A fuzzy adaptive admittance control method based on real-time estimation is proposed for the motion of the hexapod wheeled-legged robot in various environments.Firstly,the mechanical structure of the robot is designed...A fuzzy adaptive admittance control method based on real-time estimation is proposed for the motion of the hexapod wheeled-legged robot in various environments.Firstly,the mechanical structure of the robot is designed,and a control system framework is proposed according to the different motion environments.To address the adaptability issue of the robot foot contact with the ground,a position-based admittance control method is proposed.Secondly,to improve the tracking performance of the robot foot contact force when the ground environment changes,a fuzzy adaptive admittance parameter adjustment method is proposed.Furthermore,to address the problem of sudden changes in the tracking difference of the foot contact force when the ground environment changes,a real-time estimation method is proposed to estimate the dynamic foot contact force.Finally,a simulation experiment is conducted in MATLAB and Simscape to verify the effectiveness of the robot motion control system,admittance control,fuzzy adaptive admittance parameters adjustment,and the realtime estimation method.Through multi-scenario experiments with the robot prototype,the control method demonstrates its effectiveness and adaptability in various environments.展开更多
In real-time hybrid simulation（RTHS）, it is difficult if not impossible to completely erase the error in restoring force due to actuator response delay using existing displacement-based compensation methods. This pa...In real-time hybrid simulation（RTHS）, it is difficult if not impossible to completely erase the error in restoring force due to actuator response delay using existing displacement-based compensation methods. This paper proposes a new force correction method based on online discrete tangent stiffness estimation（online DTSE） to provide accurate online estimation of the instantaneous stiffness of the physical substructure. Following the discrete curve parameter recognition theory, the online DTSE method estimates the instantaneous stiffness mainly through adaptively building a fuzzy segment with the latest measurements, constructing several strict bounding lines of the segment and calculating the slope of the strict bounding lines, which significantly improves the calculation efficiency and accuracy for the instantaneous stiffness estimation. The results of both computational simulation and real-time hybrid simulation show that：（1） the online DTSE method has high calculation efficiency, of which the relatively short computation time will not interrupt RTHS; and（2） the online DTSE method provides better estimation for the instantaneous stiffness, compared with other existing estimation methods. Due to the quick and accurate estimation of instantaneous stiffness, the online DTSE method therefore provides a promising technique to correct restoring forces in RTHS.展开更多
The state of charge （SOC） and state of health （SOH） are two of the most important parameters of Li-ion batteries in industrial production and in practical applications. The real-time estimation for these two param...The state of charge （SOC） and state of health （SOH） are two of the most important parameters of Li-ion batteries in industrial production and in practical applications. The real-time estimation for these two parameters is crucial to realize a safe and reliable battery application. However, this is a great problem for LiFePO4 batteries due to the large constant potential plateau in the charge/discharge process. Here we propose a combined SOC and SOH co-estimation method based on the experimental test under the simulating electric vehicle working condition. A first-order resistance-capacitance equivalent circuit is used to model the battery cell, and three parameter values, ohmic resistance （Rs）, parallel resistance （Rp） and parallel capacity （Cp）, are identified from a real-time experimental test. Finally we find that Rp and Cp could be utilized to make a judgement on the SOIl. More importantly, the linear relationship between Cp and the SOC is established to make the estimation of the SOC for the first time.展开更多
Cropland nitrate leaching is the major nitrogen(N) loss pathway, and it contributes significantly to water pollution. However, cropland nitrate leaching estimates show great uncertainty due to variations in input data...Cropland nitrate leaching is the major nitrogen(N) loss pathway, and it contributes significantly to water pollution. However, cropland nitrate leaching estimates show great uncertainty due to variations in input datasets and estimation methods. Here, we presented a re-evaluation of Chinese cropland nitrate leaching, and identified and quantified the sources of uncertainty by integrating three cropland area datasets, three N input datasets, and three estimation methods. The results revealed that nitrate leaching from Chinese cropland averaged 6.7±0.6 Tg N yr^(-1)in 2010, ranging from 2.9 to 15.8 Tg N yr^(-1)across 27 different estimates. The primary contributor to the uncertainty was the estimation method, accounting for 45.1%, followed by the interaction of N input dataset and estimation method at 24.4%. The results of this study emphasize the need for adopting a robust estimation method and improving the compatibility between the estimation method and N input dataset to effectively reduce uncertainty. This analysis provides valuable insights for accurately estimating cropland nitrate leaching and contributes to ongoing efforts that address water pollution concerns.展开更多
Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computati...Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computation. To facilitate the implementation of NMPC in batch processes, we propose a real-time updated model predictive control method based on state estimation. The method includes two strategies: a multiple model building strategy and a real-time model updated strategy. The multiple model building strategy is to produce a series of sim-plified models to reduce the on-line computational complexity of NMPC. The real-time model updated strategy is to update the simplified models to keep the accuracy of the models describing dynamic process behavior. The me-thod is validated with a typical batch reactor. Simulation studies show that the new method is efficient and robust with respect to model mismatch and changes in process parameters.展开更多
