Adaptive optics(AO)is essential for high-quality ground-based observations with large telescopes because it counters the impact of wavefront aberrations caused by atmospheric turbulence.The new vacuum solar telescope(...Adaptive optics(AO)is essential for high-quality ground-based observations with large telescopes because it counters the impact of wavefront aberrations caused by atmospheric turbulence.The new vacuum solar telescope(NVST)is one of the most important high-resolution solar observation instruments in the world.Three sets of solar adaptive optics systems have been developed and installed on this telescope:conventional adaptive optics,ground layer adaptive optics,and multi-conjugate adaptive optics.These have been in operation from 2018 to 2023.This paper details the development and application of solar adaptive optics on the NVST and discusses the newest instrumentation.展开更多
Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and ...Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.展开更多
The 2.5 m wide-field and high-resolution solar telescope(WeHoST)is currently under developing for solar observations.WeHoST aims to achieve high-resolution observations over a super-wide field of view(FOV)of5′×5...The 2.5 m wide-field and high-resolution solar telescope(WeHoST)is currently under developing for solar observations.WeHoST aims to achieve high-resolution observations over a super-wide field of view(FOV)of5′×5′,and a desired resolution of 0.3″.To meet the scientific requirements of WeHoST,the ground-layer adaptive optics(GLAO)with a specially designed wave front sensing system is as the primary consideration.We introduce the GLAO configuration,particularly the wave front sensing scheme.Utilizing analytic method,we simulate the performance of both classical AO and GLAO systems,optimize the wave front sensing system,and evaluate GLAO performance in terms of PSF uniformity and correction improvement across whole FOV.The results indicate that,the classical AO will achieve diffraction-limited resolution;the suggested GLAO configuration will uniformly improve the seeing across the full 5′×5′FOV,reducing the FWHM across the axis FOV to less than0.3″(λ≥705 nm,r0≥11 cm),which is more than two times improvement.The specially designed wave front sensor schedule offers new potential for WeHoST’s GLAO,particularly the multi-FOV GLAO and the flexibility to select the detected area.These capabilities will significantly enhance the scientific output of the telescope.展开更多
Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin...Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.展开更多
This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Co...This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.展开更多
This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncerta...This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.展开更多
We propose a fast,adaptive multiscale resolution spectral measurement method based on compressed sensing.The method can apply variable measurement resolution over the entire spectral range to reduce the measurement ti...We propose a fast,adaptive multiscale resolution spectral measurement method based on compressed sensing.The method can apply variable measurement resolution over the entire spectral range to reduce the measurement time by over 75%compared to a global high-resolution measurement.Mimicking the characteristics of the human retina system,the resolution distribution follows the principle of gradually decreasing.The system allows the spectral peaks of interest to be captured dynamically or to be specified a priori by a user.The system was tested by measuring single and dual spectral peaks,and the results of spectral peaks are consistent with those of global high-resolution measurements.展开更多
To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method...To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.展开更多
3D eikonal equation is a partial differential equation for the calculation of first-arrival traveltimes and has been widely applied in many scopes such as ray tracing,source localization,reflection migration,seismic m...3D eikonal equation is a partial differential equation for the calculation of first-arrival traveltimes and has been widely applied in many scopes such as ray tracing,source localization,reflection migration,seismic monitoring and tomographic imaging.In recent years,many advanced methods have been developed to solve the 3D eikonal equation in heterogeneous media.However,there are still challenges for the stable and accurate calculation of first-arrival traveltimes in 3D strongly inhomogeneous media.In this paper,we propose an adaptive finite-difference(AFD)method to numerically solve the 3D eikonal equation.The novel method makes full use of the advantages of different local operators characterizing different seismic wave types to calculate factors and traveltimes,and then the most accurate factor and traveltime are adaptively selected for the convergent updating based on the Fermat principle.Combined with global fast sweeping describing seismic waves propagating along eight directions in 3D media,our novel method can achieve the robust calculation of first-arrival traveltimes with high precision at grid points either near source point or far away from source point even in a velocity model with large and sharp contrasts.Several numerical examples show the good performance of the AFD method,which will be beneficial to many scientific applications.展开更多
