Effects of error feedback on a nonlinear bistable system with stochastic resonance

In this paper, we discuss the effects of error feedback on the output of a nonlinear bistable system with stochastic resonance. The bit error rate is employed to quantify the performance of the system. The theoretical analysis and the numerical simulation are presented. By investigating the performances of the nonlinear systems with different strengths of error feedback, we argue that the presented system may provide guidance for practical nonlinear signal processing.

Improved time-interleaved error feedback delta sigma modulator for digital transmitter application

Time-interleaved structure can promote the equivalent processing speed of a digital signal processing system. An improved time-interleaved error feedback delta sigma modulator( TI-EF-DSM)for digital transmitter application is presented in this paper. Two TI-EF-DSMs are compared,one is a conventional directly implemented and the other is the improved. The processing speed of the proposed two-channel improved time-interleaved error feedback delta sigma modulator( ITI-EF-DSM) is higher than the conventional directly implemented TI-EF-DSM for shortened critical path. A digital transmitter based on the ITI-EF-DSM is implemented on field progrmmable gate array( FPGA). The long term evolution( LTE) signals with different bandwidths of 5 MHz,10 MHz and 20 MHz are used as the signal source to evaluate the transmitter. The achieved SNR is 41 dB for the 20 MHz LTE signal with the processing clock of only 184 MHz.

Error Correction and Feedback in Second Language Acquisition

This paper is aimed at investigating the different ways of English teachers correcting errors in second language acquisition in classroom and offering constructive pedagogical proposal on error correction in oral English class. Transcripts totaling450 minutes of classroom interaction taken from 5 non-native English classes of different types(reading, writing, speaking, and integrated English learning) were analyzed on error correction and feedback in second language acquisition. Results include the frequency and distribution of the six different feedback types used by five teachers. The findings here illustrate an overwhelming tendency for teachers to use recasts in class. Four other feedback types-elicitation, metalinguistic feedback, clarification request,and repetition—lead to student-generated repair more successfully and are thus able to initiate what the authors characterize as the negotiation of form.

Discussion about the Side Effect of Error Corrective Feedback and Possible Alternatives to Error Correction

Feedbacks given by teachers is possibly a common instruction in second language writing classes, to help students makeprogress in writing. At one time, feedback was almost entirely at a superficial level--identifying the grammatical errors and givingthe correct form. However, recently, this type of feedback has begun to be challenged by some researchers(eg.,Krashen, 1984, Trus-cott, 1996),who argue that teachers should be more concerned with the content of essay instead of grammatical errors. This essaywill discuss some research surrounding feedback to students' writing and will try to find the answer to the question whether the er-ror corrective feedback should be abandoned. In order to find the answer, the essay will elaborate on two parts: some literary reviewabout the issue and some suggested solutions to the issue.

Feedback-based unequal error protection fountain code over device-to-device broadcast

To enhance encoding efficiency, an unequal error protection （UEP） broadcast scheme based on one additional feedback is proposed. Different from the equal probability selection for source packets in traditional fountain encoding, the proposed scheme calculates the packet loss ratio （PLR） according to the feedback results in systematic broadcast phase （SBP） and then optimizes the selection probability for source packets to guarantee higher level error protection for those source packets with larger PLRs. Thus the amount of unnecessarily redundant encoded packets during encoding broadcast phase （EBP） is decreased significantly. Numerical results show that the proposed scheme can recover 60% more packets than the traditional non-feedback broadcast scheme at the ex- pense of tolerably only one feedback procedure.

基于自抗扰方法的无人机控制律设计

针对多平台、多任务的无人机飞行控制律的快速开发问题,提出一种基于自抗扰方法的无人机控制律架构,设计了可复用的扩展状态观测器及微分跟踪器,研究对比了其在3种具有较大差异的无人机平台中的应用,使7 000 kg的超音速UAV_A获得了更优的敏捷性结果,在60 kg的缩比UAV_B完成了5.8g的半滚倒转大过载机动飞行试验,基于10 kg的平直翼UAV_C实现了12架机紧编队的精确轨迹控制飞行试验。仿真及试飞结果表明:所提自抗扰控制结构响应快速、控制精度高、鲁棒性强,能够较好地适应多类无人机、面向多种任务场景的控制需求,且不需调参就能够获得较好的控制效果,为飞行控制算法设计提供了新的技术途径。

矿用无人运输车辆精准停靠控制算法

以无人驾驶矿用运输车为平台,开展精准停靠控制试验研究。为尽可能精确地到达期望停靠位置,首先设计距离-速度规划方案,在此基础上提出1种前馈加反馈的执行器开度控制算法;其次,在底层控制中考虑加速度补偿项,并对制动切换逻辑进行优化;最后进行仿真测试和实车试验,通过测试纠正控制参数,避免掉烦琐的系统参数辨识。结果表明:采用精准停靠策略能降低干扰引起的速度波动,优化底层控制逻辑,有效提高停靠精度。

Quantitative feedback theory and zero phase error tracking control combined robust control for radar truck leveling simulator

Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.