Automatic maqam estimation is considered significant toward improving multimedia live music performances and automatic accompaniment. This contribution proposed a real-time maqam estimation model developed in the visu...Automatic maqam estimation is considered significant toward improving multimedia live music performances and automatic accompaniment. This contribution proposed a real-time maqam estimation model developed in the visual programming language MAX/MSP and configured for the nāydukah. The model’s design stood on basic formulas of Arab music maqamat as explained in theory and applied in practice. The model consisted of different layers of competition;the first was for the identification of the instant tonic of the melodic figure, and the second was for the recognition of its identifying E (E, E half-flat and E flat). Those two competitions were used to estimate the maqam in real-time. Then, accumulated estimation results were used to estimate the maqam in longer durations;five-second and full duration. The model was evaluated using professionally performed nāy improvisations. Results reflected a success in estimating all the studied maqamat when the full improvisation was considered. In addition, results were very good for real-time and five-second estimation where average estimation confidence was 75.98% and 80.04%, respectively.展开更多
The estimation of shear strength of rock mass discontinuity is always a focal, but difficult, problem in the field of geotechnical engineering. Considering the disadvantages and limitation of exist- ing estimation met...The estimation of shear strength of rock mass discontinuity is always a focal, but difficult, problem in the field of geotechnical engineering. Considering the disadvantages and limitation of exist- ing estimation methods, a new approach based on the shadow area percentage （SAP） that can be used to quantify surface roughness is proposed in this article. Firstly, by the help of laser scanning technique, the three-dimensional model of the surface of rock discontinuity was established. Secondly, a light source was simulated, and there would be some shadows produced on the model surface. Thirdly, to obtain the value of SAP of each specimen, the shadow detection technique was introduced for use. Fourthly, compared with the result from direct shear testing and based on statistics, an empirical for- mula was found among SAP, normal stress, and shear strength. Data of Yujian （~ River were used as an example, and the following conclusions have been made. （1） In the case of equal normal stress, the peak shear stress is positively proportional to the SAP. （2） The formula for estimating was derived, and the predictions of peak-shear strength made with this equation well agreed with the experimental re- suits obtained in laboratory tests.展开更多
The attenuation factor or quality factor(Q-factor or Q) has been used to measure the energy attenuation of seismic waves propagating in underground media. Many methods are used to estimate the Q-factor. We propose a m...The attenuation factor or quality factor(Q-factor or Q) has been used to measure the energy attenuation of seismic waves propagating in underground media. Many methods are used to estimate the Q-factor. We propose a method to calculate the Q-factor based on the prestack Q-factor inversion and the generalized S-transform. The proposed method specifies a standard primary wavelet and calculates the cumulative Q-factors; then, it finds the interlaminar Q-factors using the relation between Q and offset(QVO) and the Dix formula. The proposed method is alternative to methods that calculate interlaminar Q-factors after horizon picking. Because the frequency spectrum of each horizon can be extracted continuously on a 2D time–frequency spectrum, the method is called the continuous spectral ratio slope(CSRS) method. Compared with the other Q-inversion methods, the method offers nearly effortless computations and stability, and has mathematical and physical significance. We use numerical modeling to verify the feasibility of the method and apply it to real data from an oilfield in Ahdeb, Iraq. The results suggest that the resolution and spatial stability of the Q-profile are optimal and contain abundant interlaminar information that is extremely helpful in making lithology and fluid predictions.展开更多
In actual power systems,most of the high-voltage buses of the transformers are zero injection buses without load or generation.Power injections into these buses are strictly 0,so based on Kirchhoff's current law(K...In actual power systems,most of the high-voltage buses of the transformers are zero injection buses without load or generation.Power injections into these buses are strictly 0,so based on Kirchhoff's current law(KCL),equality constraints should be used to handle these buses in a state estimation model.It is a challenge to ensure that these zero injection constraints can be strictly satisfied without losing computational efficiency.展开更多
The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliab...The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliability. Based on the analysis of the characteristics of real-time embedded software, the formal method is introduced into the real-time embedded software testing field and the real-time extended finite state machine （RT-EFSM） model is studied firstly. Then, the time zone division method of real-time embedded system is presented and the definition and description methods of time-constrained transition equivalence class （timeCTEC） are presented. Furthermore, the approaches of the testing sequence and test case generation are put forward. Finally, the proposed method is applied to a typical avionics real- time embedded software testing practice and the examples of the timeCTEC, testing sequences and test cases are given. With the analysis of the testing result, the application verification shows that the proposed method can effectively describe the real-time embedded software state transition characteristics and real-time requirements and play the advantages of the formal methods in accuracy, effectiveness and the automation supporting. Combined with the testing platform, the real-time, closed loop and automated simulation testing for real-time embedded software can be realized effectively.展开更多
