The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncer...The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.展开更多
An airship model is made-up of aerostatic,aerodynamic,dynamic,and propulsive forces and torques.Besides others,the computation of aerodynamic forces and torques is difficult.Usually,wind tunnel experimentation and pot...An airship model is made-up of aerostatic,aerodynamic,dynamic,and propulsive forces and torques.Besides others,the computation of aerodynamic forces and torques is difficult.Usually,wind tunnel experimentation and potential flow theory are used for their calculations.However,the limitations of these methods pose difficulties in their accurate calculation.In this work,an online estimation scheme based on unscented Kalman filter(UKF)is proposed for their calculation.The proposed method introduces six auxiliary states for the complete aerodynamic model.UKF uses an extended model and provides an estimate of a complete state vector along with auxiliary states.The proposed method uses the minimum auxiliary state variables for the approximation of the complete aerodynamic model that makes it computationally less intensive.UKF estimation performance is evaluated by developing a nonlinear simulation environment for University of Engineering and Technology,Taxila(UETT)airship.Estimator performance is validated by performing the error analysis based on estimation error and 2-σ uncertainty bound.For the same problem,the extended Kalman filter(EKF)is also implemented and its results are compared with UKF.The simulation results show that UKF successfully estimates the forces and torques due to the aerodynamic model with small estimation error and the comparative analysis with EKF shows that UKF improves the estimation results and also it is more suitable for the under-consideration problem.展开更多
For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For ...For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.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
Integrated with an improved architectural vulnerability factor （AVF） computing model, a new architectural level soft error reliability analysis framework, SS-SERA （soft error reliability analysis based on SimpleSca...Integrated with an improved architectural vulnerability factor （AVF） computing model, a new architectural level soft error reliability analysis framework, SS-SERA （soft error reliability analysis based on SimpleScalar）, was developed. SS-SERA was used to estimate the AVFs for various on-chip structures accurately. Experimental results show that the AVFs of issue queue （IQ）, register update units （RUU）, load store queue （LSQ） and functional unit （FU） are 38.11%, 22.17%, 23.05% and 24.43%, respectively. For address-based structures, i.e., levell data cache （LID）, DTLB, level2 unified cache （L2U）, levell instruction cache （LII） and ITLB, AVFs of their data arrays are 22.86%, 27.57%, 14.80%, 8.25% and 12.58%, lower than their tag arrays＇ AVFs which are 30.01%, 28.89%, 17.69%, 10.26% and 13.84%, respectively. Furthermore, using the AVF values obtained with SS-SERA, a qualitative and quantitative analysis of the AVF variation and predictability was performed for the structures studied. Experimental results show that the AVF exhibits significant variations across different structures and workloads, and is influenced by multiple microarchitectural metrics and their interactions. Besides, AVFs of SPEC2K floating point programs exhibit better predictability than SPEC2K integer programs.展开更多
The parameter estimation is considered for the Gompertz distribution under frequensitst and Bayes approaches when records are available.Maximum likelihood estimators,exact and approximate confidence intervals are deve...The parameter estimation is considered for the Gompertz distribution under frequensitst and Bayes approaches when records are available.Maximum likelihood estimators,exact and approximate confidence intervals are developed for the model parameters,and Bayes estimators of reliability performances are obtained under different losses based on a mixture of continuous and discrete priors.To investigate the performance of the proposed estimators,a record simulation algorithm is provided and a numerical study is presented by using Monte-Carlo simulation.展开更多
For the deficiency that the traditional single forecast methods could not forecast electronic equipment states, a combined forecast method based on the hidden Markov model（HMM） and least square support vector machin...For the deficiency that the traditional single forecast methods could not forecast electronic equipment states, a combined forecast method based on the hidden Markov model（HMM） and least square support vector machine（LS-SVM） is presented. The multi-agent genetic algorithm（MAGA） is used to estimate parameters of HMM to overcome the problem that the Baum-Welch algorithm is easy to fall into local optimal solution. The state condition probability is introduced into the HMM modeling process to reduce the effect of uncertain factors. MAGA is used to estimate parameters of LS-SVM. Moreover, pruning algorithms are used to estimate parameters to get the sparse approximation of LS-SVM so as to increase the ranging performance. On the basis of these, the combined forecast model of electronic equipment states is established. The example results show the superiority of the combined forecast model in terms of forecast precision,calculation speed and stability.展开更多
Virtual manufacturing is fast becoming an affordable technology with wide-ranging applications in modern manufacturing. Its advantages over existing technology are primarily that users can visualize, feel involvement ...Virtual manufacturing is fast becoming an affordable technology with wide-ranging applications in modern manufacturing. Its advantages over existing technology are primarily that users can visualize, feel involvement and interact with virtual representations of real world activities in real time. In this paper, a virtual cutting system is built which can simulate turning process, estimate tool wear and cutting force using artificial neural network etc. Using the simulated machining environment in virtual reality (VR), the user can practise and preview the operations for possible problems that might occur during implementation. This approach enables designers to evaluate and design feasible machining processes in a consistent manner as early as possible during the development process.展开更多
The analysis method of the triple test cross design has been discussed carefully from the two factor experiment design and the genetic models of additive dominant effect and of epistasis effect.Two points different f...The analysis method of the triple test cross design has been discussed carefully from the two factor experiment design and the genetic models of additive dominant effect and of epistasis effect.Two points different from the previous reports have been concluded: (1)both the degrees of freedom of the orthogonal terms C2 and C3 are m, (2)the denominator in the F test to C2 and C3 is the error mean of square between plots.展开更多
文摘The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.
