The presence of array imperfection and mutual coupling in sensor arrays poses several challenges for development of effective algorithms for the direction-of-arrival （DOA） estimation problem in array processing. A c...The presence of array imperfection and mutual coupling in sensor arrays poses several challenges for development of effective algorithms for the direction-of-arrival （DOA） estimation problem in array processing. A correlation domain wideband DOA estimation algorithm without array calibration is proposed, to deal with these array model errors, using the arbitrary antenna array of omnidirectional elements. By using the matrix operators that have the memory and oblivion characteristics, this algorithm can separate the incident signals effectively. Compared with other typical wideband DOA estimation algorithms based on the subspace theory, this algorithm can get robust DOA estimation with regard to position error, gain-phase error, and mutual coupling, by utilizing a relaxation technique based on signal separation. The signal separation category and the robustness of this algorithm to the array model errors are analyzed and proved. The validity and robustness of this algorithm, in the presence of array model errors, are confirmed by theoretical analysis and simulation results.展开更多
Initial condition and model errors both contribute to the loss of atmospheric predictability.However,it remains debatable which type of error has the larger impact on the prediction lead time of specific states.In thi...Initial condition and model errors both contribute to the loss of atmospheric predictability.However,it remains debatable which type of error has the larger impact on the prediction lead time of specific states.In this study,we perform a theoretical study to investigate the relative effects of initial condition and model errors on local prediction lead time of given states in the Lorenz model.Using the backward nonlinear local Lyapunov exponent method,the prediction lead time,also called local backward predictability limit(LBPL),of given states induced by the two types of errors can be quantitatively estimated.Results show that the structure of the Lorenz attractor leads to a layered distribution of LBPLs of states.On an individual circular orbit,the LBPLs are roughly the same,whereas they are different on different orbits.The spatial distributions of LBPLs show that the relative effects of initial condition and model errors on local backward predictability depend on the locations of given states on the dynamical trajectory and the error magnitudes.When the error magnitude is fixed,the differences between the LBPLs vary with the locations of given states.The larger differences are mainly located on the inner trajectories of regimes.When the error magnitudes are different,the dissimilarities in LBPLs are diverse for the same given state.展开更多
Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechani...Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechanical wear,calibration issues,and environmental factors,can significantly impact the performance of industrial robots.This paper aims to explore the theoretical modeling of errors in industrial robot systems and propose compensation strategies to enhance their accuracy and repeatability.Key factors contributing to errors,such as kinematic,dynamic,and environmental influences,are discussed in detail.Additionally,the paper explores various compensation techniques,including geometric error compensation,dynamic compensation,and adaptive control approaches.Through the integration of error modeling and compensation methods,industrial robots can achieve improved performance,ensuring higher operational efficiency and product quality.The paper concludes by highlighting the challenges and future research directions for improving the accuracy and repeatability of industrial robots in practical applications.展开更多
This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However,...This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...展开更多
In view of the influence of model errors in conventional BeiDou prediction models for clock offsets,a semiparametric adjustment model for BeiDou Navigation Satellite System(BDS)clock offset prediction that considers m...In view of the influence of model errors in conventional BeiDou prediction models for clock offsets,a semiparametric adjustment model for BeiDou Navigation Satellite System(BDS)clock offset prediction that considers model errors is proposed in this paper.First,the model errors of the conventional BeiDou clock offset prediction model are analyzed.Additionally,the relationship among the polynomial model,polynomial model with additional periodic term correction,and its periodic correction terms is explored in detail.Second,considering the model errors,combined with the physical relationship between phase,frequency,frequency drift,and its period in the clock sequence,the conventional clock offset prediction model is improved.Using kernel estimation and comprehensive least squares,the corresponding parameter solutions of the prediction model and the estimation of its model error are derived,and the dynamic error correction of the clock sequence model is realized.Finally,the BDS satellite precision clock data provided by the IGS Center of Wuhan University with a sampling interval of 5 min are used to compare the proposed prediction method with commonly used methods.Experimental results show that the proposed prediction method can better correct the model errors of BDS satellite clock offsets,and it can effectively overcome the inaccuracies of clock offset correction.The average forecast accuracies of the BeiDou satellites at 6,12,and 24 h are 27.13%,37.71%,and 45.08%higher than those of the conventional BeiDou clock offset forecast models;the average model improvement rates are 16.92%,20.96%,and 28.48%,respectively.In addition,the proposed method enhances the existing BDS satellite prediction method for clock offsets to a certain extent.展开更多