Studies in the coastal area of Bohai Bay,China,from July 2006 to October 2007,suggest that the method of meiofaunal biomass estimation affected the meiofaunal analysis.Conventional estimation methods that use a unique...Studies in the coastal area of Bohai Bay,China,from July 2006 to October 2007,suggest that the method of meiofaunal biomass estimation affected the meiofaunal analysis.Conventional estimation methods that use a unique mean individual weight value for nematodes to calculate total biomass may cause deviation of the results.A modified estimation method,named the Subsection Count Method (SCM),was also used to calculate meiofaunal biomass.This entails only a slight increase in workload but generates results of greater accuracy.Results gained using each of these two methods were compared in the present study.The results show that the conventional method generally estimates a meiofaunal biomass.The difference between the two estimation methods was highly significant (P<0.01) for the spring and winter cruises.Furthermore,the estimation method for meiofaunal biomass affected the analysis of horizontal distribution and correlation with environmental factors.These findings highlight the importance of estimation methods for meiofaunal biomass and will hopefully stimulate further investigation and discussion of the topic.展开更多
Cyber-physical systems(CPSs)are regarded as the backbone of the fourth industrial revolution,in which communication,physical processes,and computer technology are integrated.In modern industrial systems,CPSs are widel...Cyber-physical systems(CPSs)are regarded as the backbone of the fourth industrial revolution,in which communication,physical processes,and computer technology are integrated.In modern industrial systems,CPSs are widely utilized across various domains,such as smart grids,smart healthcare systems,smart vehicles,and smart manufacturing,among others.Due to their unique spatial distribution,CPSs are highly vulnerable to cyber-attacks,which may result in severe performance degradation and even system instability.Consequently,the security concerns of CPSs have attracted significant attention in recent years.In this paper,a comprehensive survey on the security issues of CPSs under cyber-attacks is provided.Firstly,mathematical descriptions of various types of cyberattacks are introduced in detail.Secondly,two types of secure estimation and control processing schemes,including robust methods and active methods,are reviewed.Thirdly,research findings related to secure control and estimation problems for different types of CPSs are summarized.Finally,the survey is concluded by outlining the challenges and suggesting potential research directions for the future.展开更多
Large portions of the tunnel boring machine(TBM)construction cost are attributed to disc cutter consumption,and assessing the disc cutter's wear level can help determine the optimal time to replace the disc cutter...Large portions of the tunnel boring machine(TBM)construction cost are attributed to disc cutter consumption,and assessing the disc cutter's wear level can help determine the optimal time to replace the disc cutter.Therefore,the need to monitor disc cutter wear in real-time has emerged as a technical challenge for TBMs.In this study,real-time disc cutter wear monitoring is developed based on sound and vibration sensors.For this purpose,the microphone and accelerometer were used to record the sound and vibration signals of cutting three different types of rocks with varying abrasions on a laboratory scale.The relationship between disc cutter wear and the sound and vibration signal was determined by comparing the measurements of disc cutter wear with the signal plots for each sample.The features extracted from the signals showed that the sound and vibration signals are impacted by the progression of disc wear during the rock-cutting process.The signal features obtained from the rock-cutting operation were utilized to verify the machine learning techniques.The results showed that the multilayer perceptron(MLP),random subspace-based decision tree(RS-DT),DT,and random forest(RF)methods could predict the wear level of the disc cutter with an accuracy of 0.89,0.951,0.951,and 0.927,respectively.Based on the accuracy of the models and the confusion matrix,it was found that the RS-DT model has the best estimate for predicting the level of disc wear.This research has developed a method that can potentially determine when to replace a tool and assess disc wear in real-time.展开更多
In a test of the weak equivalence principle （WEP） with a rotating torsion pendulum, it is important to estimate the amplitude of the modulation signal with high precision. We use a torsional filter to remove the fre...In a test of the weak equivalence principle （WEP） with a rotating torsion pendulum, it is important to estimate the amplitude of the modulation signal with high precision. We use a torsional filter to remove the free oscillation signal and employ the correlation method to estimate the amplitude of the modulation signal. The data analysis of an experiment shows that the uncertainties of amplitude components of the modulation signal obtained by the correlation method are in agreement with those due to white noise. The power spectral density of the modulation signal obtained by the correlation method is about one order higher than the thermal noise limit. It indicates that the correlation method is an effective way to estimate the amplitude of the modulation signal and it is instructive to conduct a high-accuracy WEP test.展开更多
Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled po...Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled pose estimation(RRVPE)method for aerial robot navigation is presented.The aerial robot carries a front-facing stereo camera for self-localization and an RGB-D camera to generate 3D voxel map.Ulteriorly,a GNSS receiver is used to continuously provide pseudorange,Doppler frequency shift and universal time coordinated(UTC)pulse signals to the pose estimator.The proposed system leverages the Kanade Lucas algorithm to track Shi-Tomasi features in each video frame,and the local factor graph solution process is bounded in a circumscribed container,which can immensely abandon the computational complexity in nonlinear optimization procedure.The proposed robot pose estimator can achieve camera-rate(30 Hz)performance on the aerial robot companion computer.We thoroughly experimented the RRVPE system in both simulated and practical circumstances,and the results demonstrate dramatic advantages over the state-of-the-art robot pose estimators.展开更多
