Lutetium oxide(Lu_(2)O_(3))is recognized as a potential laser crystal material,and it is noted for its high ther⁃mal conductivity,low phonon energy,and strong crystal field.Nevertheless,its high melting point of 2450...Lutetium oxide(Lu_(2)O_(3))is recognized as a potential laser crystal material,and it is noted for its high ther⁃mal conductivity,low phonon energy,and strong crystal field.Nevertheless,its high melting point of 2450℃induces significant temperature gradients,resulting in a proliferation of defects.The scarcity of comprehensive research on this crystal’s defects hinders the enhancement of crystal quality.In this study,we employed the chemical etching method to examine the etching effects on Lu_(2)O_(3)crystals under various conditions and to identify the optimal conditions for investi⁃gating the dislocation defects of Lu_(2)O_(3)crystals(mass fraction 70%H3PO4,160℃,15-18 min).The morphologies of dislocation etch pits on the(111)-and(110)-oriented Lu_(2)O_(3)wafers were characterized using microscopy,scanning electron microscopy and atomic force microscopy.This research addresses the gap in understanding Lu_(2)O_(3)line defects and offers guidance for optimizing the crystal growth process and improving crystal quality.展开更多
In converged heterogeneous wireless networks, vertical handoff is an important issue in radio resource management and occurs when an end user switches from one network to another （e.g., from wireless local area netwo...In converged heterogeneous wireless networks, vertical handoff is an important issue in radio resource management and occurs when an end user switches from one network to another （e.g., from wireless local area network to wideband code division multiple access）. Efficient vertical handoff should allocate network resources efficiently and maintain good quality of service （QoS） for the end users. The objective of this work is to determine conditions under which vertical handoff can be performed. The channel usage situation of each access network is formulated as a birth-death process with the objective of predicting the avaliable bandwidth and the blocking probability. A reward function is used to capture the network bandwidth and the blocking probability is expressed as a cost function. An end user will access the certain network which maximizes the total function defined as the combination of the reward fimction and the cost function. Simulation results show that the proposed algorithm can significantly improve the network performance, including higher bandwidth for end users and lower new call blocking and handoff call blocking probability for networks.展开更多
Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of...Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.展开更多
Based on the Fourier transform, a new shape descriptor was proposed to represent the flame image. By employing the shape descriptor as the input, the flame image recognition was studied by the methods of the artificia...Based on the Fourier transform, a new shape descriptor was proposed to represent the flame image. By employing the shape descriptor as the input, the flame image recognition was studied by the methods of the artificial neural network(ANN) and the support vector machine(SVM) respectively. And the recognition experiments were carried out by using flame image data sampled from an alumina rotary kiln to evaluate their effectiveness. The results show that the two recognition methods can achieve good results, which verify the effectiveness of the shape descriptor. The highest recognition rate is 88.83% for SVM and 87.38% for ANN, which means that the performance of the SVM is better than that of the ANN.展开更多
With comprehensive considerations of the operational safety and collection efficiency for the tracked miner collecting the seafloor poly-metallic nodules, two new improved mining paths for the miner on the deep seaflo...With comprehensive considerations of the operational safety and collection efficiency for the tracked miner collecting the seafloor poly-metallic nodules, two new improved mining paths for the miner on the deep seafloor were proposed. Compared to the conventional mining path, the design principles and superiorities of the two new paths are that the miner turning with relative long radius should avoid large sinkage and high slip, so as to ensure its operational safety, while the space between its straight-line trajectories before and after the turning is optimum, which is designed as the total width of the miner, and collect nodules as more as possible, so as to ensure its collection efficiency. To realize the new mining paths, theoretical designs and quantitative calculations were carried out to determine the exact positions for the speed controls of the miner during its whole operation process. With the new dynamic model of the miner, and through regulations of the speeds of the left and right tracks of the miner on the exact motion positions according to the theoretical calculations, the two new improved mining paths for the miner on the seafloor were successfully simulated, thus the turning radius of the miner in the simulation is about 21.8 m, while the distance between the straight-line trajectories before and after the turning is about 5.2 m. The dynamic simulation results preliminarily prove the feasibility of these two new mining paths, and further can provide important theoretical guidance and useful technical reference for the practical tracked miner operation and control on the seafloor.展开更多
Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value,...Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.展开更多
The Changsha-Xiangtan-Zhuzhou City Group is a heavy industrial district and accepted as the serious pollution area in the Xiangjiang River basin.In this study,7 metals(Pb,Hg,Cd,As,Zn,Cu and Se)and the river water qual...The Changsha-Xiangtan-Zhuzhou City Group is a heavy industrial district and accepted as the serious pollution area in the Xiangjiang River basin.In this study,7 metals(Pb,Hg,Cd,As,Zn,Cu and Se)and the river water quality parameters including pH,dissolved oxygen(DO),Escherichia coli(E.coli),potassium permanganate index(CODMn),dichromate oxidizability(CODCr),five-day biochemical oxygen demand(BOD5),ammonia nitrogen(NH4+-N),total nitrogen(TN),total phosphorus(TP)and fluoride(F)in 18 sampling sites of the Changsha-Xiangtan-Zhuzhou section are monthly monitored in 2016,which is the year to step into the second stage of the“Xiangjiang River Heavy Metal Pollution Control Implementation Plan”.It is found that E.coli,TN and TP are the main pollutants in the Changsha-Zhuzhou-Xiangtan section,and the pollution of heavy metal is not serious but As with potential risk to local people especially children should be concerned.In addition,Xiangtan city is mainly featured with heavy metal pollution,while Zhuzhou and Changsha city are both featured with other pollutants from municipal domestic sewage.展开更多
The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communica...The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.展开更多
The zinc casting is a complicated process with high temperature, high dust content and dynamic solidification. To accurately detect the edge and texture of metal image under this condition, a sub-pixel detection based...The zinc casting is a complicated process with high temperature, high dust content and dynamic solidification. To accurately detect the edge and texture of metal image under this condition, a sub-pixel detection based on gradient entropy and adaptive four-order cubic convolution interpolation （GEAF-CCI） algorithm is proposed. This method mainly involves three procedures. Firstly, the gradient image is generated from the grey images by using gradient operator. Then, a dynamic threshold based on the maximum local gradient entropy （DTMLGE） algorithm is applied to distinguishing the edge and texture pixels from gradient images. Finally, the adaptive four-order cubic convolution interpolation （AF-CCI） algorithm is proposed for interpolating calculation of the target edges and textures according to their variation differences in different directions. The experimental result shows that the proposed algorithm can remove the jag and blur of the edges and textures, improve the edge positioning precision and reduce the false or missing detection rate.展开更多
The issue of small-angle maneuvering targets inverse synthetic aperture radar(ISAR)imaging has been successfully addressed by popular motion compensation algorithms.However,when the target’s rotational velocity is su...The issue of small-angle maneuvering targets inverse synthetic aperture radar(ISAR)imaging has been successfully addressed by popular motion compensation algorithms.However,when the target’s rotational velocity is sufficiently high during the dwell time of the radar,such compensation algorithms cannot obtain a high quality image.This paper proposes an ISAR imaging algorithm based on keystone transform and deep learning algorithm.The keystone transform is used to coarsely compensate for the target’s rotational motion and translational motion,and the deep learning algorithm is used to achieve a super-resolution image.The uniformly distributed point target data are used as the data set of the training u-net network.In addition,this method does not require estimating the motion parameters of the target,which simplifies the algorithm steps.Finally,several experiments are performed to demonstrate the effectiveness of the proposed algorithm.展开更多
Taking three-phase electrode adjusting system of submerged arc furnace as study object which has nonlinear, time-variant, multivariable and strong coupling features, a neural adaptive PSD(proportion, sum and different...Taking three-phase electrode adjusting system of submerged arc furnace as study object which has nonlinear, time-variant, multivariable and strong coupling features, a neural adaptive PSD(proportion, sum and differential) dispersive decoupling controller was developed by combining neural adaptive PSD algorithm with dispersive decoupling network. In this work, the production technology process and control difficulties of submerged arc furnace were simply introduced, the necessity of establishing a neural adaptive PSD dispersive decoupling controller was discussed, the design method and the implementation steps of the controller are expounded in detail, and the block diagram of the controlled system is presented. By comparison with experimental results of the conventional PID controller and the adaptive PSD controller, the decoupling ability, adaptive ability, self-learning ability and robustness of the neural adaptive PSD dispersive decoupling controller have been testified effectively. The controller is applicable to the three-phase electrode adjusting system of submerged arc furnace, and it will play an important role for achieving the power balance of three-phrase electrodes, saving energy and reducing consumption in the process of smelting.展开更多