文摘An airship model is made-up of aerostatic,aerodynamic,dynamic,and propulsive forces and torques.Besides others,the computation of aerodynamic forces and torques is difficult.Usually,wind tunnel experimentation and potential flow theory are used for their calculations.However,the limitations of these methods pose difficulties in their accurate calculation.In this work,an online estimation scheme based on unscented Kalman filter(UKF)is proposed for their calculation.The proposed method introduces six auxiliary states for the complete aerodynamic model.UKF uses an extended model and provides an estimate of a complete state vector along with auxiliary states.The proposed method uses the minimum auxiliary state variables for the approximation of the complete aerodynamic model that makes it computationally less intensive.UKF estimation performance is evaluated by developing a nonlinear simulation environment for University of Engineering and Technology,Taxila(UETT)airship.Estimator performance is validated by performing the error analysis based on estimation error and 2-σ uncertainty bound.For the same problem,the extended Kalman filter(EKF)is also implemented and its results are compared with UKF.The simulation results show that UKF successfully estimates the forces and torques due to the aerodynamic model with small estimation error and the comparative analysis with EKF shows that UKF improves the estimation results and also it is more suitable for the under-consideration problem.
基金This work was supported by the National Natural Science Foundation(NNSF)of China under grant no.61673386,62073335the China Postdoctoral Science Foundation(2017M613201,2019T120944).
文摘For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.
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Projects(60970036,60873016,61170045)supported by the National Natural Science Foundation of ChinaProjects(2009AA01Z102,2009AA01Z124)supported by the National High Technology Development Program of China
文摘Integrated with an improved architectural vulnerability factor （AVF） computing model, a new architectural level soft error reliability analysis framework, SS-SERA （soft error reliability analysis based on SimpleScalar）, was developed. SS-SERA was used to estimate the AVFs for various on-chip structures accurately. Experimental results show that the AVFs of issue queue （IQ）, register update units （RUU）, load store queue （LSQ） and functional unit （FU） are 38.11%, 22.17%, 23.05% and 24.43%, respectively. For address-based structures, i.e., levell data cache （LID）, DTLB, level2 unified cache （L2U）, levell instruction cache （LII） and ITLB, AVFs of their data arrays are 22.86%, 27.57%, 14.80%, 8.25% and 12.58%, lower than their tag arrays＇ AVFs which are 30.01%, 28.89%, 17.69%, 10.26% and 13.84%, respectively. Furthermore, using the AVF values obtained with SS-SERA, a qualitative and quantitative analysis of the AVF variation and predictability was performed for the structures studied. Experimental results show that the AVF exhibits significant variations across different structures and workloads, and is influenced by multiple microarchitectural metrics and their interactions. Besides, AVFs of SPEC2K floating point programs exhibit better predictability than SPEC2K integer programs.
基金supported by the National Natural Science Foundation of China(1150143371473187)+1 种基金the Fundamental Research Funds for the Central Universities(JB1507177215591806)
文摘The parameter estimation is considered for the Gompertz distribution under frequensitst and Bayes approaches when records are available.Maximum likelihood estimators,exact and approximate confidence intervals are developed for the model parameters,and Bayes estimators of reliability performances are obtained under different losses based on a mixture of continuous and discrete priors.To investigate the performance of the proposed estimators,a record simulation algorithm is provided and a numerical study is presented by using Monte-Carlo simulation.
文摘For the deficiency that the traditional single forecast methods could not forecast electronic equipment states, a combined forecast method based on the hidden Markov model（HMM） and least square support vector machine（LS-SVM） is presented. The multi-agent genetic algorithm（MAGA） is used to estimate parameters of HMM to overcome the problem that the Baum-Welch algorithm is easy to fall into local optimal solution. The state condition probability is introduced into the HMM modeling process to reduce the effect of uncertain factors. MAGA is used to estimate parameters of LS-SVM. Moreover, pruning algorithms are used to estimate parameters to get the sparse approximation of LS-SVM so as to increase the ranging performance. On the basis of these, the combined forecast model of electronic equipment states is established. The example results show the superiority of the combined forecast model in terms of forecast precision,calculation speed and stability.
文摘Virtual manufacturing is fast becoming an affordable technology with wide-ranging applications in modern manufacturing. Its advantages over existing technology are primarily that users can visualize, feel involvement and interact with virtual representations of real world activities in real time. In this paper, a virtual cutting system is built which can simulate turning process, estimate tool wear and cutting force using artificial neural network etc. Using the simulated machining environment in virtual reality (VR), the user can practise and preview the operations for possible problems that might occur during implementation. This approach enables designers to evaluate and design feasible machining processes in a consistent manner as early as possible during the development process.
文摘The analysis method of the triple test cross design has been discussed carefully from the two factor experiment design and the genetic models of additive dominant effect and of epistasis effect.Two points different from the previous reports have been concluded: (1)both the degrees of freedom of the orthogonal terms C2 and C3 are m, (2)the denominator in the F test to C2 and C3 is the error mean of square between plots.