To solve the complex weight matrix derivative problem when using the weighted least squares method to estimate the parameters of the mixed additive and multiplicative random error model(MAM error model),we use an impr...To solve the complex weight matrix derivative problem when using the weighted least squares method to estimate the parameters of the mixed additive and multiplicative random error model(MAM error model),we use an improved artificial bee colony algorithm without derivative and the bootstrap method to estimate the parameters and evaluate the accuracy of MAM error model.The improved artificial bee colony algorithm can update individuals in multiple dimensions and improve the cooperation ability between individuals by constructing a new search equation based on the idea of quasi-affine transformation.The experimental results show that based on the weighted least squares criterion,the algorithm can get the results consistent with the weighted least squares method without multiple formula derivation.The parameter estimation and accuracy evaluation method based on the bootstrap method can get better parameter estimation and more reasonable accuracy information than existing methods,which provides a new idea for the theory of parameter estimation and accuracy evaluation of the MAM error model.展开更多
The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenar...The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods （i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation） are selected and compared experimentally using a frequency evaluation index （FEI） method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer fimction approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.展开更多
A new hybrid wavelet-Kalman filter method for the estimation of dynamic system is developed, Using this method, the real-time multiscale estimation of the dynamic system is implemented, and the observation equation es...A new hybrid wavelet-Kalman filter method for the estimation of dynamic system is developed, Using this method, the real-time multiscale estimation of the dynamic system is implemented, and the observation equation established is for the object signal itself rather than its wavelet decomposition. The simulation results show that this method can be used to estimate the object's state of the stacked system, which is the foundation of multiscale data fusion; besides the performance of the new algorithm developed in the letter is almost optimal.展开更多
The law of variation of deep rock stress in gravitational and tectonic stress fields is analyzed based on the Hoek-Brown strength criterion. In the gravitational stress field,the rocks in the shallow area are in an el...The law of variation of deep rock stress in gravitational and tectonic stress fields is analyzed based on the Hoek-Brown strength criterion. In the gravitational stress field,the rocks in the shallow area are in an elastic state and the deep,relatively soft rock may be in a plastic state. However,in the tectonic stress field,the relatively soft rock in the shallow area is in a plastic state and the deep rock in an elastic state. A method is proposed to estimate stress values in coal and soft rock based on in-situ measurements of hard rock. Our estimation method relates to the type of stress field and stress state. The equations of rock stress in various stress states are presented for the elastic,plastic and critical states. The critical state is a special stress state,which indicates the conversion of the elastic to the plastic state in the gravitational stress field and the conversion of the plastic to the elastic state in the tectonic stress field. Two cases stud-ies show that the estimation method is feasible.展开更多
According to the principle, “The failure data is the basis of software reliability analysis”, we built a software reliability expert system (SRES) by adopting the artificial intelligence technology. By reasoning out...According to the principle, “The failure data is the basis of software reliability analysis”, we built a software reliability expert system (SRES) by adopting the artificial intelligence technology. By reasoning out the conclusion from the fitting results of failure data of a software project, the SRES can recommend users “the most suitable model” as a software reliability measurement model. We believe that the SRES can overcome the inconsistency in applications of software reliability models well. We report investigation results of singularity and parameter estimation methods of experimental models in SRES.展开更多
基金National Natural Science Foundation of China(No.U1831123)。
文摘A fuzzy adaptive admittance control method based on real-time estimation is proposed for the motion of the hexapod wheeled-legged robot in various environments.Firstly,the mechanical structure of the robot is designed,and a control system framework is proposed according to the different motion environments.To address the adaptability issue of the robot foot contact with the ground,a position-based admittance control method is proposed.Secondly,to improve the tracking performance of the robot foot contact force when the ground environment changes,a fuzzy adaptive admittance parameter adjustment method is proposed.Furthermore,to address the problem of sudden changes in the tracking difference of the foot contact force when the ground environment changes,a real-time estimation method is proposed to estimate the dynamic foot contact force.Finally,a simulation experiment is conducted in MATLAB and Simscape to verify the effectiveness of the robot motion control system,admittance control,fuzzy adaptive admittance parameters adjustment,and the realtime estimation method.Through multi-scenario experiments with the robot prototype,the control method demonstrates its effectiveness and adaptability in various environments.