The paper contains a discussion of earlier work on Total Model Errors and Model Validation.It is maintained that the recent change of paradigm to kernel based system identification has also affected the basis for(and ...The paper contains a discussion of earlier work on Total Model Errors and Model Validation.It is maintained that the recent change of paradigm to kernel based system identification has also affected the basis for(and interest in)giving bounds for the total model error.展开更多
Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression mo...Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares （LS） method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables （EV） model and the total least squares （TLS） method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method.展开更多
Spatial linear features are often represented as a series of line segments joined by measured endpoints in surveying and geographic information science.There are not only the measuring errors of the endpoints but also...Spatial linear features are often represented as a series of line segments joined by measured endpoints in surveying and geographic information science.There are not only the measuring errors of the endpoints but also the modeling errors between the line segments and the actual geographical features.This paper presents a Brownian bridge error model for line segments combining both the modeling and measuring errors.First,the Brownian bridge is used to establish the position distribution of the actual geographic feature represented by the line segment.Second,an error propagation model with the constraints of the measuring error distribution of the endpoints is proposed.Third,a comprehensive error band of the line segment is constructed,wherein both the modeling and measuring errors are contained.The proposed error model can be used to evaluate line segments’overall accuracy and trustability influenced by modeling and measuring errors,and provides a comprehensive quality indicator for the geospatial data.展开更多
In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error m...In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.展开更多
Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its tes...Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its testing principle of the wear depth of the spherical plain bearing was introduced.Meanwhile,the error factors affecting the wear-depth detecting precision were analyzed.Then,the comprehensive error model of the wear-depth detecting system of the spherical plain bearing was built by the multi-body system theory(MBS).In addition,the thermal deformation of the wear-depth detecting system caused by varying the environmental temperature was detected.Finally,according to the above experimental parameters,the thermal errors of the related parts of the comprehensive error model were calculated by FEM.The results show that the difference between the simulation value and the experimental value is less than 0.005 mm,and the two values are close.The correctness of the comprehensive error model is verified under the thermal error experimental conditions.展开更多
Turbulent dynamical systems involve dynamics with both a large dimensional phase space and a large number of positive Lyapunov exponents. Such systems are ubiqui- tous in applications in contemporary science and engin...Turbulent dynamical systems involve dynamics with both a large dimensional phase space and a large number of positive Lyapunov exponents. Such systems are ubiqui- tous in applications in contemporary science and engineering where the statistical ensemble prediction and the real time filtering/state estimation are needed despite the underlying complexity of the system. Statistically exactly solvable test models have a crucial role to provide firm mathematical underpinning or new algorithms for vastly more complex scien- tific phenomena. Here, a class of statistically exactly solvable non-Gaussian test models is introduced, where a generalized Feynman-Ka~ formulation reduces the exact behavior of conditional statistical moments to the solution to inhomogeneous Fokker-Planck equations modified by linear lower order coupling and source terms. This procedure is applied to a test model with hidden instabilities and is combined with information theory to address two important issues in the contemporary statistical prediction of turbulent dynamical systems： the coarse-grained ensemble prediction in a perfect model and the improving long range forecasting in imperfect models. The models discussed here should be use- ful for many other applications and algorithms for the real time prediction and the state estimation.展开更多
Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and...Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.展开更多