To deal with fault detection and diagnosis with incomplete model for dead reckoning system of mobile robot,an integrative framework of particle filter detection and fuzzy logic diagnosis was devised.Firstly,an adaptiv...To deal with fault detection and diagnosis with incomplete model for dead reckoning system of mobile robot,an integrative framework of particle filter detection and fuzzy logic diagnosis was devised.Firstly,an adaptive fault space is designed for recognizing both known faults and unknown faults,in corresponding modes of modeled and model-free.Secondly,the particle filter is utilized to diagnose the modeled faults and detect model-free fault according to the low particle weight and reliability.Especially,the proposed fuzzy logic diagnosis can further analyze model-free modes and identify some soft faults in unknown fault space.The MORCS-1 experimental results show that the fuzzy diagnosis particle filter(FDPF) combinational framework improves fault detection and identification completeness.Specifically speaking,FDPF is feasible to diagnose the modeled faults in known space.Furthermore,the types of model-free soft faults can also be further identified and diagnosed in unknown fault space.展开更多
A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified f...A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.展开更多
Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their d...Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).展开更多
An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the ob...An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.展开更多
It is easy for teenagers to view pornographic pictures on social networks. Many researchers have studied the detection of real pornographic pictures, but there are few studies on those that are artificial. In this wor...It is easy for teenagers to view pornographic pictures on social networks. Many researchers have studied the detection of real pornographic pictures, but there are few studies on those that are artificial. In this work, we studied how to detect artificial pornographic pictures, especially when they are on social networks. The whole detection process can be divided into two stages： feature selection and picture detection. In the feature selection stage, seven types of features that favour picture detection were selected. In the picture detection stage, three steps were included. 1） In order to alleviate the imbalance in the number of artificial pornographic pictures and normal ones, the training dataset of artificial pornographic pictures was expanded. Therefore, the features which were extracted from the training dataset can also be expanded too. 2） In order to reduce the time of feature extraction, a fast method which extracted features based on the proportionally scaled picture rather than the original one was proposed. 3） Three tree models were compared and a gradient boost decision tree （GBDT） was selected for the final picture detection. Three sets of experimental results show that the proposed method can achieve better recognition precision and drastically reduce the time cost of the method.展开更多
The purpose of this research was to better understand the water quality status of the Xiangjiang River, China, and to evaluate the risks posed by the river water. Precisely, ten water quality parameters including p H,...The purpose of this research was to better understand the water quality status of the Xiangjiang River, China, and to evaluate the risks posed by the river water. Precisely, ten water quality parameters including p H, dissolved oxygen(DO), Escherichia coli(E. coli), potassium permanganate index(CODMn), dichromate oxidizability(CODCr), five-day biochemical oxygen demand(BOD5), ammonia nitrogen(NH4+-N), total phosphorus(TP) and fluoride(F-) as well as metal(loid)s(Pb, Hg, Cd, As, Zn, Cu and Se) were monitored monthly in 2016 at 12 sampling sites throughout the Hengyang section of the Xiangjiang River. Concentrations of all parameters were presented according to rainy and dry seasons. They were compared with Chinese surface water standards and WHO drinking water limits to assess the sustainability of the river water status. Principal component analysis(PCA) revealed different pollution sources in different seasons. Dual hierarchical cluster analysis(DHCA) was applied to further classify the water quality variables and sampling sites. Besides, a risk assessment was introduced to evaluate the carcinogenic and non-carcinogenic concerns of heavy metal(loid)s to human health. This research will help to optimize water monitoring locations and establish pollution reduction strategies on the preservation of public safety.展开更多