A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin...A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.展开更多
Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample data.However,the surrogate model in IMU methods mostly adopts the one-time construction me...Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample data.However,the surrogate model in IMU methods mostly adopts the one-time construction method.This makes the accuracy of the surrogate model highly dependent on the experience of users and affects the accuracy of IMU methods.Therefore,an improved IMU method via the adaptive Kriging models is proposed.This method transforms the objective function of the IMU problem into two deterministic global optimization problems about the upper bound and the interval diameter through universal grey numbers.These optimization problems are addressed through the adaptive Kriging models and the particle swarm optimization(PSO)method to quantify the uncertain parameters,and the IMU is accomplished.During the construction of these adaptive Kriging models,the sample space is gridded according to sensitivity information.Local sampling is then performed in key subspaces based on the maximum mean square error(MMSE)criterion.The interval division coefficient and random sampling coefficient are adaptively adjusted without human interference until the model meets accuracy requirements.The effectiveness of the proposed method is demonstrated by a numerical example of a three-degree-of-freedom mass-spring system and an experimental example of a butted cylindrical shell.The results show that the updated results of the interval model are in good agreement with the experimental results.展开更多
This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
This paper presents a novel cooperative value iteration(VI)-based adaptive dynamic programming method for multi-player differential game models with a convergence proof.The players are divided into two groups in the l...This paper presents a novel cooperative value iteration(VI)-based adaptive dynamic programming method for multi-player differential game models with a convergence proof.The players are divided into two groups in the learning process and adapt their policies sequentially.Our method removes the dependence of admissible initial policies,which is one of the main drawbacks of the PI-based frameworks.Furthermore,this algorithm enables the players to adapt their control policies without full knowledge of others’ system parameters or control laws.The efficacy of our method is illustrated by three examples.展开更多
In engineering application,there is only one adaptive weights estimated by most of traditional early warning radars for adaptive interference suppression in a pulse reputation interval(PRI).Therefore,if the training s...In engineering application,there is only one adaptive weights estimated by most of traditional early warning radars for adaptive interference suppression in a pulse reputation interval(PRI).Therefore,if the training samples used to calculate the weight vector does not contain the jamming,then the jamming cannot be removed by adaptive spatial filtering.If the weight vector is constantly updated in the range dimension,the training data may contain target echo signals,resulting in signal cancellation effect.To cope with the situation that the training samples are contaminated by target signal,an iterative training sample selection method based on non-homogeneous detector(NHD)is proposed in this paper for updating the weight vector in entire range dimension.The principle is presented,and the validity is proven by simulation results.展开更多
Adaptive detection of range-spread targets is considered in the presence of subspace interference plus Gaussian clutter with unknown covariance matrix.The target signal and interference are supposed to lie in two line...Adaptive detection of range-spread targets is considered in the presence of subspace interference plus Gaussian clutter with unknown covariance matrix.The target signal and interference are supposed to lie in two linearly independent subspaces with deterministic but unknown coordinates.Relying on the two-step criteria,two adaptive detectors based on Gradient tests are proposed,in homogeneous and partially homogeneous clutter plus subspace interference,respectively.Both of the proposed detectors exhibit theoretically constant false alarm rate property against unknown clutter covariance matrix as well as the power level.Numerical results show that,the proposed detectors have better performance than their existing counterparts,especially for mismatches in the signal steering vectors.展开更多
