基于主动建模的无人直升机增强LQR控制

为了解决无人直升机控制问题,通过把主动建模与LQR(Linear Quadratic Regulator)控制相结合,提出一种能补偿模型差的控制方法。该方法在悬停状态下,采用简化模型设计LQR控制器,并通过UKF(Un-scented-Kalman-Filter)在线估计简化模型与全状态模型的模型差,使用模型差作为补偿项对LQR控制增强。针对实际直升机动力学模型进行仿真,验证了基于UKF的估计和增强LQR控制的有效性。仿真实验结果证明,基于UKF的主动建模技术能够快速估计状态和参数变化,并且增强LQR控制能够使系统适应模型不确定性。

一种立体视觉系统高精度标定方法

本文介绍使用广角镜头成像的立体视觉系统的高精度标定方法,该方法利用平面单应矩阵约束估计像机内外参数的初值,优化过程中将三维重投影误差作为评价函数,结合遗传算法完成寻优过程,以保证估计出的像机参数是全局最优,避免陷入局部极小。实验结果表明:该方法的空间定位精度与传统方法相比有很大程度的提高。

基于加速度传感器的机器人最优学习控制

为工业机器人提出了一种最优学习控制法。这种控制法用加速度误差校正驱动器运动。并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法。所提出学习控制法的有效性通过PUMA562机器人的计算机仿真结果得到了证实。

工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

二维流形三角网格模型顶点法矢量估计

提出一种以顶点的一邻域中三角形在该顶点处的顶角与对应三角形的面积比值加权三角面法矢量估计二维流形三角网格模型顶点法矢量的方法.回顾了现有的五种顶点法矢量估计方法,然后给出了新的方法.设计了利用理论法矢量与估计法矢量的夹角作为误差评价标准的实验,应用球体和椭球体模型分析了所涉及的6种估计方法的性能。

释光测年实验室的建立与沉积物释光测年技术研究

The main research projects reported in this paper are the establishment of a luminescence (OSL/TL) dating laboratory in The Institute of Geology and Geophysics, CAS, and studies on OSL dating technique and protocol of sediments from North China. These projects have been suggested in order to fit in with the needs of research developments in environmental changes, in particular the aridity and desertification in North China. A new luminescence dating laboratory in which there are a Rise TL/OSL-DA-15B/C reader with Sr-90 beta source, a set of Little More Tape 9022 alpha and beta irradiators, three set of Daybreak 583 intelligent alpha counters and sample preparation system has been set up in the Institute in June 2001. The courses of the establishment of a new laboratory involved a series of technical works, besides making a suitable choice of the equipment, as follows: installing and testing TL/OSL reader, calibrating the dose rate of the beta and alpha sources in the irradiators with the standard sources, testing and calibrating the count rates of the thick source alpha counting in the alpha counters with a standard sample, and then dating of the know age samples to check and examine the OSL/TL dating system. All data obtained from above calibrations and tests show that the established OSL/TL system, including the used equipment in it, can be used to determine age of the geological and archaeological samples with an error of equivalent dose (De) of less than 5%. The OSL dates of several sediment samples obtained from the system are good agreement with those from the OSL dating laboratory in Hong Kong University and ~(14)C dates within 1 - 2 standard deviations. The studies on OSL dating technique and protocol of sediment samples being in progress involve the De determinations with single aliquot regeneration (SAR) (Murray and Wintle, 2000) of the coarse grain quartz from sand dune samples and comparison of the De determinations obtained from SAR with those measured by using multiple aliquot regeneration of loess fine grains. The preliminary results from these research works are shown as follows. The very low natural equivalent dose (De) of about 0.012 - 0.03 Gy, corresponding age of less than 10 years, for BLSL (blue light stimulated luminescence) of the coarse grain quartz from modern sand dune samples in Horqin sand fields has been determined with both the SAR and multiple aliquot regeneration (MAR) techniques. This imply that the BLSL signal zeroing of the quartz could be reached before burying of the sand in Horqin sand fields. The De values and ages of the coarse grain quartz measured with SAR protocol are in good agreement with those obtained from multiple aliquot technique for the modern sand dune samples, but the errors of De from the MAR is greater than those from the SAR. This may imply that the higher precision of age determination for younger sand dune samples could be achieved with the SAR of coarse grain quartz. The MAR combining with "Australian Slide method" may be a perfect choice for De measurements of loess fine grain samples on the basis of analysis of De values obtained from the SAR and from the MAR. The former can be employed to obtain a reliable age estimate of loess sample as older as approximately SO ka BR There is a great difference between De determinations from the (post-IR) OSL of the SAR (Roberts and Wintle, 2001) and those from independent or expected estimates for the older samples. However, the age estimates obtained from the (post-IR) OSL of the SAR are mostly closed to the independent age determinations for the younger (age less than 10 ka) fine grain samples. It may be suggested that the (post-IR) OSL of the SAR protocol of the fine grain fraction would be a suitable choice to dating of the younger samples, but may be unsuitable for the older samples.