A novel immune genetic algorithm with the elitist selection and elitist crossover was proposed, which is called the immune genetic algorithm with the elitism （IGAE）. In IGAE, the new methods for computing antibody s...A novel immune genetic algorithm with the elitist selection and elitist crossover was proposed, which is called the immune genetic algorithm with the elitism （IGAE）. In IGAE, the new methods for computing antibody similarity, expected reproduction probability, and clonal selection probability were given. IGAE has three features. The first is that the similarities of two antibodies in structure and quality are all defined in the form of percentage, which helps to describe the similarity of two antibodies more accurately and to reduce the computational burden effectively. The second is that with the elitist selection and elitist crossover strategy IGAE is able to find the globally optimal solution of a given problem. The third is that the formula of expected reproduction probability of antibody can be adjusted through a parameter r, which helps to balance the population diversity and the convergence speed of IGAE so that IGAE can find the globally optimal solution of a given problem more rapidly. Two different complex multi-modal functions were selected to test the validity of IGAE. The experimental results show that IGAE can find the globally maximum/minimum values of the two functions rapidly. The experimental results also confirm that IGAE is of better performance in convergence speed, solution variation behavior, and computational efficiency compared with the canonical genetic algorithm with the elitism and the immune genetic algorithm with the information entropy and elitism.展开更多
A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajec...A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual simulation.Firstly,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems.Then,the principle of common trajectory generators was analyzed.Besides,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle.Moreover,IMU(inertial measurement unit) elements were simulated,including accelerometer and gyroscope.After setting up the simulation conditions,the integrated navigation simulation system was verified by final performance test.The result proves the validity and flexibility of this design.展开更多
基金Supported by National Key Research and Development Program of China(2021YFB3601403)National Natural Science Foundation of China(62105181)Taishan Scholar of Shandong Province(tsqn202306014)。
文摘Lutetium oxide(Lu_(2)O_(3))is recognized as a potential laser crystal material,and it is noted for its high ther⁃mal conductivity,low phonon energy,and strong crystal field.Nevertheless,its high melting point of 2450℃induces significant temperature gradients,resulting in a proliferation of defects.The scarcity of comprehensive research on this crystal’s defects hinders the enhancement of crystal quality.In this study,we employed the chemical etching method to examine the etching effects on Lu_(2)O_(3)crystals under various conditions and to identify the optimal conditions for investi⁃gating the dislocation defects of Lu_(2)O_(3)crystals(mass fraction 70%H3PO4,160℃,15-18 min).The morphologies of dislocation etch pits on the(111)-and(110)-oriented Lu_(2)O_(3)wafers were characterized using microscopy,scanning electron microscopy and atomic force microscopy.This research addresses the gap in understanding Lu_(2)O_(3)line defects and offers guidance for optimizing the crystal growth process and improving crystal quality.
基金Project(20040533035) supported by the National Research Foundation for the Doctoral Program of Higher Education of ChinaProject (50275150) supported by the National Natural Science Foundation of China
文摘In converged heterogeneous wireless networks, vertical handoff is an important issue in radio resource management and occurs when an end user switches from one network to another （e.g., from wireless local area network to wideband code division multiple access）. Efficient vertical handoff should allocate network resources efficiently and maintain good quality of service （QoS） for the end users. The objective of this work is to determine conditions under which vertical handoff can be performed. The channel usage situation of each access network is formulated as a birth-death process with the objective of predicting the avaliable bandwidth and the blocking probability. A reward function is used to capture the network bandwidth and the blocking probability is expressed as a cost function. An end user will access the certain network which maximizes the total function defined as the combination of the reward fimction and the cost function. Simulation results show that the proposed algorithm can significantly improve the network performance, including higher bandwidth for end users and lower new call blocking and handoff call blocking probability for networks.
基金Projects(61075065,60774045) supported by the National Natural Science Foundation of ChinaProject supported by the Graduate Degree Thesis Innovation Foundation of Central South University,China
文摘Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.
基金Project(60634020) supported by the National Natural Science Foundation of China
文摘Based on the Fourier transform, a new shape descriptor was proposed to represent the flame image. By employing the shape descriptor as the input, the flame image recognition was studied by the methods of the artificial neural network(ANN) and the support vector machine(SVM) respectively. And the recognition experiments were carried out by using flame image data sampled from an alumina rotary kiln to evaluate their effectiveness. The results show that the two recognition methods can achieve good results, which verify the effectiveness of the shape descriptor. The highest recognition rate is 88.83% for SVM and 87.38% for ANN, which means that the performance of the SVM is better than that of the ANN.