Compared with the rank reduction estimator(RARE) based on second-order statistics(called SOS-RARE), the RARE based on fourth-order cumulants(referred to as FOC-RARE) can handle more sources and restrain the negative i...Compared with the rank reduction estimator(RARE) based on second-order statistics(called SOS-RARE), the RARE based on fourth-order cumulants(referred to as FOC-RARE) can handle more sources and restrain the negative impacts of the Gaussian colored noise. However, the unexpected modeling errors appearing in practice are known to significantly degrade the performance of the RARE. Therefore, the direction-of-arrival(DOA) estimation performance of the FOC-RARE is quantitatively derived. The explicit expression for direction-finding(DF) error is derived via the first-order perturbation analysis, and then the theoretical formula for the mean square error(MSE) is given. Simulation results demonstrate the validation of the theoretical analysis and reveal that the FOC-RARE is more robust to the unexpected modeling errors than the SOS-RARE.展开更多
Systematic bias is a type of model error that can affect the accuracy of data assimilation and forecasting that must be addressed.An online bias correction scheme called the sequential bias correction scheme(SBCS),was...Systematic bias is a type of model error that can affect the accuracy of data assimilation and forecasting that must be addressed.An online bias correction scheme called the sequential bias correction scheme(SBCS),was developed using the6 h average bias to correct the systematic bias during model integration.The primary purpose of this study is to investigate the impact of the SBCS in the high-resolution China Meteorological Administration Meso-scale(CMA-MESO)numerical weather prediction(NWP)model to reduce the systematic bias and to improve the data assimilation and forecast results through this method.The SBCS is improved upon and applied to the CMA-MESO 3-km model in this study.Four-week sequential data assimilation and forecast experiments,driven by rapid update and cycling(RUC),were conducted for the period from 2–29 May 2022.In terms of the characteristics of systematic bias,both the background and analysis show diurnal bias,and these large biases are affected by complex underlying surfaces(e.g.,oceans,coasts,and mountains).After the application of the SBCS,the results of the data assimilation show that the SBCS can reduce the systematic bias of the background and yield a neutral to slightly positive result for the analysis fields.In addition,the SBCS can reduce forecast errors and improve forecast results,especially for surface variables.The above results indicate that this scheme has good prospects for high-resolution regional NWP models.展开更多
The study aims to investigate county-level variations of the COVID-19 disease and vaccination rate. The COVID-19 data was acquired from usafact.org, and the vaccination records were acquired from the Ohio vaccination ...The study aims to investigate county-level variations of the COVID-19 disease and vaccination rate. The COVID-19 data was acquired from usafact.org, and the vaccination records were acquired from the Ohio vaccination tracker dashboard. GIS-based exploratory analysis was conducted to select four variables (poverty, black race, population density, and vaccination) to explain COVID-19 occurrence during the study period. Consequently, spatial statistical techniques such as Moran’s I, Hot Spot Analysis, Spatial Lag Model (SLM), and Spatial Error Model (SEM) were used to explain the COVID-19 occurrence and vaccination rate across the 88 counties in Ohio. The result of the Local Moran’s I analysis reveals that the epicenters of COVID-19 and vaccination followed the same patterns. Indeed, counties like Summit, Franklin, Fairfield, Hamilton, and Medina were categorized as epicenters for both COVID-19 occurrence and vaccination rate. The SEM seems to be the best model for both COVID-19 and vaccination rates, with R2 values of 0.68 and 0.70, respectively. The GWR analysis proves to be better than Ordinary Least Squares (OLS), and the distribution of R2 in the GWR is uneven throughout the study area for both COVID-19 cases and vaccinations. Some counties have a high R2 of up to 0.70 for both COVID-19 cases and vaccinations. The outcomes of the regression analyses show that the SEM models can explain 68% - 70% of COVID-19 cases and vaccination across the entire counties within the study period. COVID-19 cases and vaccination rates exhibited significant positive associations with black race and poverty throughout the study area.展开更多
Thermal errors in CNC machine tools,particularly those involving the spindle,significantly affect machining accuracy and performance.These errors,caused by temperature fluctuations in the spindle and surrounding compo...Thermal errors in CNC machine tools,particularly those involving the spindle,significantly affect machining accuracy and performance.These errors,caused by temperature fluctuations in the spindle and surrounding components,result in dimensional deviations that can lead to poor part quality and reduced precision in high-speed manufacturing processes.This paper explores thermal error modeling and compensation methods for the spindle of five-axis CNC machine tools.A detailed analysis of the heat generation,transfer mechanisms,and finite element analysis(FEA)is presented to develop accurate thermal error models.Compensation techniques,such as model-based methods,sensor-based methods,real-time compensation algorithms,and hybrid approaches,are critically reviewed.This study also discusses the challenges in real-time compensation and the integration of thermal error compensation with machine tool control systems.The objective is to provide a comprehensive understanding of thermal error phenomena and their compensation strategies,ultimately contributing to the enhancement of machining accuracy in advanced manufacturing applications.展开更多