基金Priority Academic Program Development of Jiangsu Higher Education Institutions under Grant No.1105007002National Natural Science Foundation of China under Grant No.51378107 and No.51678147
文摘In real-time hybrid simulation（RTHS）, it is difficult if not impossible to completely erase the error in restoring force due to actuator response delay using existing displacement-based compensation methods. This paper proposes a new force correction method based on online discrete tangent stiffness estimation（online DTSE） to provide accurate online estimation of the instantaneous stiffness of the physical substructure. Following the discrete curve parameter recognition theory, the online DTSE method estimates the instantaneous stiffness mainly through adaptively building a fuzzy segment with the latest measurements, constructing several strict bounding lines of the segment and calculating the slope of the strict bounding lines, which significantly improves the calculation efficiency and accuracy for the instantaneous stiffness estimation. The results of both computational simulation and real-time hybrid simulation show that：（1） the online DTSE method has high calculation efficiency, of which the relatively short computation time will not interrupt RTHS; and（2） the online DTSE method provides better estimation for the instantaneous stiffness, compared with other existing estimation methods. Due to the quick and accurate estimation of instantaneous stiffness, the online DTSE method therefore provides a promising technique to correct restoring forces in RTHS.
基金Supported by the Guangdong Innovation Team Project under Grant No 2013N080the Peacock Plan of Shenzhen Science and Technology Research under Grant No KYPT20141016105435850
文摘The state of charge （SOC） and state of health （SOH） are two of the most important parameters of Li-ion batteries in industrial production and in practical applications. The real-time estimation for these two parameters is crucial to realize a safe and reliable battery application. However, this is a great problem for LiFePO4 batteries due to the large constant potential plateau in the charge/discharge process. Here we propose a combined SOC and SOH co-estimation method based on the experimental test under the simulating electric vehicle working condition. A first-order resistance-capacitance equivalent circuit is used to model the battery cell, and three parameter values, ohmic resistance （Rs）, parallel resistance （Rp） and parallel capacity （Cp）, are identified from a real-time experimental test. Finally we find that Rp and Cp could be utilized to make a judgement on the SOIl. More importantly, the linear relationship between Cp and the SOC is established to make the estimation of the SOC for the first time.
基金supported by the National Key Research and Development Program of China (2023YFD1902703)the National Natural Science Foundation of China (Key Program) (U23A20158)。
文摘Cropland nitrate leaching is the major nitrogen(N) loss pathway, and it contributes significantly to water pollution. However, cropland nitrate leaching estimates show great uncertainty due to variations in input datasets and estimation methods. Here, we presented a re-evaluation of Chinese cropland nitrate leaching, and identified and quantified the sources of uncertainty by integrating three cropland area datasets, three N input datasets, and three estimation methods. The results revealed that nitrate leaching from Chinese cropland averaged 6.7±0.6 Tg N yr^(-1)in 2010, ranging from 2.9 to 15.8 Tg N yr^(-1)across 27 different estimates. The primary contributor to the uncertainty was the estimation method, accounting for 45.1%, followed by the interaction of N input dataset and estimation method at 24.4%. The results of this study emphasize the need for adopting a robust estimation method and improving the compatibility between the estimation method and N input dataset to effectively reduce uncertainty. This analysis provides valuable insights for accurately estimating cropland nitrate leaching and contributes to ongoing efforts that address water pollution concerns.