This paper focuses on the adaptive detection of range and Doppler dual-spread targets in non-homogeneous and nonGaussian sea clutter.The sea clutter from two polarimetric channels is modeled as a compound-Gaussian mod...This paper focuses on the adaptive detection of range and Doppler dual-spread targets in non-homogeneous and nonGaussian sea clutter.The sea clutter from two polarimetric channels is modeled as a compound-Gaussian model with different parameters,and the target is modeled as a subspace rangespread target model.The persymmetric structure is used to model the clutter covariance matrix,in order to reduce the reliance on secondary data of the designed detectors.Three adaptive polarimetric persymmetric detectors are designed based on the generalized likelihood ratio test(GLRT),Rao test,and Wald test.All the proposed detectors have constant falsealarm rate property with respect to the clutter texture,the speckle covariance matrix.Experimental results on simulated and measured data show that three adaptive detectors outperform the competitors in different clutter environments,and the proposed GLRT detector has the best detection performance under different parameters.展开更多
Dominant technology formation is the key for the hightech industry to“cross the chasm”and gain an established foothold in the market(and hence disrupt the regime).Therefore,a stimulus-response model is proposed to i...Dominant technology formation is the key for the hightech industry to“cross the chasm”and gain an established foothold in the market(and hence disrupt the regime).Therefore,a stimulus-response model is proposed to investigate the dominant technology by exploring its formation process and mechanism.Specifically,based on complex adaptive system theory and the basic stimulus-response model,we use a combination of agent-based modeling and system dynamics modeling to capture the interactions between dominant technology and the socio-technical landscape.The results indicate the following:(i)The dynamic interaction is“stimulus-reaction-selection”,which promotes the dominant technology’s formation.(ii)The dominant technology’s formation can be described as a dynamic process in which the adaptation intensity of technology standards increases continuously until it becomes the leading technology under the dual action of internal and external mechanisms.(iii)The dominant technology’s formation in the high-tech industry is influenced by learning ability,the number of adopting users and adaptability.Therein,a“critical scale”of learning ability exists to promote the formation of leading technology:a large number of adopting users can promote the dominant technology’s formation by influencing the adaptive response of technology standards to the socio-technical landscape and the choice of technology standards by the socio-technical landscape.There is a minimum threshold and a maximum threshold for the role of adaptability in the dominant technology’s formation.(iv)The socio-technical landscape can promote the leading technology’s shaping in the high-tech industry,and different elements have different effects.This study promotes research on the formation mechanism of dominant technology in the high-tech industry,presents new perspectives and methods for researchers,and provides essential enlightenment for managers to formulate technology strategies.展开更多
Video watermarking plays a crucial role in protecting intellectual property rights and ensuring content authenticity.This study delves into the integration of Galois Field(GF)multiplication tables,especially GF(2^(4))...Video watermarking plays a crucial role in protecting intellectual property rights and ensuring content authenticity.This study delves into the integration of Galois Field(GF)multiplication tables,especially GF(2^(4)),and their interaction with distinct irreducible polynomials.The primary aim is to enhance watermarking techniques for achieving imperceptibility,robustness,and efficient execution time.The research employs scene selection and adaptive thresholding techniques to streamline the watermarking process.Scene selection is used strategically to embed watermarks in the most vital frames of the video,while adaptive thresholding methods ensure that the watermarking process adheres to imperceptibility criteria,maintaining the video's visual quality.Concurrently,careful consideration is given to execution time,crucial in real-world scenarios,to balance efficiency and efficacy.The Peak Signal-to-Noise Ratio(PSNR)serves as a pivotal metric to gauge the watermark's imperceptibility and video quality.The study explores various irreducible polynomials,navigating the trade-offs between computational efficiency and watermark imperceptibility.In parallel,the study pays careful attention to the execution time,a paramount consideration in real-world scenarios,to strike a balance between efficiency and efficacy.This comprehensive analysis provides valuable insights into the interplay of GF multiplication tables,diverse irreducible polynomials,scene selection,adaptive thresholding,imperceptibility,and execution time.The evaluation of the proposed algorithm's robustness was conducted using PSNR and NC metrics,and it was subjected to assessment under the impact of five distinct attack scenarios.These findings contribute to the development of watermarking strategies that balance imperceptibility,robustness,and processing efficiency,enhancing the field's practicality and effectiveness.展开更多