基于PSO-BP神经网络的分拣机器人视觉反馈跟踪

针对分拣机器人视觉反馈跟踪精度差、耗时较长的问题,研究基于粒子群算法-反向传播(particle swarm optimization-back propagation,PSO-BP)神经网络的分拣机器人视觉反馈跟踪方法,以提升视觉反馈跟踪效果。依据分拣机器人的视觉反馈信息,建立分拣机器人运动学模型,并求解分拣机器人机械臂输出位置和输入位置的误差函数;利用PSO算法优化BP神经网络的权值与偏置;在权值与偏置优化后的BP神经网络内,输入误差函数,预测分拣机器人视觉反馈跟踪控制量;利用预测视觉反馈跟踪控制量,在线调整增量式比例-积分-微分(proportional-integral-derivative,PID)的参数,输出高精度的分拣机器人视觉反馈跟踪控制量,实现分拣机器人视觉反馈跟踪。实验结果表明,该方法可有效视觉反馈跟踪分拣机器人机械臂的关节角;存在干扰情况下,在运行时间为10 s左右时,阶跃响应趋于稳定;有干扰情况下,视觉反馈跟踪的平均误差为0.09 cm,耗时平均值为0.10 ms;无干扰情况下,平均误差为0.03 cm,耗时平均值为0.04 ms。

带有状态/输入量化的无人艇航向跟踪控制

[目的]针对水面无人艇(USV)的海上通信受限的问题,提出一种带有状态/输入量化的USV航向跟踪控制方法。[方法]基于反步法设计系统控制律,结合动态面技术降低虚拟控制律的计算量膨胀问题。对于控制系统中存在的不确定项及外界干扰,利用扩张状态观测器(ESO)进行估计。采用均匀量化器分别对控制系统中的状态变量和控制输入进行量化,且量化后的状态反馈信息仅用于跟踪控制。利用量化状态递归设计基于ESO的USV航向控制器,证明闭环控制系统中量化变量和非量化变量间误差的有界性。[结果]基于李雅普诺夫稳定性理论,提出了量化误差考量及闭环系统稳定性判定方法,严格证明了所设计的带有状态量化和输入量化的USV航向跟踪控制系统的稳定性,仿真实验验证了该控制策略的有效性。[结论]结果表明,所提方法可为USV航向跟踪控制提供借鉴。

精密加速度计组件自动装配及焊接系统

悬丝摆式加速度计广泛应用于航空、航天、惯性导航等领域,其装配质量对加速度测量精度有很大的影响,其关键组件的装配涉及位置和姿态的调整,同时悬丝在装配中需要控制张紧力并完成焊接。针对悬丝摆式加速度计组件的精密装配,研发了集成力、温度传感器和机器视觉的精密装配及焊接系统。采用相机配合转台实现待装配零件视觉测量,完成零件特征点的识别定位;利用精密滑台和转台调整待装配零件位姿;直线电机运动结合力反馈实现装配过程中零件间隙调整以及张紧力控制;开发专用焊接单元,实现在紧凑空间内对微小器件的自动温控焊接。试验结果表明,该系统能够完成加速度计组件自动装配及焊接,装配结果满足技术指标要求,焊点无虚焊,摆组件内边缘相对于磁钢边缘间隙偏差小于10μm,悬丝中心相对于加速度计底座地面位置精度优于20μm,悬丝张紧力偏差控制在±5 mN之内,能够达到产品装配质量要求。

论档案开放审核容错机制的构建

本文旨在探讨档案开放审核容错机制的构建。首先介绍了档案开放审核的定义、目标以及当前遇到的问题。然后分析了档案开放审核容错机制与档案开放审核容错系统的区别,并解释了其独特的特点。其次,描述了档案开放审核现状及存在的问题,指出档案开放审核容错机制的缺位是档案开放审核不容忽视的短板。接着提出了构建档案开放审核容错机制应遵循的原则,详细描述了该机制的构建内容和过程。在此基础上,明确了档案开放审核容错机制的核心和基础要素。此外,提出建立“档案开放审核专班”的设想,深入探究了相关方的主体权责以及相互关系。接着探讨了对档案开放审核容错机制的评价评估方法以及完善与更新策略。最后,再次强调了构建有效的容错机制的重要性,以及建立“档案开放审核专班”的必要性,为提高档案开放审核的严谨性、准确性、规范性和学术性提供了有益的建议。

紧格式无模型自适应控制在四旋翼飞行器中的应用

为解决难以建立自适应离散变结构控制的受控系统数学模型问题,提出一类改进的基于紧格式离散时间非线性系统的无模型自适应控制(ICF-MFAC)方法。首先,在仅有一项时变积分项的CF-MFAC方法中加入误差反馈输出控制项,使得控制器具有在线整定内部参数的优势,提高系统的动态性能。然后,通过严格的数学推导对ICF-MFAC方法进行收敛性证明,理论分析表明,ICF-MFAC方法提高了伪偏导数估计值的利用率,加快了系统的响应速度。最后,在四旋翼飞行器中进行仿真实验,与CF-MFAC方法相比,改进的控制方法控制误差减小6.12%,且无超调、跟踪误差小,始终保持良好的控制效果和鲁棒性。