基金Supported by the National Natural Science Foundation of China(21136003,21176089)the National Science&Technology Support Plan(2012BAK13B02)+2 种基金the National Major Basic Research Program(2014CB744306)the Natural Science Foundation Team Project of Guangdong Province(S2011030001366)the Fundamental Research Funds for Central Universities(2013ZP0010)
文摘Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computation. To facilitate the implementation of NMPC in batch processes, we propose a real-time updated model predictive control method based on state estimation. The method includes two strategies: a multiple model building strategy and a real-time model updated strategy. The multiple model building strategy is to produce a series of sim-plified models to reduce the on-line computational complexity of NMPC. The real-time model updated strategy is to update the simplified models to keep the accuracy of the models describing dynamic process behavior. The me-thod is validated with a typical batch reactor. Simulation studies show that the new method is efficient and robust with respect to model mismatch and changes in process parameters.
文摘Automatic maqam estimation is considered significant toward improving multimedia live music performances and automatic accompaniment. This contribution proposed a real-time maqam estimation model developed in the visual programming language MAX/MSP and configured for the nāydukah. The model’s design stood on basic formulas of Arab music maqamat as explained in theory and applied in practice. The model consisted of different layers of competition;the first was for the identification of the instant tonic of the melodic figure, and the second was for the recognition of its identifying E (E, E half-flat and E flat). Those two competitions were used to estimate the maqam in real-time. Then, accumulated estimation results were used to estimate the maqam in longer durations;five-second and full duration. The model was evaluated using professionally performed nāy improvisations. Results reflected a success in estimating all the studied maqamat when the full improvisation was considered. In addition, results were very good for real-time and five-second estimation where average estimation confidence was 75.98% and 80.04%, respectively.
基金supported by the China Geological Survey (No.1212011014030)the Major State Basic Research Development Program of China (973 Program) (No.2011CB710600)
文摘The estimation of shear strength of rock mass discontinuity is always a focal, but difficult, problem in the field of geotechnical engineering. Considering the disadvantages and limitation of exist- ing estimation methods, a new approach based on the shadow area percentage （SAP） that can be used to quantify surface roughness is proposed in this article. Firstly, by the help of laser scanning technique, the three-dimensional model of the surface of rock discontinuity was established. Secondly, a light source was simulated, and there would be some shadows produced on the model surface. Thirdly, to obtain the value of SAP of each specimen, the shadow detection technique was introduced for use. Fourthly, compared with the result from direct shear testing and based on statistics, an empirical for- mula was found among SAP, normal stress, and shear strength. Data of Yujian （~ River were used as an example, and the following conclusions have been made. （1） In the case of equal normal stress, the peak shear stress is positively proportional to the SAP. （2） The formula for estimating was derived, and the predictions of peak-shear strength made with this equation well agreed with the experimental re- suits obtained in laboratory tests.
基金supported by The National Key Research and Development Program Plane(No.2017YFC0601505)National Natural Science Foundation(No.41672325)Science&Technology Department of Sichuan Province Technology Project(No.2017GZ0393)
文摘The attenuation factor or quality factor(Q-factor or Q) has been used to measure the energy attenuation of seismic waves propagating in underground media. Many methods are used to estimate the Q-factor. We propose a method to calculate the Q-factor based on the prestack Q-factor inversion and the generalized S-transform. The proposed method specifies a standard primary wavelet and calculates the cumulative Q-factors; then, it finds the interlaminar Q-factors using the relation between Q and offset(QVO) and the Dix formula. The proposed method is alternative to methods that calculate interlaminar Q-factors after horizon picking. Because the frequency spectrum of each horizon can be extracted continuously on a 2D time–frequency spectrum, the method is called the continuous spectral ratio slope(CSRS) method. Compared with the other Q-inversion methods, the method offers nearly effortless computations and stability, and has mathematical and physical significance. We use numerical modeling to verify the feasibility of the method and apply it to real data from an oilfield in Ahdeb, Iraq. The results suggest that the resolution and spatial stability of the Q-profile are optimal and contain abundant interlaminar information that is extremely helpful in making lithology and fluid predictions.
文摘In actual power systems,most of the high-voltage buses of the transformers are zero injection buses without load or generation.Power injections into these buses are strictly 0,so based on Kirchhoff's current law(KCL),equality constraints should be used to handle these buses in a state estimation model.It is a challenge to ensure that these zero injection constraints can be strictly satisfied without losing computational efficiency.