Concentrate copper grade(CCG)is one of the important production indicators of copper flotation processes,and keeping the CCG at the set value is of great significance to the economic benefit of copper flotation indust...Concentrate copper grade(CCG)is one of the important production indicators of copper flotation processes,and keeping the CCG at the set value is of great significance to the economic benefit of copper flotation industrial processes.This paper addresses the fluctuation problem of CCG through an operational optimization method.Firstly,a density-based affinity propagationalgorithm is proposed so that more ideal working condition categories can be obtained for the complex raw ore properties.Next,a Bayesian network(BN)is applied to explore the relationship between the operational variables and the CCG.Based on the analysis results of BN,a weighted Gaussian process regression model is constructed to predict the CCG that a higher prediction accuracy can be obtained.To ensure the predicted CCG is close to the set value with a smaller magnitude of the operation adjustments and a smaller uncertainty of the prediction results,an index-oriented adaptive differential evolution(IOADE)algorithm is proposed,and the convergence performance of IOADE is superior to the traditional differential evolution and adaptive differential evolution methods.Finally,the effectiveness and feasibility of the proposed methods are verified by the experiments on a copper flotation industrial process.展开更多
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic perf...An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.展开更多
基金funded by the National Natural Science Foundation of China(11727805,12103057)the Youth Innovation Promotion Association of the Chinese Academy of Sciences(2021378).
文摘Adaptive optics(AO)is essential for high-quality ground-based observations with large telescopes because it counters the impact of wavefront aberrations caused by atmospheric turbulence.The new vacuum solar telescope(NVST)is one of the most important high-resolution solar observation instruments in the world.Three sets of solar adaptive optics systems have been developed and installed on this telescope:conventional adaptive optics,ground layer adaptive optics,and multi-conjugate adaptive optics.These have been in operation from 2018 to 2023.This paper details the development and application of solar adaptive optics on the NVST and discusses the newest instrumentation.
基金supported in part by the National Natural Science Foundation of China(62222301, 62073085, 62073158, 61890930-5, 62021003)the National Key Research and Development Program of China (2021ZD0112302, 2021ZD0112301, 2018YFC1900800-5)Beijing Natural Science Foundation (JQ19013)。
文摘Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.
基金supported by the National Natural Science Foundation of China(12103057,12127901)the Frontier Research Fund of the Institute of Optics and Electronics,Chinese Academy of Sciences(C21K002)+1 种基金the Youth Innovation Promotion Association,Chinese Academy of Sciences(2021378)the National Natural Science Foundation of China(U2031148)。
文摘The 2.5 m wide-field and high-resolution solar telescope(WeHoST)is currently under developing for solar observations.WeHoST aims to achieve high-resolution observations over a super-wide field of view(FOV)of5′×5′,and a desired resolution of 0.3″.To meet the scientific requirements of WeHoST,the ground-layer adaptive optics(GLAO)with a specially designed wave front sensing system is as the primary consideration.We introduce the GLAO configuration,particularly the wave front sensing scheme.Utilizing analytic method,we simulate the performance of both classical AO and GLAO systems,optimize the wave front sensing system,and evaluate GLAO performance in terms of PSF uniformity and correction improvement across whole FOV.The results indicate that,the classical AO will achieve diffraction-limited resolution;the suggested GLAO configuration will uniformly improve the seeing across the full 5′×5′FOV,reducing the FWHM across the axis FOV to less than0.3″(λ≥705 nm,r0≥11 cm),which is more than two times improvement.The specially designed wave front sensor schedule offers new potential for WeHoST’s GLAO,particularly the multi-FOV GLAO and the flexibility to select the detected area.These capabilities will significantly enhance the scientific output of the telescope.
基金the National Natural Science Foundation of China(No.52275062)and(No.52075262).
文摘Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.
基金supported in part by the National Natural Science Foundation of China (62173182,61773212)the Intergovernmental International Science and Technology Innovation Cooperation Key Project of Chinese National Key R&D Program (2021YFE0102700)。
文摘This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.