基金Project(DYXM-115-04-02-01) supported by the National Deep-sea Technology Project of Development and Research, ChinaProject(2011QNZT058) supported by the Fundamental Research Funds for the Central Universities, ChinaProject(51105386) supported by the National Natural Science Foundation of China
文摘With comprehensive considerations of the operational safety and collection efficiency for the tracked miner collecting the seafloor poly-metallic nodules, two new improved mining paths for the miner on the deep seafloor were proposed. Compared to the conventional mining path, the design principles and superiorities of the two new paths are that the miner turning with relative long radius should avoid large sinkage and high slip, so as to ensure its operational safety, while the space between its straight-line trajectories before and after the turning is optimum, which is designed as the total width of the miner, and collect nodules as more as possible, so as to ensure its collection efficiency. To realize the new mining paths, theoretical designs and quantitative calculations were carried out to determine the exact positions for the speed controls of the miner during its whole operation process. With the new dynamic model of the miner, and through regulations of the speeds of the left and right tracks of the miner on the exact motion positions according to the theoretical calculations, the two new improved mining paths for the miner on the seafloor were successfully simulated, thus the turning radius of the miner in the simulation is about 21.8 m, while the distance between the straight-line trajectories before and after the turning is about 5.2 m. The dynamic simulation results preliminarily prove the feasibility of these two new mining paths, and further can provide important theoretical guidance and useful technical reference for the practical tracked miner operation and control on the seafloor.
基金Projects(60474029,60774045,60604005) supported by the National Natural Science Foundation of ChinaProject supported by the Graduate Degree Thesis Innovation Foundation of Central South University,China
文摘Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.
基金Projects(2018YFC1903301,2018YFC1801805)supported by the National Key R&D Program of China
文摘The Changsha-Xiangtan-Zhuzhou City Group is a heavy industrial district and accepted as the serious pollution area in the Xiangjiang River basin.In this study,7 metals(Pb,Hg,Cd,As,Zn,Cu and Se)and the river water quality parameters including pH,dissolved oxygen(DO),Escherichia coli(E.coli),potassium permanganate index(CODMn),dichromate oxidizability(CODCr),five-day biochemical oxygen demand(BOD5),ammonia nitrogen(NH4+-N),total nitrogen(TN),total phosphorus(TP)and fluoride(F)in 18 sampling sites of the Changsha-Xiangtan-Zhuzhou section are monthly monitored in 2016,which is the year to step into the second stage of the“Xiangjiang River Heavy Metal Pollution Control Implementation Plan”.It is found that E.coli,TN and TP are the main pollutants in the Changsha-Zhuzhou-Xiangtan section,and the pollution of heavy metal is not serious but As with potential risk to local people especially children should be concerned.In addition,Xiangtan city is mainly featured with heavy metal pollution,while Zhuzhou and Changsha city are both featured with other pollutants from municipal domestic sewage.
基金Projects(51309067,51679057,51609048)supported by the National Natural Science Foundation of ChinaProject(JC2016007)supported by the Outstanding Youth Science Foundation of Heilongjiang Province,ChinaProject(HEUCFX041401)supported by the Fundamental Research Funds for the Central Universities,China
文摘The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.
基金Project（61673400） supported by the National Natural Science Foundation of China Project（61590923） supported by the Major Program of the National Natural Science Foundation of China+2 种基金 Project（61621062） supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China Project（61533020） supported by the State Key Program of National Natural Science of China Project（502221709） supported by the Fundamental Research Funds for the Central Universities, China
文摘The zinc casting is a complicated process with high temperature, high dust content and dynamic solidification. To accurately detect the edge and texture of metal image under this condition, a sub-pixel detection based on gradient entropy and adaptive four-order cubic convolution interpolation （GEAF-CCI） algorithm is proposed. This method mainly involves three procedures. Firstly, the gradient image is generated from the grey images by using gradient operator. Then, a dynamic threshold based on the maximum local gradient entropy （DTMLGE） algorithm is applied to distinguishing the edge and texture pixels from gradient images. Finally, the adaptive four-order cubic convolution interpolation （AF-CCI） algorithm is proposed for interpolating calculation of the target edges and textures according to their variation differences in different directions. The experimental result shows that the proposed algorithm can remove the jag and blur of the edges and textures, improve the edge positioning precision and reduce the false or missing detection rate.
基金This work was supported by the National Natural Science Foundation of China(61571388,61871465,62071414)the Project of Introducing Overseas Students in Hebei Province(C20200367).