In the variance component estimation(VCE)of geodetic data,the problem of negative VCE is likely to occur.In the ordinary additive error model,there have been related studies to solve the problem of negative variance c...In the variance component estimation(VCE)of geodetic data,the problem of negative VCE is likely to occur.In the ordinary additive error model,there have been related studies to solve the problem of negative variance components.However,there is still no related research in the mixed additive and multiplicative random error model(MAMREM).Based on the MAMREM,this paper applies the nonnegative least squares variance component estimation(NNLS-VCE)algorithm to this model.The correlation formula and iterative algorithm of NNLS-VCE for MAMREM are derived.The problem of negative variance in VCE for MAMREM is solved.This paper uses the digital simulation example and the Digital Terrain Mode(DTM)to prove the proposed algorithm's validity.The experimental results demonstrated that the proposed algorithm can effectively correct the VCE in MAMREM when there is a negative VCE.展开更多
Two traditional methods for compensating function model errors, the method of adding systematic parameters and the least-squares collection method, are introduced. A proposed method based on a BP neural network （call...Two traditional methods for compensating function model errors, the method of adding systematic parameters and the least-squares collection method, are introduced. A proposed method based on a BP neural network （called the H-BP algorithm） for compensating function model errors is put forward. The function model is assumed as y =f（x1, x2,… ,xn）, and the special structure of the H-BP algorithm is determined as （ n ＋ 1） ×p × 1, where （n ＋ 1） is the element number of the input layer, and the elements are xl, x2,…, xn and y＇ （ y＇ is the value calculated by the function model）; p is the element number of the hidden layer, and it is usually determined after many tests; 1 is the dement number of the output layer, and the element is △y = y0-y＇（y0 is the known value of the sample）. The calculation steps of the H-BP algorithm are introduced in detail. And then, the results of three methods for compensating function model errors from one engineering project are compared with each other. After being compensated, the accuracy of the traditional methods is about ± 19 mm, and the accuracy of the H-BP algorithm is ± 4. 3 mm. It shows that the proposed method based on a neural network is more effective than traditional methods for compensating function model errors.展开更多
The theoretical basis and application of an analogue-dynamical model （ADM） in the Lorenz system is studied. The ADM can effectively combine statistical and dynamical methods in which the small disturbance of the cur...The theoretical basis and application of an analogue-dynamical model （ADM） in the Lorenz system is studied. The ADM can effectively combine statistical and dynamical methods in which the small disturbance of the current initial value superimposed on the historical analogue reference state can be regarded as a prediction objective. Primary analyses show that under the condition of appending disturbances in model parameters, the model errors of ADM are much smaller than those of the pure dynamical model （PDM）. The characteristics of predictability on the ADM in the Lorenz system are analyzed in phase space by conducting case studies and global experiments. The results show that the ADM can quite effectively reduce prediction errors and prolong the valid time of the prediction in most situations in contrast to the PDM, but when model errors are considerably small, the latter will be superior to the former. To overcome such a problem, the multi-reference-state updating can be applied to introduce the information of multi-analogue and update analogue and can exhibit exciting performance in the ADM.展开更多
By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （...By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.展开更多
基金supported by the National "863" High Technology Research and Development Program of China(2007AA703428)
文摘The presence of array imperfection and mutual coupling in sensor arrays poses several challenges for development of effective algorithms for the direction-of-arrival （DOA） estimation problem in array processing. A correlation domain wideband DOA estimation algorithm without array calibration is proposed, to deal with these array model errors, using the arbitrary antenna array of omnidirectional elements. By using the matrix operators that have the memory and oblivion characteristics, this algorithm can separate the incident signals effectively. Compared with other typical wideband DOA estimation algorithms based on the subspace theory, this algorithm can get robust DOA estimation with regard to position error, gain-phase error, and mutual coupling, by utilizing a relaxation technique based on signal separation. The signal separation category and the robustness of this algorithm to the array model errors are analyzed and proved. The validity and robustness of this algorithm, in the presence of array model errors, are confirmed by theoretical analysis and simulation results.