基金partially supported by the Natural Science Foundation of China (Grant Nos.62103052,52272358)partially supported by the Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.
基金Project supported by the Natural Science Foundation of Shandong Province,China(Grant Nos.ZR2020MF119 and ZR2020MA082)the National Natural Science Foundation of China(Grant No.62002208)the National Key Research and Development Program of China(Grant No.2018YFB0504302).
文摘We propose a fast,adaptive multiscale resolution spectral measurement method based on compressed sensing.The method can apply variable measurement resolution over the entire spectral range to reduce the measurement time by over 75%compared to a global high-resolution measurement.Mimicking the characteristics of the human retina system,the resolution distribution follows the principle of gradually decreasing.The system allows the spectral peaks of interest to be captured dynamically or to be specified a priori by a user.The system was tested by measuring single and dual spectral peaks,and the results of spectral peaks are consistent with those of global high-resolution measurements.
基金financially supported by the National Natural Science Foundation of China(Grant 52175099)the China Postdoctoral Science Foundation(Grant No.2020M671494)+1 种基金the Jiangsu Planned Projects for Postdoctoral Research Funds(Grant No.2020Z179)the Nanjing University of Science and Technology Independent Research Program(Grant No.30920021105)。
文摘To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.
基金The authors thank the funds supported by the China National Nuclear Corporation under Grants Nos.WUQNYC2101 and WUHTLM2101-04National Natural Science Foundation of China(42074132,42274154).
文摘3D eikonal equation is a partial differential equation for the calculation of first-arrival traveltimes and has been widely applied in many scopes such as ray tracing,source localization,reflection migration,seismic monitoring and tomographic imaging.In recent years,many advanced methods have been developed to solve the 3D eikonal equation in heterogeneous media.However,there are still challenges for the stable and accurate calculation of first-arrival traveltimes in 3D strongly inhomogeneous media.In this paper,we propose an adaptive finite-difference(AFD)method to numerically solve the 3D eikonal equation.The novel method makes full use of the advantages of different local operators characterizing different seismic wave types to calculate factors and traveltimes,and then the most accurate factor and traveltime are adaptively selected for the convergent updating based on the Fermat principle.Combined with global fast sweeping describing seismic waves propagating along eight directions in 3D media,our novel method can achieve the robust calculation of first-arrival traveltimes with high precision at grid points either near source point or far away from source point even in a velocity model with large and sharp contrasts.Several numerical examples show the good performance of the AFD method,which will be beneficial to many scientific applications.
基金supported in part by the Nation Natural Science Foundation of China under Grant No.52175099China Postdoctoral Science Foundation under Grant No.2020M671494Jiangsu Planned Projects for Postdoctoral Research Funds under Grant No.2020Z179。
文摘A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.
基金Project supported by the National Natural Science Foundation of China(Nos.12272211,12072181,12121002)。
文摘Interval model updating(IMU)methods have been widely used in uncertain model updating due to their low requirements for sample data.However,the surrogate model in IMU methods mostly adopts the one-time construction method.This makes the accuracy of the surrogate model highly dependent on the experience of users and affects the accuracy of IMU methods.Therefore,an improved IMU method via the adaptive Kriging models is proposed.This method transforms the objective function of the IMU problem into two deterministic global optimization problems about the upper bound and the interval diameter through universal grey numbers.These optimization problems are addressed through the adaptive Kriging models and the particle swarm optimization(PSO)method to quantify the uncertain parameters,and the IMU is accomplished.During the construction of these adaptive Kriging models,the sample space is gridded according to sensitivity information.Local sampling is then performed in key subspaces based on the maximum mean square error(MMSE)criterion.The interval division coefficient and random sampling coefficient are adaptively adjusted without human interference until the model meets accuracy requirements.The effectiveness of the proposed method is demonstrated by a numerical example of a three-degree-of-freedom mass-spring system and an experimental example of a butted cylindrical shell.The results show that the updated results of the interval model are in good agreement with the experimental results.