文摘The issue of small-angle maneuvering targets inverse synthetic aperture radar(ISAR)imaging has been successfully addressed by popular motion compensation algorithms.However,when the target’s rotational velocity is sufficiently high during the dwell time of the radar,such compensation algorithms cannot obtain a high quality image.This paper proposes an ISAR imaging algorithm based on keystone transform and deep learning algorithm.The keystone transform is used to coarsely compensate for the target’s rotational motion and translational motion,and the deep learning algorithm is used to achieve a super-resolution image.The uniformly distributed point target data are used as the data set of the training u-net network.In addition,this method does not require estimating the motion parameters of the target,which simplifies the algorithm steps.Finally,several experiments are performed to demonstrate the effectiveness of the proposed algorithm.
基金Project(61174132) supported by the National Natural Science Foundation of ChinaProject(09JJ6098) supported by the Natural Science Foundation of Hunan Province, China
文摘Taking three-phase electrode adjusting system of submerged arc furnace as study object which has nonlinear, time-variant, multivariable and strong coupling features, a neural adaptive PSD(proportion, sum and differential) dispersive decoupling controller was developed by combining neural adaptive PSD algorithm with dispersive decoupling network. In this work, the production technology process and control difficulties of submerged arc furnace were simply introduced, the necessity of establishing a neural adaptive PSD dispersive decoupling controller was discussed, the design method and the implementation steps of the controller are expounded in detail, and the block diagram of the controlled system is presented. By comparison with experimental results of the conventional PID controller and the adaptive PSD controller, the decoupling ability, adaptive ability, self-learning ability and robustness of the neural adaptive PSD dispersive decoupling controller have been testified effectively. The controller is applicable to the three-phase electrode adjusting system of submerged arc furnace, and it will play an important role for achieving the power balance of three-phrase electrodes, saving energy and reducing consumption in the process of smelting.
基金Project(90820302) supported by the National Natural Science Foundation of ChinaProject(20110491272) supported by China Postdoctoral Science Foundation of China+2 种基金Project(2012QNZT060) supported by the Fundamental Research Fund for the Central Universities of ChinaProject(11B070) supported by the Science Research Foundation of Education Bureau of Hunan Province,ChinaProject(2010-2012) supported by the Postdoctoral Science Foundation of Central South University,China
文摘To deal with fault detection and diagnosis with incomplete model for dead reckoning system of mobile robot,an integrative framework of particle filter detection and fuzzy logic diagnosis was devised.Firstly,an adaptive fault space is designed for recognizing both known faults and unknown faults,in corresponding modes of modeled and model-free.Secondly,the particle filter is utilized to diagnose the modeled faults and detect model-free fault according to the low particle weight and reliability.Especially,the proposed fuzzy logic diagnosis can further analyze model-free modes and identify some soft faults in unknown fault space.The MORCS-1 experimental results show that the fuzzy diagnosis particle filter(FDPF) combinational framework improves fault detection and identification completeness.Specifically speaking,FDPF is feasible to diagnose the modeled faults in known space.Furthermore,the types of model-free soft faults can also be further identified and diagnosed in unknown fault space.
基金Project (60234030) supported by the National Natural Science Foundation of ChinaProject supported by the TRAPOYT of Ministry of Education of China
文摘A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.
基金Projects(61533021,61321003,61273185)supported by the National Natural Science Foundation of ChinaProject(2015CX007)supported by the Innovation-driven Plan in Central South University,ChinaProject(13JJ8003)supported by the Joint Fund of Hunan Provincial Natural Science Foundation of China
文摘Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).
基金Project(60234030) supported by the National Natural Science Foundation of China project(A1420060159) supported by the National Basic Research
文摘An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.
基金Projects(61573380,61303185) supported by the National Natural Science Foundation of ChinaProjects(2016M592450,2017M612585) supported by the China Postdoctoral Science FoundationProjects(2016JJ4119,2017JJ3416) supported by the Hunan Provincial Natural Science Foundation of China
文摘It is easy for teenagers to view pornographic pictures on social networks. Many researchers have studied the detection of real pornographic pictures, but there are few studies on those that are artificial. In this work, we studied how to detect artificial pornographic pictures, especially when they are on social networks. The whole detection process can be divided into two stages： feature selection and picture detection. In the feature selection stage, seven types of features that favour picture detection were selected. In the picture detection stage, three steps were included. 1） In order to alleviate the imbalance in the number of artificial pornographic pictures and normal ones, the training dataset of artificial pornographic pictures was expanded. Therefore, the features which were extracted from the training dataset can also be expanded too. 2） In order to reduce the time of feature extraction, a fast method which extracted features based on the proportionally scaled picture rather than the original one was proposed. 3） Three tree models were compared and a gradient boost decision tree （GBDT） was selected for the final picture detection. Three sets of experimental results show that the proposed method can achieve better recognition precision and drastically reduce the time cost of the method.