基金supported by the National Natural Science Foundation of China (Grant Nos.42005054,41975070)China Postdoctoral Science Foundation (Grant No.2020M681154)。
文摘Initial condition and model errors both contribute to the loss of atmospheric predictability.However,it remains debatable which type of error has the larger impact on the prediction lead time of specific states.In this study,we perform a theoretical study to investigate the relative effects of initial condition and model errors on local prediction lead time of given states in the Lorenz model.Using the backward nonlinear local Lyapunov exponent method,the prediction lead time,also called local backward predictability limit(LBPL),of given states induced by the two types of errors can be quantitatively estimated.Results show that the structure of the Lorenz attractor leads to a layered distribution of LBPLs of states.On an individual circular orbit,the LBPLs are roughly the same,whereas they are different on different orbits.The spatial distributions of LBPLs show that the relative effects of initial condition and model errors on local backward predictability depend on the locations of given states on the dynamical trajectory and the error magnitudes.When the error magnitude is fixed,the differences between the LBPLs vary with the locations of given states.The larger differences are mainly located on the inner trajectories of regimes.When the error magnitudes are different,the dissimilarities in LBPLs are diverse for the same given state.
文摘Industrial robots are integral to modern manufacturing systems,enabling high precision,high throughput,and flexibility.However,errors in accuracy and repeatability,which arise from a variety of sources such as mechanical wear,calibration issues,and environmental factors,can significantly impact the performance of industrial robots.This paper aims to explore the theoretical modeling of errors in industrial robot systems and propose compensation strategies to enhance their accuracy and repeatability.Key factors contributing to errors,such as kinematic,dynamic,and environmental influences,are discussed in detail.Additionally,the paper explores various compensation techniques,including geometric error compensation,dynamic compensation,and adaptive control approaches.Through the integration of error modeling and compensation methods,industrial robots can achieve improved performance,ensuring higher operational efficiency and product quality.The paper concludes by highlighting the challenges and future research directions for improving the accuracy and repeatability of industrial robots in practical applications.
基金National Natural Science Foundation of China (60675054)National High-Tech Research and Development Program (2006AA04Z228)"111" Project (B07018)
文摘This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...
基金China University of Geosciences,Wuhan(CN)(Grant No.41374017).
文摘In view of the influence of model errors in conventional BeiDou prediction models for clock offsets,a semiparametric adjustment model for BeiDou Navigation Satellite System(BDS)clock offset prediction that considers model errors is proposed in this paper.First,the model errors of the conventional BeiDou clock offset prediction model are analyzed.Additionally,the relationship among the polynomial model,polynomial model with additional periodic term correction,and its periodic correction terms is explored in detail.Second,considering the model errors,combined with the physical relationship between phase,frequency,frequency drift,and its period in the clock sequence,the conventional clock offset prediction model is improved.Using kernel estimation and comprehensive least squares,the corresponding parameter solutions of the prediction model and the estimation of its model error are derived,and the dynamic error correction of the clock sequence model is realized.Finally,the BDS satellite precision clock data provided by the IGS Center of Wuhan University with a sampling interval of 5 min are used to compare the proposed prediction method with commonly used methods.Experimental results show that the proposed prediction method can better correct the model errors of BDS satellite clock offsets,and it can effectively overcome the inaccuracies of clock offset correction.The average forecast accuracies of the BeiDou satellites at 6,12,and 24 h are 27.13%,37.71%,and 45.08%higher than those of the conventional BeiDou clock offset forecast models;the average model improvement rates are 16.92%,20.96%,and 28.48%,respectively.In addition,the proposed method enhances the existing BDS satellite prediction method for clock offsets to a certain extent.