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
基金supported by the Industry-University-Research Cooperation Fund Project of the Eighth Research Institute of China Aerospace Science and Technology Corporation (USCAST2022-11)Aeronautical Science Foundation of China (20220001057001)。
文摘This paper presents a novel cooperative value iteration(VI)-based adaptive dynamic programming method for multi-player differential game models with a convergence proof.The players are divided into two groups in the learning process and adapt their policies sequentially.Our method removes the dependence of admissible initial policies,which is one of the main drawbacks of the PI-based frameworks.Furthermore,this algorithm enables the players to adapt their control policies without full knowledge of others’ system parameters or control laws.The efficacy of our method is illustrated by three examples.
基金supported by the National Natural Science Foundation of China(62371049)。
文摘In engineering application,there is only one adaptive weights estimated by most of traditional early warning radars for adaptive interference suppression in a pulse reputation interval(PRI).Therefore,if the training samples used to calculate the weight vector does not contain the jamming,then the jamming cannot be removed by adaptive spatial filtering.If the weight vector is constantly updated in the range dimension,the training data may contain target echo signals,resulting in signal cancellation effect.To cope with the situation that the training samples are contaminated by target signal,an iterative training sample selection method based on non-homogeneous detector(NHD)is proposed in this paper for updating the weight vector in entire range dimension.The principle is presented,and the validity is proven by simulation results.
基金supported by the National Natural Science Foundation of China(61971432)Taishan Scholar Project of Shandong Province(tsqn201909156)the Outstanding Youth Innovation Team Program of University in Shandong Province(2019KJN031)。
文摘Adaptive detection of range-spread targets is considered in the presence of subspace interference plus Gaussian clutter with unknown covariance matrix.The target signal and interference are supposed to lie in two linearly independent subspaces with deterministic but unknown coordinates.Relying on the two-step criteria,two adaptive detectors based on Gradient tests are proposed,in homogeneous and partially homogeneous clutter plus subspace interference,respectively.Both of the proposed detectors exhibit theoretically constant false alarm rate property against unknown clutter covariance matrix as well as the power level.Numerical results show that,the proposed detectors have better performance than their existing counterparts,especially for mismatches in the signal steering vectors.
基金supported by the National Natural Science Foundation of China(62371382,62071346)the Science,Technology&Innovation Project of Xiong’an New Area(2022XAGG0181)the Special Funds for Creative Research(2022C61540)。
文摘This paper focuses on the adaptive detection of range and Doppler dual-spread targets in non-homogeneous and nonGaussian sea clutter.The sea clutter from two polarimetric channels is modeled as a compound-Gaussian model with different parameters,and the target is modeled as a subspace rangespread target model.The persymmetric structure is used to model the clutter covariance matrix,in order to reduce the reliance on secondary data of the designed detectors.Three adaptive polarimetric persymmetric detectors are designed based on the generalized likelihood ratio test(GLRT),Rao test,and Wald test.All the proposed detectors have constant falsealarm rate property with respect to the clutter texture,the speckle covariance matrix.Experimental results on simulated and measured data show that three adaptive detectors outperform the competitors in different clutter environments,and the proposed GLRT detector has the best detection performance under different parameters.
