This article investigates the optimal observation configuration of unmanned aerial vehicles(UAVs) based on angle and range measurements, and generalizes predecessors' researches in two dimensions into three dimens...This article investigates the optimal observation configuration of unmanned aerial vehicles(UAVs) based on angle and range measurements, and generalizes predecessors' researches in two dimensions into three dimensions. The relative geometry of the UAVs-target will significantly affect the state estimation performance of the target, the cost function based on the Fisher information matrix(FIM) is used to derive the FIM determinant of UAVs' observation in three-dimensional space, and the optimal observation geometric configuration that maximizes the determinant of the FIM is obtained. It is shown that the optimal observation configuration of the UAVs-target is usually not unique, and the optimal observation configuration is proved for two UAVs and three UAVs in three-dimension. The long-range over-the-horizon target tracking is simulated and analyzed based on the analysis of optimal observation configuration for two UAVs. The simulation results show that the theoretical analysis and control algorithm can effectively improve the positioning accuracy of the target. It can provide a helpful reference for the design of over-the-horizon target localization based on UAVs.展开更多
This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. W...This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. When the applying Cartesian force and the task point are given, the best configuration of the robot will be easily found through a series of imaginary motions of the robot and some simple computations. The imaginary motion varies with the working environment related to the construction of the robot, the task point and the force direction. The working environment could be predicted by the proposed inequalities, so that the way of motion could be decided in advance.展开更多
为降低城市化进程中楼宇储能投资成本,提出一种基于共享储能服务的智能楼宇(intelligent buildings,IBs)双层优化配置方法。首先,建立计及寿命周期的共享储能电站(shared energy storage station,SESS)模型;其次,基于楼宇建筑物热惯性,...为降低城市化进程中楼宇储能投资成本,提出一种基于共享储能服务的智能楼宇(intelligent buildings,IBs)双层优化配置方法。首先,建立计及寿命周期的共享储能电站(shared energy storage station,SESS)模型;其次,基于楼宇建筑物热惯性,构建含空调系统的IBs数学模型;然后,综合考虑SESS与IBs的差异化利益诉求,建立基于SESS的IBs双层优化模型。上层模型目标函数旨在降低SESS的规划成本,下层模型目标函数旨在降低IBs的年运行成本,并采用卡罗需-库恩-塔克(Karush-Kuhn-Tucher,KKT)条件将原双层优化问题转换为单层混合整数线性规划问题进行求解。最后,以3个IBs社区的四季典型日为例,对比分析不同优化配置方法对于IBs运行和SESS配置结果的影响。结果表明,在满足IBs用户温度舒适性的同时,所提双层优化配置方法可充分满足SESS运营商与IBs的差异化利益诉求,实现双方的共赢。展开更多
基金supported by the National Natural Science Foundation of China(61703419)。
文摘This article investigates the optimal observation configuration of unmanned aerial vehicles(UAVs) based on angle and range measurements, and generalizes predecessors' researches in two dimensions into three dimensions. The relative geometry of the UAVs-target will significantly affect the state estimation performance of the target, the cost function based on the Fisher information matrix(FIM) is used to derive the FIM determinant of UAVs' observation in three-dimensional space, and the optimal observation geometric configuration that maximizes the determinant of the FIM is obtained. It is shown that the optimal observation configuration of the UAVs-target is usually not unique, and the optimal observation configuration is proved for two UAVs and three UAVs in three-dimension. The long-range over-the-horizon target tracking is simulated and analyzed based on the analysis of optimal observation configuration for two UAVs. The simulation results show that the theoretical analysis and control algorithm can effectively improve the positioning accuracy of the target. It can provide a helpful reference for the design of over-the-horizon target localization based on UAVs.
文摘This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. When the applying Cartesian force and the task point are given, the best configuration of the robot will be easily found through a series of imaginary motions of the robot and some simple computations. The imaginary motion varies with the working environment related to the construction of the robot, the task point and the force direction. The working environment could be predicted by the proposed inequalities, so that the way of motion could be decided in advance.
文摘为降低城市化进程中楼宇储能投资成本,提出一种基于共享储能服务的智能楼宇(intelligent buildings,IBs)双层优化配置方法。首先,建立计及寿命周期的共享储能电站(shared energy storage station,SESS)模型;其次,基于楼宇建筑物热惯性,构建含空调系统的IBs数学模型;然后,综合考虑SESS与IBs的差异化利益诉求,建立基于SESS的IBs双层优化模型。上层模型目标函数旨在降低SESS的规划成本,下层模型目标函数旨在降低IBs的年运行成本,并采用卡罗需-库恩-塔克(Karush-Kuhn-Tucher,KKT)条件将原双层优化问题转换为单层混合整数线性规划问题进行求解。最后,以3个IBs社区的四季典型日为例,对比分析不同优化配置方法对于IBs运行和SESS配置结果的影响。结果表明,在满足IBs用户温度舒适性的同时,所提双层优化配置方法可充分满足SESS运营商与IBs的差异化利益诉求,实现双方的共赢。