基于MIMO-ESO的高速飞行器自抗扰控制

针对高速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型,设计了高速飞行器MIMO-ESO自抗扰姿态控制器。考虑各通道间的耦合影响,结合自抗扰控制中的扩张状态观测器及非线性状态误差反馈律,将不确定性、耦合及参数摄动等干扰作为“总和干扰”,利用扩张状态观测器进行估计并动态反馈补偿,再利用非线性状态误差反馈律抑制补偿残差。仿真结果表明,MIMO-ESO自抗扰控制器能够克服干扰及气动参数大范围摄动的影响,在获取良好的动态品质和跟踪性能的同时,具有较强的鲁棒性,克服了实际工程中难以建立精确被控模型并获取参数摄动范围的困难,具有工程应用价值。

基于“线上-线下”双模式结合的密立根油滴实验教学方法

密立根油滴实验室高校大学物理实验中具有重要意义的实验,目的在于测量元电荷的数值,实验设立旨在培养高校学生创新性的科研思维和严谨的科学态度。立足于目前密立根油滴实验的教学现状,本文提出一种基于“线上—线下”双模式结合的密立根油滴实验教学方法,首先通过线上实验预习平台,学生自主进行实验的学习和演练。然后线下实验授课平台重点讲解实验原理、实验注意事项和实验数据的处理,充分培养学生的自主学习能力和动手能力。此外,本文创新性地提出一种“误差反馈剔除法”对实验所测的数据进行处理,此方法对受干扰的测量数据具有极强的鲁棒性,实验证明相比原有的倒推法,采用剔除法处理数据后实验的精度有较大的提升。

电容式加速度传感器下电梯制动器制停时间预测算法

电梯制动器制停时间的预测需要大量的实时传感器数据,由于受到噪声和不准确度等因素的影响,存在数据稀疏性和不完整性的问题,导致预测精度与效率较低。为此,提出电容式加速度传感器下的电梯制动器制停时间预测研究。采用电容式加速度传感器实时采集电梯制动器制停过程中的加速度数据;对采集的数据进行二阶正反馈带通滤波处理,消除可能存在的噪声或不必要的频率成分;利用傅立叶分析技术对加速度数据进行误差补偿处理,以减少由于传感器本身或其他因素引起的误差对制停时间预测的影响;基于已经滤波和误差补偿过的加速度数据,结合牛顿第二定律可以估算出电梯制动器的制停时间。经实验证明,设计方法预测平均百分比误差小于1%,预测耗时短于1ms,可以实现对电梯制动器制停时间高精度快速预测。

Dual loop feedback pre-distortion in satellite communication

Since the satellite communication goes in the trend of high-frequency and fast speed, the coefficients updating and the precision of the traditional pre-distortion feedback methods need to be further improved. On this basis, this paper proposes dual loop feedback pre-distortion, which uses two first-order Volterra filter models to reduce the computing complexity and a dynamic error adjustment model to construct a revised feedback to ensure a better pre-distortion performance. The computation complexity, iterative convergence speed and precision of the proposed method are theoretically analyzed. Simulation results show that this dual loop feedback pre-distortion can speed the updating of coefficients and ensure the linearity of the amplifier output.

Structural scheme and theory behind feedback compensation of new parallel machine tools

Analyses the errors of new parallel machine tools and presents a structural scheme for feedback compensation of machine tools to eliminate these errors, the theory behind and the relation between direction consine of normal vector of the workpiece surface and the rotation angles α,β,γ of the cutter head.

QFT control based on zero phase error compensation for flight simulator

To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.

BER ANALYSIS OF A GMSK SYSTEM USING DECISION FEEDBACK

There are considerable literatures on the Bit Error Rate(BER)evaluation of DifferentialDetection of Gaussian Minimum Shift Keying(DDGMSK)system using Decision Feedback(DF),butmost of them give the performance based on the Monte Carlo Error Counting(MCEC)technique.Fromthe probability distribution of the phase angle between two vectors perturbed by Gaussian noises,theformulae of BER are derived for the performance analysis of DDGMSK system with DF in this letter.Considering the m-bit dock-tailed sequence,the new formulae of Gaussian Minimum Shift Keying(GMSK)modulated phase and the Time-Varying Signal to Noise Ratio(TVSNR)of the demodulatedsignal are presented,and it is proved that the relationship between the TVSNR of the demodulatedsignal and the size of eye opening is not inevitable.Simulation results show that the theoretical in-vestigation gives analogous results with the MCEC technique.The formulae presented are useful for theperformance analysis of systems using GMSK as modulating and demodulating method,for instance,the analysis of synchronous performance of frequency-hopping communication system.