基金supported by the Aviation Science Foundation of China
文摘The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliability. Based on the analysis of the characteristics of real-time embedded software, the formal method is introduced into the real-time embedded software testing field and the real-time extended finite state machine （RT-EFSM） model is studied firstly. Then, the time zone division method of real-time embedded system is presented and the definition and description methods of time-constrained transition equivalence class （timeCTEC） are presented. Furthermore, the approaches of the testing sequence and test case generation are put forward. Finally, the proposed method is applied to a typical avionics real- time embedded software testing practice and the examples of the timeCTEC, testing sequences and test cases are given. With the analysis of the testing result, the application verification shows that the proposed method can effectively describe the real-time embedded software state transition characteristics and real-time requirements and play the advantages of the formal methods in accuracy, effectiveness and the automation supporting. Combined with the testing platform, the real-time, closed loop and automated simulation testing for real-time embedded software can be realized effectively.
基金Supported by Chinese Offshore Investigation and Assessment Project (No. 908-TJ-10,908-TJ-09)the Initial Fund for Introduced Talent of Tianjin University of Science and Technology (No. 20090413)
文摘Studies in the coastal area of Bohai Bay,China,from July 2006 to October 2007,suggest that the method of meiofaunal biomass estimation affected the meiofaunal analysis.Conventional estimation methods that use a unique mean individual weight value for nematodes to calculate total biomass may cause deviation of the results.A modified estimation method,named the Subsection Count Method (SCM),was also used to calculate meiofaunal biomass.This entails only a slight increase in workload but generates results of greater accuracy.Results gained using each of these two methods were compared in the present study.The results show that the conventional method generally estimates a meiofaunal biomass.The difference between the two estimation methods was highly significant (P<0.01) for the spring and winter cruises.Furthermore,the estimation method for meiofaunal biomass affected the analysis of horizontal distribution and correlation with environmental factors.These findings highlight the importance of estimation methods for meiofaunal biomass and will hopefully stimulate further investigation and discussion of the topic.
文摘Cyber-physical systems(CPSs)are regarded as the backbone of the fourth industrial revolution,in which communication,physical processes,and computer technology are integrated.In modern industrial systems,CPSs are widely utilized across various domains,such as smart grids,smart healthcare systems,smart vehicles,and smart manufacturing,among others.Due to their unique spatial distribution,CPSs are highly vulnerable to cyber-attacks,which may result in severe performance degradation and even system instability.Consequently,the security concerns of CPSs have attracted significant attention in recent years.In this paper,a comprehensive survey on the security issues of CPSs under cyber-attacks is provided.Firstly,mathematical descriptions of various types of cyberattacks are introduced in detail.Secondly,two types of secure estimation and control processing schemes,including robust methods and active methods,are reviewed.Thirdly,research findings related to secure control and estimation problems for different types of CPSs are summarized.Finally,the survey is concluded by outlining the challenges and suggesting potential research directions for the future.
文摘Large portions of the tunnel boring machine(TBM)construction cost are attributed to disc cutter consumption,and assessing the disc cutter's wear level can help determine the optimal time to replace the disc cutter.Therefore,the need to monitor disc cutter wear in real-time has emerged as a technical challenge for TBMs.In this study,real-time disc cutter wear monitoring is developed based on sound and vibration sensors.For this purpose,the microphone and accelerometer were used to record the sound and vibration signals of cutting three different types of rocks with varying abrasions on a laboratory scale.The relationship between disc cutter wear and the sound and vibration signal was determined by comparing the measurements of disc cutter wear with the signal plots for each sample.The features extracted from the signals showed that the sound and vibration signals are impacted by the progression of disc wear during the rock-cutting process.The signal features obtained from the rock-cutting operation were utilized to verify the machine learning techniques.The results showed that the multilayer perceptron(MLP),random subspace-based decision tree(RS-DT),DT,and random forest(RF)methods could predict the wear level of the disc cutter with an accuracy of 0.89,0.951,0.951,and 0.927,respectively.Based on the accuracy of the models and the confusion matrix,it was found that the RS-DT model has the best estimate for predicting the level of disc wear.This research has developed a method that can potentially determine when to replace a tool and assess disc wear in real-time.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11575160,91636221,and 11605065)
文摘In a test of the weak equivalence principle （WEP） with a rotating torsion pendulum, it is important to estimate the amplitude of the modulation signal with high precision. We use a torsional filter to remove the free oscillation signal and employ the correlation method to estimate the amplitude of the modulation signal. The data analysis of an experiment shows that the uncertainties of amplitude components of the modulation signal obtained by the correlation method are in agreement with those due to white noise. The power spectral density of the modulation signal obtained by the correlation method is about one order higher than the thermal noise limit. It indicates that the correlation method is an effective way to estimate the amplitude of the modulation signal and it is instructive to conduct a high-accuracy WEP test.