Affine Matching with Bounded Sensor Error: A Study of Geometric Hashing and Alignment

Affine transformations are often used in recognition systems, to approximate the effects of perspective projection. The underlying mathematics is for exact feature data, with no positional uncertainty. In practice, heuristics are added to handle uncertainty. We provide a precise analysis of affine point matching, obtaining an expression for the range of affine-invariant values consistent with bounded uncertainty. This analysis reveals that the range of affine-invariant values depends on the actual $x$-$y$-positions of the features, i.e. with uncertainty, affine representations are not invariant with respect to the Cartesian coordinate system. We analyze the effect of this on geometric hashing and alignment recognition methods.

The Alignment of Objects With Smooth Surfaces: Error Analysis of the Curvature Method

The recognition of objects with smooth bounding surfaces from their contour images is considerably more complicated than that of objects with sharp edges, since in the former case the set of object points that generates the silhouette contours changes from one view to another. The "curvature method", developed by Basri and Ullman [1988], provides a method to approximate the appearance of such objects from different viewpoints. In this paper we analyze the curvature method. We apply the method to ellipsoidal objects and compute analytically the error obtained for different rotations of the objects. The error depends on the exact shape of the ellipsoid (namely, the relative lengths of its axes), and it increases a sthe ellipsoid becomes "deep" (elongated in the Z-direction). We show that the errors are usually small, and that, in general, a small number of models is required to predict the appearance of an ellipsoid from all possible views. Finally, we show experimentally that the curvature method applies as well to objects with hyperbolic surface patches.

On the Relationship Between Generalization Error, Hypothesis Complexity, and Sample Complexity for Radial Basis Functions

In this paper, we bound the generalization error of a class of Radial Basis Function networks, for certain well defined function learning tasks, in terms of the number of parameters and number of examples. We show that the total generalization error is partly due to the insufficient representational capacity of the network (because of its finite size) and partly due to insufficient information about the target function (because of finite number of samples). We make several observations about generalization error which are valid irrespective of the approximation scheme. Our result also sheds light on ways to choose an appropriate network architecture for a particular problem.

Error Detection and Recovery for Robot Motion Planning with Uncertainty

Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. The last, which is called model error, has received little previous attention. We present a framework for computing motion strategies that are guaranteed to succeed in the presence of all three kinds of uncertainty. The motion strategies comprise sensor-based gross motions, compliant motions, and simple pushing motions.

Finding Edges and Lines in Images

The problem of detecting intensity changes in images is canonical in vision. Edge detection operators are typically designed to optimally estimate first or second derivative over some (usually small) support. Other criteria such as output signal to noise ratio or bandwidth have also been argued for. This thesis is an attempt to formulate a set of edge detection criteria that capture as directly as possible the desirable properties of an edge operator. Variational techniques are used to find a solution over the space of all linear shift invariant operators. The first criterion is that the detector have low probability of error i.e. failing to mark edges or falsely marking non-edges. The second is that the marked points should be as close as possible to the centre of the true edge. The third criterion is that there should be low probability of more than one response to a single edge. The technique is used to find optimal operators for step edges and for extended impulse profiles (ridges or valleys in two dimensions). The extension of the one dimensional operators to two dimentions is then discussed. The result is a set of operators of varying width, length and orientation. The problem of combining these outputs into a single description is discussed, and a set of heuristics for the integration are given.

The effect of the product cost factor on error handling in industrial robots

N.W. Hardy and M.H. Lee. The effect of the product cost factor on error handling in industrial robots. In Maria Gini, editor, Detecting and Resolving Errors in Manufacturing Systems. Papers from the 1994 AAAI Spring Symposium Series, pages 59-64, Menlo Park, CA, March 1994. The AAAI Press. Technical Report SS-94-04, ISBN 0-929280-60-1.

Research into error recovery for sensory robots

Lee, M., Barnes, D. P., Hardy, N. (1985). Research into error recovery for sensory robots. Sensor Review, 5 (4), 194-197.

Research into automatic error recovery

Lee, M., Hardy, N., & Barnes, D. P. (1984). Research into automatic error recovery. 65-69. Paper presented at 4th International Conference on Robot Vision and Sensory Controls, London, London, United Kingdom.

Error recovery in robot applications

Lee, M., Hardy, N., & Barnes, D. P. (1983). Error recovery in robot applications. 217-222. Paper presented at 6th British Robot Association Annual Conference, Birmingham, Birmingham, United Kingdom.