基金Projects(2018YFC1801805,2018YFC1903301)supported by National Key R&D Program of ChinaProject(51825403)supported by National Science Fund for Distinguished Young Scholars,ChinaProject(2019SK2281)supported by Key R&D Program of Hunan Province,China。
文摘The purpose of this research was to better understand the water quality status of the Xiangjiang River, China, and to evaluate the risks posed by the river water. Precisely, ten water quality parameters including p H, dissolved oxygen(DO), Escherichia coli(E. coli), potassium permanganate index(CODMn), dichromate oxidizability(CODCr), five-day biochemical oxygen demand(BOD5), ammonia nitrogen(NH4+-N), total phosphorus(TP) and fluoride(F-) as well as metal(loid)s(Pb, Hg, Cd, As, Zn, Cu and Se) were monitored monthly in 2016 at 12 sampling sites throughout the Hengyang section of the Xiangjiang River. Concentrations of all parameters were presented according to rainy and dry seasons. They were compared with Chinese surface water standards and WHO drinking water limits to assess the sustainability of the river water status. Principal component analysis(PCA) revealed different pollution sources in different seasons. Dual hierarchical cluster analysis(DHCA) was applied to further classify the water quality variables and sampling sites. Besides, a risk assessment was introduced to evaluate the carcinogenic and non-carcinogenic concerns of heavy metal(loid)s to human health. This research will help to optimize water monitoring locations and establish pollution reduction strategies on the preservation of public safety.
基金Project(50275150) supported by the National Natural Science Foundation of ChinaProjects(20040533035, 20070533131) supported by the National Research Foundation for the Doctoral Program of Higher Education of China
文摘A novel immune genetic algorithm with the elitist selection and elitist crossover was proposed, which is called the immune genetic algorithm with the elitism （IGAE）. In IGAE, the new methods for computing antibody similarity, expected reproduction probability, and clonal selection probability were given. IGAE has three features. The first is that the similarities of two antibodies in structure and quality are all defined in the form of percentage, which helps to describe the similarity of two antibodies more accurately and to reduce the computational burden effectively. The second is that with the elitist selection and elitist crossover strategy IGAE is able to find the globally optimal solution of a given problem. The third is that the formula of expected reproduction probability of antibody can be adjusted through a parameter r, which helps to balance the population diversity and the convergence speed of IGAE so that IGAE can find the globally optimal solution of a given problem more rapidly. Two different complex multi-modal functions were selected to test the validity of IGAE. The experimental results show that IGAE can find the globally maximum/minimum values of the two functions rapidly. The experimental results also confirm that IGAE is of better performance in convergence speed, solution variation behavior, and computational efficiency compared with the canonical genetic algorithm with the elitism and the immune genetic algorithm with the information entropy and elitism.
基金Projects(90820302, 60805027, 61175064) supported by the National Natural Science Foundation of ChinaProject(2011ssxt231) supported by the Master Degree Thesis Innovation Project Foundation of Central South University, China+1 种基金Project(200805330005) supported by the Research Fund for the Doctoral Program of Higher Education, ChinaProject(2011FJ4043) supported by the Academician Foundation of Hunan Province, China
文摘A trajectory generator based on vehicle kinematics model was presented and an integrated navigation simulation system was designed.Considering that the tight relation between vehicle motion and topography,a new trajectory generator for vehicle was proposed for more actual simulation.Firstly,a vehicle kinematics model was built based on conversion of attitude vector in different coordinate systems.Then,the principle of common trajectory generators was analyzed.Besides,combining the vehicle kinematics model with the principle of dead reckoning,a new vehicle trajectory generator was presented,which can provide process parameters of carrier anytime and achieve simulation of typical actions of running vehicle.Moreover,IMU(inertial measurement unit) elements were simulated,including accelerometer and gyroscope.After setting up the simulation conditions,the integrated navigation simulation system was verified by final performance test.The result proves the validity and flexibility of this design.