基金VINNOVA’s industrial center LINK-SICthe Swedish Research Council VR,contract 2019-04956。
文摘The paper contains a discussion of earlier work on Total Model Errors and Model Validation.It is maintained that the recent change of paradigm to kernel based system identification has also affected the basis for(and interest in)giving bounds for the total model error.
基金supported by the National Security Major Basic Research Project of China (973-61334).
文摘Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares （LS） method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables （EV） model and the total least squares （TLS） method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method.
基金National Natural Science Foundation of China(Nos.42071372,42221002)。
文摘Spatial linear features are often represented as a series of line segments joined by measured endpoints in surveying and geographic information science.There are not only the measuring errors of the endpoints but also the modeling errors between the line segments and the actual geographical features.This paper presents a Brownian bridge error model for line segments combining both the modeling and measuring errors.First,the Brownian bridge is used to establish the position distribution of the actual geographic feature represented by the line segment.Second,an error propagation model with the constraints of the measuring error distribution of the endpoints is proposed.Third,a comprehensive error band of the line segment is constructed,wherein both the modeling and measuring errors are contained.The proposed error model can be used to evaluate line segments’overall accuracy and trustability influenced by modeling and measuring errors,and provides a comprehensive quality indicator for the geospatial data.
基金Projects(2012ZX04010-011,2009ZX02037-02) supported by the Key National Science and Technology Project of China
文摘In order to improve the process precision of an XY laser annealing table, a geometric error modeling, and an identification and compensation method were proposed. Based on multi-body system theory, a geometric error model for the laser annealing table was established. It supports the identification of 7 geometric errors affecting the annealing accuracy. An original identification method was presented to recognize these geometric errors. Positioning errors of 5 lines in the workspace were measured by a laser interferometer, and the 7 geometric errors were identified by the proposed algorithm. Finally, a software-based error compensation method was adopted, and a compensation mechanism was developed in a postprocessor based on LabVIEW. The identified geometric errors can be compensated by converting ideal NC codes to actual NC codes. A validation experiment has been conducted on the laser annealing table, and the results indicate that positioning errors of two validation lines decreased from ±37 μm and ±33 μm to ±5 μm and ±4.5 μm, respectively. The geometric error modeling, identification and compensation method presented in this work can be straightforwardly extended to any configurations of 2-dimensional worktable.
基金Project(2014E00468R)supported by Technological Innovation Fund of Aviation Industry Corporation of China
文摘Because of various error factors,the detecting errors in the real-time experimental data of the wear depth affect the accuracy of the detecting data.The self-made spherical plain bearing tester was studied,and its testing principle of the wear depth of the spherical plain bearing was introduced.Meanwhile,the error factors affecting the wear-depth detecting precision were analyzed.Then,the comprehensive error model of the wear-depth detecting system of the spherical plain bearing was built by the multi-body system theory(MBS).In addition,the thermal deformation of the wear-depth detecting system caused by varying the environmental temperature was detected.Finally,according to the above experimental parameters,the thermal errors of the related parts of the comprehensive error model were calculated by FEM.The results show that the difference between the simulation value and the experimental value is less than 0.005 mm,and the two values are close.The correctness of the comprehensive error model is verified under the thermal error experimental conditions.
基金Project supported by the Office of Naval Research (ONR) Grants (No. ONR DRI N00014-10-1-0554)the DOD-MURI award "Physics Constrained Stochastic-Statistical Models for Extended Range Environmental Prediction"
文摘Turbulent dynamical systems involve dynamics with both a large dimensional phase space and a large number of positive Lyapunov exponents. Such systems are ubiqui- tous in applications in contemporary science and engineering where the statistical ensemble prediction and the real time filtering/state estimation are needed despite the underlying complexity of the system. Statistically exactly solvable test models have a crucial role to provide firm mathematical underpinning or new algorithms for vastly more complex scien- tific phenomena. Here, a class of statistically exactly solvable non-Gaussian test models is introduced, where a generalized Feynman-Ka~ formulation reduces the exact behavior of conditional statistical moments to the solution to inhomogeneous Fokker-Planck equations modified by linear lower order coupling and source terms. This procedure is applied to a test model with hidden instabilities and is combined with information theory to address two important issues in the contemporary statistical prediction of turbulent dynamical systems： the coarse-grained ensemble prediction in a perfect model and the improving long range forecasting in imperfect models. The models discussed here should be use- ful for many other applications and algorithms for the real time prediction and the state estimation.