基金supported by the Shanghai Philosophy and Social Science Foundation(2022ECK004)Shanghai Soft Science Research Project(23692123400)。
文摘Dominant technology formation is the key for the hightech industry to“cross the chasm”and gain an established foothold in the market(and hence disrupt the regime).Therefore,a stimulus-response model is proposed to investigate the dominant technology by exploring its formation process and mechanism.Specifically,based on complex adaptive system theory and the basic stimulus-response model,we use a combination of agent-based modeling and system dynamics modeling to capture the interactions between dominant technology and the socio-technical landscape.The results indicate the following:(i)The dynamic interaction is“stimulus-reaction-selection”,which promotes the dominant technology’s formation.(ii)The dominant technology’s formation can be described as a dynamic process in which the adaptation intensity of technology standards increases continuously until it becomes the leading technology under the dual action of internal and external mechanisms.(iii)The dominant technology’s formation in the high-tech industry is influenced by learning ability,the number of adopting users and adaptability.Therein,a“critical scale”of learning ability exists to promote the formation of leading technology:a large number of adopting users can promote the dominant technology’s formation by influencing the adaptive response of technology standards to the socio-technical landscape and the choice of technology standards by the socio-technical landscape.There is a minimum threshold and a maximum threshold for the role of adaptability in the dominant technology’s formation.(iv)The socio-technical landscape can promote the leading technology’s shaping in the high-tech industry,and different elements have different effects.This study promotes research on the formation mechanism of dominant technology in the high-tech industry,presents new perspectives and methods for researchers,and provides essential enlightenment for managers to formulate technology strategies.
文摘Video watermarking plays a crucial role in protecting intellectual property rights and ensuring content authenticity.This study delves into the integration of Galois Field(GF)multiplication tables,especially GF(2^(4)),and their interaction with distinct irreducible polynomials.The primary aim is to enhance watermarking techniques for achieving imperceptibility,robustness,and efficient execution time.The research employs scene selection and adaptive thresholding techniques to streamline the watermarking process.Scene selection is used strategically to embed watermarks in the most vital frames of the video,while adaptive thresholding methods ensure that the watermarking process adheres to imperceptibility criteria,maintaining the video's visual quality.Concurrently,careful consideration is given to execution time,crucial in real-world scenarios,to balance efficiency and efficacy.The Peak Signal-to-Noise Ratio(PSNR)serves as a pivotal metric to gauge the watermark's imperceptibility and video quality.The study explores various irreducible polynomials,navigating the trade-offs between computational efficiency and watermark imperceptibility.In parallel,the study pays careful attention to the execution time,a paramount consideration in real-world scenarios,to strike a balance between efficiency and efficacy.This comprehensive analysis provides valuable insights into the interplay of GF multiplication tables,diverse irreducible polynomials,scene selection,adaptive thresholding,imperceptibility,and execution time.The evaluation of the proposed algorithm's robustness was conducted using PSNR and NC metrics,and it was subjected to assessment under the impact of five distinct attack scenarios.These findings contribute to the development of watermarking strategies that balance imperceptibility,robustness,and processing efficiency,enhancing the field's practicality and effectiveness.
基金supported in part by the National Key Research and Development Program of China(2021YFC2902703)the National Natural Science Foundation of China(62173078,61773105,61533007,61873049,61873053,61703085,61374147)。
文摘Concentrate copper grade(CCG)is one of the important production indicators of copper flotation processes,and keeping the CCG at the set value is of great significance to the economic benefit of copper flotation industrial processes.This paper addresses the fluctuation problem of CCG through an operational optimization method.Firstly,a density-based affinity propagationalgorithm is proposed so that more ideal working condition categories can be obtained for the complex raw ore properties.Next,a Bayesian network(BN)is applied to explore the relationship between the operational variables and the CCG.Based on the analysis results of BN,a weighted Gaussian process regression model is constructed to predict the CCG that a higher prediction accuracy can be obtained.To ensure the predicted CCG is close to the set value with a smaller magnitude of the operation adjustments and a smaller uncertainty of the prediction results,an index-oriented adaptive differential evolution(IOADE)algorithm is proposed,and the convergence performance of IOADE is superior to the traditional differential evolution and adaptive differential evolution methods.Finally,the effectiveness and feasibility of the proposed methods are verified by the experiments on a copper flotation industrial process.
基金supported by the National Natural Science Foundation of China (6207319761933006)National International Science and Technology Cooperation Base on Railway Vehicle Operation Engineering of Beijing Jiaotong University (BMRV20KF08)。
文摘An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.
