) representing an unobservable region image and the second layer uses 'Filters, Random and Maximum Entropy (Abb. FRAME)' model to represent multiple textures which cover each region. Compared with the traditional Hierarchical Markov Random Field (HMRF), the FRAME can use a bigger neighborhood system and model more complex patterns. The segmentation problem is formulated as Maximum a Posteriori (MAP) estimation according to the Bayesian rule. The iterated conditional modes (ICM) algorithm is carried out to find the solution of the MAP estimation. An algorithm based on the local entropy rate is proposed to simplify the estimation of the parameters of MRF. The parameters of FRAME are estimated by the ExpectationMaximum (EM) algorithm. Finally, an experiment with synthesized and real images is given, which shows that the method can segment images with complex textures efficiently and is robust to noise.展开更多
The distribution and change of sea surface salinity(SSS)have an important influence on the sea dynamic environment,marine ecological environment,global water cycle,and global climate change.Satellite remote sensing is...The distribution and change of sea surface salinity(SSS)have an important influence on the sea dynamic environment,marine ecological environment,global water cycle,and global climate change.Satellite remote sensing is the only practical way to continuously observe SSS over a wide area and for a long period of time.The salinity retrieval model of flat sea surface,which primarily includes empirical model and iterative model,is the key to retrieving satellite SSS products.The empirical models have high computational efficiency but low inversion accuracy,while the iterative models have high inversion accuracy but low computational efficiency.In order to reconcile the contradiction between the computational efficiency and inversion accuracy of existing models,this paper proposes a universal deep neural network(DNN)model architecture and corresponding training scheme,and provides 3 DNN models with extremely high computational efficiency and high inversion accuracy.The inversion error range,the root mean square error(RMSE),and the mean absolute error(MAE)of the DNN models on 311,121 sets of data have decreased by more than 40 times,150 times,and 150 times,respectively,compared to the empirical model.The computational efficiency of the DNN models on 420,903 sets of data has improved by more than 100,000 times compared to the iterative model.Therefore,the algorithm developed in this paper can effectively solve the contradiction between the computational efficiency and inversion accuracy of existing models,and provide a theoretical support for high-precision and high-efficiency salinity inversion research.展开更多
文摘For a vibration system with 2 DOF of bend and torsion, its critical flutter wind speed can be calculated by using complex mode frequency iteration (CMFI) method based on MatLab 5.2, the results of which are in agree with those acquired by wind tunnel test. Not only critical flutter wind speed, but also vibration characteristic of a system under different wind speeds can be determined. CMFI method is suitable for both of separated flow torsional flutter and classic coupling flutter analysis, which is presented by flutter analysis of an ideal thin plate and a bluff bridge deck. Furthermore, it is proved through the investigation of the relationship between flutter derivatives and its critical flutter wind speed that coupling aerodynamic derivatives are necessary for classic coupling flutter to occur.]
基金supported by the National Council for Scientific and Technological Research(CONICET)the National University of San Juan(UNSJ)
文摘This paper models the complex simultaneous localization and mapping（SLAM） problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models allow to incorporate： any motion model; any observation model regardless of the type of sensor being chosen; prior information of the map through a map model; maps of diverse natures; sensor fusion weighted according to the accuracy. On the other hand, the iterated conditional modes algorithm is a probabilistic optimizer widely used for image processing which has not yet been used to solve the SLAM problem. This iterative solver has theoretical convergence regardless of the Markov random field chosen to model. Its initialization can be performed on-line and improved by parallel iterations whenever deemed appropriate. It can be used as a post-processing methodology if it is initialized with estimates obtained from another SLAM solver. The applied methodology can be easily implemented in other versions of the SLAM problem, such as the multi-robot version or the SLAM with dynamic environment. Simulations and real experiments show the flexibility and the excellent results of this proposal.
文摘This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.
基金supported by the Specialized Research Found for the Doctoral Program of Higher Education (20070699013)the Natural Science Foundation of Shaanxi Province (2006F05)the Aeronautical Science Foundation (05I53076)
文摘Traditional image segmentation methods based on MRF converge slowly and require pre-defined weight. These disadvantages are addressed, and a fast segmentation approach based on simple Markov random field （MRF） for SAR image is proposed. The approach is firstly used to perform coarse segmentation in blocks. Then the image is modeled with simple MRF and adaptive variable weighting forms are applied in homogeneous and heterogeneous regions. As a result, the convergent speed is accelerated while the segmentation results in homogeneous regions and boarders are improved. Simulations with synthetic and real SAR images demonstrate the effectiveness of the proposed approach.