基金Project(61201381)supported by the National Nature Science Foundation of ChinaProject(YP12JJ202057)supported by the Future Development Foundation of Zhengzhou Information Science and Technology College,China
文摘Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.
基金Project(61201381) supported by the National Natural Science Foundation of ChinaProject(YP12JJ202057) supported by the Future Development Foundation of Zhengzhou Information Science and Technology College,China
文摘Compared with the rank reduction estimator(RARE) based on second-order statistics(called SOS-RARE), the RARE based on fourth-order cumulants(referred to as FOC-RARE) can handle more sources and restrain the negative impacts of the Gaussian colored noise. However, the unexpected modeling errors appearing in practice are known to significantly degrade the performance of the RARE. Therefore, the direction-of-arrival(DOA) estimation performance of the FOC-RARE is quantitatively derived. The explicit expression for direction-finding(DF) error is derived via the first-order perturbation analysis, and then the theoretical formula for the mean square error(MSE) is given. Simulation results demonstrate the validation of the theoretical analysis and reveal that the FOC-RARE is more robust to the unexpected modeling errors than the SOS-RARE.
基金supported by the National Natural Science Foundation of China(Grant Nos.U2242213,U2142213,42305167,42175105)。
文摘Systematic bias is a type of model error that can affect the accuracy of data assimilation and forecasting that must be addressed.An online bias correction scheme called the sequential bias correction scheme(SBCS),was developed using the6 h average bias to correct the systematic bias during model integration.The primary purpose of this study is to investigate the impact of the SBCS in the high-resolution China Meteorological Administration Meso-scale(CMA-MESO)numerical weather prediction(NWP)model to reduce the systematic bias and to improve the data assimilation and forecast results through this method.The SBCS is improved upon and applied to the CMA-MESO 3-km model in this study.Four-week sequential data assimilation and forecast experiments,driven by rapid update and cycling(RUC),were conducted for the period from 2–29 May 2022.In terms of the characteristics of systematic bias,both the background and analysis show diurnal bias,and these large biases are affected by complex underlying surfaces(e.g.,oceans,coasts,and mountains).After the application of the SBCS,the results of the data assimilation show that the SBCS can reduce the systematic bias of the background and yield a neutral to slightly positive result for the analysis fields.In addition,the SBCS can reduce forecast errors and improve forecast results,especially for surface variables.The above results indicate that this scheme has good prospects for high-resolution regional NWP models.
文摘The study aims to investigate county-level variations of the COVID-19 disease and vaccination rate. The COVID-19 data was acquired from usafact.org, and the vaccination records were acquired from the Ohio vaccination tracker dashboard. GIS-based exploratory analysis was conducted to select four variables (poverty, black race, population density, and vaccination) to explain COVID-19 occurrence during the study period. Consequently, spatial statistical techniques such as Moran’s I, Hot Spot Analysis, Spatial Lag Model (SLM), and Spatial Error Model (SEM) were used to explain the COVID-19 occurrence and vaccination rate across the 88 counties in Ohio. The result of the Local Moran’s I analysis reveals that the epicenters of COVID-19 and vaccination followed the same patterns. Indeed, counties like Summit, Franklin, Fairfield, Hamilton, and Medina were categorized as epicenters for both COVID-19 occurrence and vaccination rate. The SEM seems to be the best model for both COVID-19 and vaccination rates, with R2 values of 0.68 and 0.70, respectively. The GWR analysis proves to be better than Ordinary Least Squares (OLS), and the distribution of R2 in the GWR is uneven throughout the study area for both COVID-19 cases and vaccinations. Some counties have a high R2 of up to 0.70 for both COVID-19 cases and vaccinations. The outcomes of the regression analyses show that the SEM models can explain 68% - 70% of COVID-19 cases and vaccination across the entire counties within the study period. COVID-19 cases and vaccination rates exhibited significant positive associations with black race and poverty throughout the study area.
