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This paper proposes a disturbance compensating model predictive control (DCMPC) strategy for the dynamic positioning (DP) system of ships with unknown time-varying environmental disturbances and actuator saturation. The proposed strategy can make the position and heading of the dynamically positioned ship converge to the desired values without any priori knowledge about environmental disturbances...
In this paper, the critic-actor reinforcement learning method is proposed to solve the path-following problem of underactuated ships. In order to facilitate the design of the reward function, ship path-following control is transformed into calculating a reference course to reduce cross tracking error by the methods of coordinate compression and drift angle compensation. For the purpose of overcoming...
The sliding mode control strategy based on state observer is proposed for a typical MIMO system with nonlinearity and strong coupling characteristics. The mathematical model of inverted pendulum is established by using Lagrange equation. Taking it as an example, through the observation of the state, the on-line estimation of the speed of the cart and the angular speed of the swing link is realized...
In this paper, we study that the system consists of a lossless transmission line which terminated with a Chua's diode and a lumped parallel capacitance on one end. Furthermore, such a system is described by a partial differential equation (wave equation) with nonlinear boundary conditions. By introducing the d'Alembert formula of the wave equation, the equation describing Chua's circuit with a lossless...
The global robust exponential stability of interval complex-valued Cohen-Grossberg neural networks (CGNNs)with mixed delays and distributed delays are considered in this paper. Based on some mild assumptions, we prove the existence, uniqueness and exponential stability of the equilibrium point of the interval complex-valued CGNNs. We introduce two numerical examples in the end.
In this paper, we estimate the total execution time of two applications under different input data size with linear regression model and error correction neural network model respectively. From the prediction results, we can conclude that error correction neural network model can predict the total execution time of these applications under different input data size accurately and the prediction accuracy...
A cyclic pursuit-based path following scheme is proposed to achieve the coordinated target enclosing using a group of underactuated marine surface vehicles (MSVs). Specifically, a line-of-sight based path following controller is firstly derived to force each vehicle to follow a parameterized path around the target. Then, a distributed path variable coordination control law is developed based on a...
The containment maneuvering problem involves two tasks. The first, called the geometric formation task, is to force the vessel outputs to converge to convex hull spanned by multiple parameterized paths. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the paths. A modular design approach is presented to develop the adaptive containment maneuvering controllers...
This paper analyzes the noise-free but highly overlapped and imbalanced data set involving six analytes. We explored the principal components in the feature space to observe which spectral bands contribute the most contrast or data spreading. We also compared the principal component analysis (PCA) results and the corresponding k-means clustering algorithm results generated using lower PCs, i.e. PC4...
Computer Numerical Control machines are the main machine tool used in machining process. The optimization of numerical control machining processes can significantly improve the energy performance of machining to achieve sustainability. In this paper, an energy consumption model has been built to take the energy consumption into account as the optimization aim and a Gcode based approach has been developed...
Eutrophication has become a serious environment problem in many parts of the world and Chlorophyll-a concentration is one of the important parameters for the characterization of water quality, which reflects the degree of eutrophication and algae content in the water body. So establishing a forecasting model to predict the chlorophyll-a concentration in evaluation of eutrophication become more urgent...
Many digital map applications have the need to present large quantities of precise point data on the map. Such data can be PM2.5 value, weather information, population in towns, etc. With the development of Internet of Things, we expect such data will grow at a rapid pace. How to visualize such magnitude of data on mobile devices and web broswers becomes a problem. This paper describes a method for...
This paper presents an improved semi-global matching algorithm which is robust to the different radiometric conditions. Firstly, Census transform instead of mutual information is adopted to calculate the matching cost because of its robustness to radiometric changes. Then, an additional self-adaptive matching penalty is added into the cost aggregation along every accumulation path of semi-global matching...
Due to the rapid growth of energy consumption and environmental issue, the use of photovoltaic (PV) power, has attracted many attentions since such energy is renewable and clean. This study proposes a simple yet effective method for PV power prediction in which a dividing-stage strategy is investigated and a hybrid heuristic, denoted as GAPSO (genetic algorithm and particle swarm optimization) is...
An evolutionary multi-objective optimization (EMO) algorithm based on Pareto dominance have made great achievements in dealing with two or three objectives optimization problems. Nevertheless, with the problem objective function of the number increasing, the selection pressure of Pareto dominance based EMO algorithms deteriorates rapidly. In our paper, we propose an evolutionary algorithm based on...
As a multiple-candidate output format of speech recognition system, word lattice is essential for applications such as keyword spotting, confidence measure, multi-pass decoding and so on. This paper analyzes the problems of generating word lattice using Weighted Finite-State Transducer (WFST) decoders, such as word boundary decision, word position pushing and redundancy existed in the word lattice...
There is lack of innovative research and analysis techniques in HCI domain pertaining to users' aesthetic perceptions when interacting with information systems. In this study, qualitative research technique using grounded theory approach has been applied. The Emerging Themes Analysis based on qualitative assessment of data provided a theoretical rationalization that users' in an online learning environment...
D2D (Device-to-Device) communication, which can decrease the power and enhance spectrum efficiency when sharing the resources of cellular networks, has caused a lot of attention. However, the performance of cellular networks decreases for the interference between cellular users and D2D users. In this paper, we put forward a channel allocation and power control algorithm, which can maximize the capacity...
The paper develops a power allocation strategy for Multi-LED phase-shifted superposition technique that parallelly transmitted to increase the rate of visible light communication (VLC) systems. In this paper, we apply linear zero forcing (ZF) detection and present an optimal power allocation strategy for multi-LED phase-shifted pulse amplitude modulation based indoor VLC multi-input single-output...
We consider a cooperative incremental decode-and-forward (IDF) MIMO relay system where the relay operates with automatic repeat request (ARQ) protocol. The relay forwards the received signal from the source to the destination only when receives negative acknowledgement (NACK) from the destination. In this paper, we focus on relay antenna selection (AS) issue. An analytical framework for studying the...
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