基金Supported by the Guizhou Provincial Science and Technology Projects([2020]2Y044)the Science and Technology Projects of China Southern Power Grid Co.Ltd.(066600KK52170074)the National Natural Science Foundation of China(61473144)。
文摘Self-localization and orientation estimation are the essential capabilities for mobile robot navigation.In this article,a robust and real-time visual-inertial-GNSS(Global Navigation Satellite System)tightly coupled pose estimation(RRVPE)method for aerial robot navigation is presented.The aerial robot carries a front-facing stereo camera for self-localization and an RGB-D camera to generate 3D voxel map.Ulteriorly,a GNSS receiver is used to continuously provide pseudorange,Doppler frequency shift and universal time coordinated(UTC)pulse signals to the pose estimator.The proposed system leverages the Kanade Lucas algorithm to track Shi-Tomasi features in each video frame,and the local factor graph solution process is bounded in a circumscribed container,which can immensely abandon the computational complexity in nonlinear optimization procedure.The proposed robot pose estimator can achieve camera-rate(30 Hz)performance on the aerial robot companion computer.We thoroughly experimented the RRVPE system in both simulated and practical circumstances,and the results demonstrate dramatic advantages over the state-of-the-art robot pose estimators.
基金supported by the National Natural Science Foundation of China(No.42174011 and No.41874001).
文摘To solve the complex weight matrix derivative problem when using the weighted least squares method to estimate the parameters of the mixed additive and multiplicative random error model(MAM error model),we use an improved artificial bee colony algorithm without derivative and the bootstrap method to estimate the parameters and evaluate the accuracy of MAM error model.The improved artificial bee colony algorithm can update individuals in multiple dimensions and improve the cooperation ability between individuals by constructing a new search equation based on the idea of quasi-affine transformation.The experimental results show that based on the weighted least squares criterion,the algorithm can get the results consistent with the weighted least squares method without multiple formula derivation.The parameter estimation and accuracy evaluation method based on the bootstrap method can get better parameter estimation and more reasonable accuracy information than existing methods,which provides a new idea for the theory of parameter estimation and accuracy evaluation of the MAM error model.
基金National Natural Science Foundation of China under Grant No.51378107the Fundamental Research Funds for the Central Universities and Priority Academic Program Development of Jiangsu Higher Education Institutions under Grant No.KYLX-0158the National Natural Science Foundation under Grant No.CMMI-1227962
文摘The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods （i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation） are selected and compared experimentally using a frequency evaluation index （FEI） method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer fimction approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.
基金Supported by National Natural Science Foundation of China(No.60434020, 60374020)International Cooperation Item of Henan(No.0446650006)Henan Outstanding Youth Science Fund(No.0312001900)
文摘A new hybrid wavelet-Kalman filter method for the estimation of dynamic system is developed, Using this method, the real-time multiscale estimation of the dynamic system is implemented, and the observation equation established is for the object signal itself rather than its wavelet decomposition. The simulation results show that this method can be used to estimate the object's state of the stacked system, which is the foundation of multiscale data fusion; besides the performance of the new algorithm developed in the letter is almost optimal.
基金Projects 40272114 and 40572160 supported by the National Natural Science Foundation of China
文摘The law of variation of deep rock stress in gravitational and tectonic stress fields is analyzed based on the Hoek-Brown strength criterion. In the gravitational stress field,the rocks in the shallow area are in an elastic state and the deep,relatively soft rock may be in a plastic state. However,in the tectonic stress field,the relatively soft rock in the shallow area is in a plastic state and the deep rock in an elastic state. A method is proposed to estimate stress values in coal and soft rock based on in-situ measurements of hard rock. Our estimation method relates to the type of stress field and stress state. The equations of rock stress in various stress states are presented for the elastic,plastic and critical states. The critical state is a special stress state,which indicates the conversion of the elastic to the plastic state in the gravitational stress field and the conversion of the plastic to the elastic state in the tectonic stress field. Two cases stud-ies show that the estimation method is feasible.
基金the National Natural Science Foundation of China
文摘According to the principle, “The failure data is the basis of software reliability analysis”, we built a software reliability expert system (SRES) by adopting the artificial intelligence technology. By reasoning out the conclusion from the fitting results of failure data of a software project, the SRES can recommend users “the most suitable model” as a software reliability measurement model. We believe that the SRES can overcome the inconsistency in applications of software reliability models well. We report investigation results of singularity and parameter estimation methods of experimental models in SRES.