基金Project(61174047) supported by the National Natural Science Foundation of ChinaProject(20102304110003) supported by the Doctoral Fund of Ministry of Education of ChinaProject(51316080301) supported by Advanced Research
文摘The bottom-following problem for underactuated autonomous underwater vehicles （AUV） was addressed by a new type of nonlinear decoupling control law. The vertical bottom-following error and pitch angle error are stabilized by means of the stem plane, and the thruster is left to stabilize the longitudinal bottom-following error and forward speed. In order to better meet the need of engineering applications, working characteristics of the actuators were sufficiently considered to design the proposed controller. Different from the traditional method, the methodology used to solve the problem is generated by AUV model without a reference orientation, and it deals explicitly with vehicle dynamics and the geometric characteristics of the desired tracking bottom curve. The estimation of systemic uncertainties and disturbances and the pitch velocity PE （persistent excitation） conditions are not required. The stability analysis is given by Lyapunov theorem. Simulation results of a full nonlinear hydrodynamic AUV model are provided to validate the effectiveness and robustness of the proposed controller.
基金Supported by the National Natural Science Foundation of China (No. 61172047)
文摘In order to overcome the disadvantages of low accuracy rate, high complexity and poor robustness to image noise in many traditional algorithms of cloud image detection, this paper proposed a novel algorithm on the basis of Markov Random Field (MRF) modeling. This paper first defined algorithm model and derived the core factors affecting the performance of the algorithm, and then, the solving of this algorithm was obtained by the use of Belief Propagation (BP) algorithm and Iterated Conditional Modes (ICM) algorithm. Finally, experiments indicate that this algorithm for the cloud image detection has higher average accuracy rate which is about 98.76% and the average result can also reach 96.92% for different type of image noise.
基金the Privileged Shandong Provincial Government’s “Taishan Scholar” Program
文摘In view of weak defect signals and large acoustic emission(AE) data in low speed bearing condition monitoring, we propose a bearing fault diagnosis technique based on a combination of empirical mode decomposition(EMD), clear iterative interval threshold(CIIT) and the kernel-based fuzzy c-means(KFCM) eigenvalue extraction. In this technique, we use EMD-CIIT and EMD to complete the noise removal and to extract the intrinsic mode functions(IMFs). Then we select the first three IMFs and calculate their histogram entropies as the main fault features. These features are used for bearing fault classification using KFCM technique. The result shows that the combined EMD-CIIT and KFCM algorithm can accurately identify various bearing faults based on AE signals acquired from a low speed bearing test rig.
文摘This paper presents a method for unsupervised segmentation of images consisting of multiple textures. The images under study are modeled by a proposed hierarchical random field model, which has two layers. The first layer is modeled as a Markov Random Field (MRF) representing an unobservable region image and the second layer uses 'Filters, Random and Maximum Entropy (Abb. FRAME)' model to represent multiple textures which cover each region. Compared with the traditional Hierarchical Markov Random Field (HMRF), the FRAME can use a bigger neighborhood system and model more complex patterns. The segmentation problem is formulated as Maximum a Posteriori (MAP) estimation according to the Bayesian rule. The iterated conditional modes (ICM) algorithm is carried out to find the solution of the MAP estimation. An algorithm based on the local entropy rate is proposed to simplify the estimation of the parameters of MRF. The parameters of FRAME are estimated by the ExpectationMaximum (EM) algorithm. Finally, an experiment with synthesized and real images is given, which shows that the method can segment images with complex textures efficiently and is robust to noise.
基金supported by the National Natural Science Foundation of China(grant no.62031005).
文摘The distribution and change of sea surface salinity(SSS)have an important influence on the sea dynamic environment,marine ecological environment,global water cycle,and global climate change.Satellite remote sensing is the only practical way to continuously observe SSS over a wide area and for a long period of time.The salinity retrieval model of flat sea surface,which primarily includes empirical model and iterative model,is the key to retrieving satellite SSS products.The empirical models have high computational efficiency but low inversion accuracy,while the iterative models have high inversion accuracy but low computational efficiency.In order to reconcile the contradiction between the computational efficiency and inversion accuracy of existing models,this paper proposes a universal deep neural network(DNN)model architecture and corresponding training scheme,and provides 3 DNN models with extremely high computational efficiency and high inversion accuracy.The inversion error range,the root mean square error(RMSE),and the mean absolute error(MAE)of the DNN models on 311,121 sets of data have decreased by more than 40 times,150 times,and 150 times,respectively,compared to the empirical model.The computational efficiency of the DNN models on 420,903 sets of data has improved by more than 100,000 times compared to the iterative model.Therefore,the algorithm developed in this paper can effectively solve the contradiction between the computational efficiency and inversion accuracy of existing models,and provide a theoretical support for high-precision and high-efficiency salinity inversion research.
