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A new model for image segmentation based on the theory of curve evolution is proposed, which is an improvement of the region-based active contour models. A weighted area term is added into the RSF model, and the coefficient in the area term is changed to a weighted coefficient of robust adaptivity. We use the model to segment medical images. The results show that the new model can reflect the complicated...
In this study, we present a novel analytical approach for robustness on Erdos-Renyi (ER) networks by introducing statistical physics method. We establish an exact mapping relation between ER networks and Ising model. Based on the mapping relation, we obtain the partition function of the ER networks and use it to determine the size of the giant component and the value of the critical edge present probability...
In order to realize the non-cooperative attitude motion capture, we propose a collaborative planning method for orbit and attitude during approaching process based on genetic algorithm and kinematic equation of dual quaternion integration. First of all, consider complex constraints conditions in the approach process; analyze all kinds of natural constraints in the approximation process; analyze the...
In this paper, a multi-agent distributed continuous-time algorithm is proposed to solve a large-scale linear algebraic equation Ax = do. Unlike many existing results assuming each agent knows a few rows of A, the algorithm proposed in this paper assumes each agent knows a few columns of A. To solve the linear algebraic equation, the problem is first converted to an optimization problem with a linear...
Conventional electronic stability control (ESC) system uses differential braking to stabilize the yaw rate and side slip of the vehicle motion. While the roll stability is critically important, it is absent from the current ESC scheme. In this paper, an model predictive control (MPC) scheme is proposed that potentially can achieve both yaw stability and roll stability. The objective of the proposed...
This paper researches the mathematical modeling and attitude control of four-rotor UAV with rudders. The structure of four-rotor with rudders is different from conventional four-rotor. The quaternion is used to describe the attitude of the aircraft in order to avoid the singularity. The mathematical model is derived by choosing reasonable coordinate systems and physical quantities, such that all physical...
The purpose of the paper is to propose a new control scheme in active front steering (AFS) for vehicle stability using disturbance observer method. In the paper, the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle model. In addition, the actual sideslip angle can also be estimated by using a state observer. Based on this, two kinds of baseline AFS controllers are proposed...
In consideration of the uncertain and time-varying driving resistance in vehicle dynamics, a distributed adaptive sliding model control protocol is proposed in vehicle platoon control. Firstly, the vehicle resistance, which is relevant to vehicle mass, weather conditions, deadweight, motorcycle type and etc, is analyzed and the vehicle platoon model is established. Then, a coupled sliding mode surface...
This paper studies the design and detection issues of false data injection (FDI) attacks against output tracking control systems from the perspectives of defenders and attackers, respectively. Based on a state-space model, an output tracking control system is designed by using a Kalman filter and an augmented state linear quadratic Gauss optimal control feedback control strategy. For such a control...
Optimization of operating parameters on PEMFC to obtain maximum power has a significant role to reduce the costs of this emerging technology. In this study, the operation parameters of PEMFC are optimized by the orthogonal experiment method and Central composite second order Response Surface Methodology (RSM). Three significant parameters including cathode stoichiometry, anode stoichiometry and control...
With the rapid development of economy and the increase of cars, the car theft deterrent is more and more of concern. The localization technique is important in car theft deterrent. In order to obtain more accurate information through the wireless sensor network, the correct node location is particularly important. However, due to the large-scale, self-organizing and dynamic nature of wireless sensor...
It is well-known that time-delay is regarded as a destructive character due to that it may cause periodic oscillations or chaos. However, for some systems, artificial delay can have a stabilizing effect. In this paper, we study delay-induced consensus of second-order multi-agent systems by using both current and delayed position information. Based on the neutral type system which is obtained by model...
In this paper, two methods were considered to estimate the distance, which aims to study the influence of external environmental factors on localization accuracy. The first method is log-normal shadowing model (LNSM), which estimates the distance through the received signal strength indicator (RSSI). The second method is improved algorithm based on RBF neural network (RBFNN). Two different experimental...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
The technology of Bank-to-Turn is an important development direction of hypersonic glide vehicles' control. But there is a strong coupling between roll channel and yaw channel when the vehicle is in rolling maneuver. In this paper, a dual decoupling fusion control method is presented based on aileron-rudder cross decoupling control and model reference global sliding mode control for the problem of...
This paper develops a hierarchical sliding-mode controller (HSMC) to simultaneously accomplish velocity control and balancing control for a two-wheeled self-balancing vehicle (TWSBV). Based on the derived TWSBV model, two first-level sliding surfaces, relevant to velocity and position of TWSBV and tilt angle and tilt angular velocity of TWSBV respectively, and a second-level sliding surface, are defined...
Distributed network technology is a new application of inertial navigation technology. A distributed multi-source navigation system, constituted of a distributed inertial navigation system and a multi-senor configuration, can greatly enhance aircraft survival and reliability. Aiming to design a distributed inertial/star sensor/satellite integrated navigation system, this paper studies the structure...
In this study, a decentralized PID controller is proposed to solve the tracking problem for a class of multi-agents systems, where each agent is described by a second order nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. We will show that a 3-dimensional manifold can be constructed based on the information...
An unconditionally stable finite difference discretization motivated by the well-known Crank-Nicolson method is used to develop an iterative learning control design for systems whose dynamics are described by a fourth-order partial differential equation. A discrete in time and space model of a deformable rectangular mirror is derived in this setting and forms the basi s for the new design, where a...
Continuous glucose monitoring (CGM) plays an important role in the treatment of diabetes. False information of glucose, caused by the faults of CGM, will reduce the treatment effect, and even endanger the lives of the diabetic patients. In order to avoid the impact of the glucose fluctuations, a classification-based method is used to detect CGM faults. However, the poor classification algorithm in...
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