文摘Thermal errors in CNC machine tools,particularly those involving the spindle,significantly affect machining accuracy and performance.These errors,caused by temperature fluctuations in the spindle and surrounding components,result in dimensional deviations that can lead to poor part quality and reduced precision in high-speed manufacturing processes.This paper explores thermal error modeling and compensation methods for the spindle of five-axis CNC machine tools.A detailed analysis of the heat generation,transfer mechanisms,and finite element analysis(FEA)is presented to develop accurate thermal error models.Compensation techniques,such as model-based methods,sensor-based methods,real-time compensation algorithms,and hybrid approaches,are critically reviewed.This study also discusses the challenges in real-time compensation and the integration of thermal error compensation with machine tool control systems.The objective is to provide a comprehensive understanding of thermal error phenomena and their compensation strategies,ultimately contributing to the enhancement of machining accuracy in advanced manufacturing applications.
基金supported by the National Natural Science Foundation of China(No.42174011)。
文摘In the variance component estimation(VCE)of geodetic data,the problem of negative VCE is likely to occur.In the ordinary additive error model,there have been related studies to solve the problem of negative variance components.However,there is still no related research in the mixed additive and multiplicative random error model(MAMREM).Based on the MAMREM,this paper applies the nonnegative least squares variance component estimation(NNLS-VCE)algorithm to this model.The correlation formula and iterative algorithm of NNLS-VCE for MAMREM are derived.The problem of negative variance in VCE for MAMREM is solved.This paper uses the digital simulation example and the Digital Terrain Mode(DTM)to prove the proposed algorithm's validity.The experimental results demonstrated that the proposed algorithm can effectively correct the VCE in MAMREM when there is a negative VCE.
基金The National Basic Research Program of China(973 Program)(No.2006CB705501)the National High Technology Research and Development Program of China (863 Program)(No.2007AA12Z228)
文摘Two traditional methods for compensating function model errors, the method of adding systematic parameters and the least-squares collection method, are introduced. A proposed method based on a BP neural network （called the H-BP algorithm） for compensating function model errors is put forward. The function model is assumed as y =f（x1, x2,… ,xn）, and the special structure of the H-BP algorithm is determined as （ n ＋ 1） ×p × 1, where （n ＋ 1） is the element number of the input layer, and the elements are xl, x2,…, xn and y＇ （ y＇ is the value calculated by the function model）; p is the element number of the hidden layer, and it is usually determined after many tests; 1 is the dement number of the output layer, and the element is △y = y0-y＇（y0 is the known value of the sample）. The calculation steps of the H-BP algorithm are introduced in detail. And then, the results of three methods for compensating function model errors from one engineering project are compared with each other. After being compensated, the accuracy of the traditional methods is about ± 19 mm, and the accuracy of the H-BP algorithm is ± 4. 3 mm. It shows that the proposed method based on a neural network is more effective than traditional methods for compensating function model errors.
基金jointly supported by the National Natural Science Foundation of China (Grant Nos. 40805028, 40675039 and 40575036)the Meteorological Special Project (GYHY200806005)the National Science and Technology Support Program of China (2006BAC02B04 and 2007BAC29B03)
文摘The theoretical basis and application of an analogue-dynamical model （ADM） in the Lorenz system is studied. The ADM can effectively combine statistical and dynamical methods in which the small disturbance of the current initial value superimposed on the historical analogue reference state can be regarded as a prediction objective. Primary analyses show that under the condition of appending disturbances in model parameters, the model errors of ADM are much smaller than those of the pure dynamical model （PDM）. The characteristics of predictability on the ADM in the Lorenz system are analyzed in phase space by conducting case studies and global experiments. The results show that the ADM can quite effectively reduce prediction errors and prolong the valid time of the prediction in most situations in contrast to the PDM, but when model errors are considerably small, the latter will be superior to the former. To overcome such a problem, the multi-reference-state updating can be applied to introduce the information of multi-analogue and update analogue and can exhibit exciting performance in the ADM.
基金National Natural Science Foundation of China(No.51275486)the Specialized Research Fund for the Doctoral Program of Higher Education(No.20111420110005)
文摘By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.
