This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global posit...This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.展开更多
Flexible structure dynamics with collocated force actuators and position sensors lead to negative imaginary （NI） systems. In this paper, the authors study the extension of NI theory to descriptor systems. The author...Flexible structure dynamics with collocated force actuators and position sensors lead to negative imaginary （NI） systems. In this paper, the authors study the extension of NI theory to descriptor systems. The authors derive an NI lemma for descriptor systems. This is done by using the transformation from positive real （PR） system to NI system. Then, the Weierstrass Form transformation was involved to transform A and E matrices to be in a special form. An illustrative example is presented to support the result. Negative imaginary systems, positive real systems, descriptor systems, Negative imaginary lemma.展开更多
A new method of switched reluctance wind power generation position sensorless based on DFNN by FEA was proposed, Through current and magnetic linkage to get the angle of SRG rotor position, the nonlinear mapping of cu...A new method of switched reluctance wind power generation position sensorless based on DFNN by FEA was proposed, Through current and magnetic linkage to get the angle of SRG rotor position, the nonlinear mapping of cur- rent-magnetic linkage-angle was built, By training these sample data from FEA, the angle of SRG rotor position was replaced by the output of DFNN to achieve SRG position sensorless. Simulation results show that the error between actual rotor position and estimate rotor position is small; SRG can commutate with great accuracy; and the output voltage of SRG wind power system under variable wind speed is essentially constant.展开更多
文摘This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.
文摘Flexible structure dynamics with collocated force actuators and position sensors lead to negative imaginary （NI） systems. In this paper, the authors study the extension of NI theory to descriptor systems. The authors derive an NI lemma for descriptor systems. This is done by using the transformation from positive real （PR） system to NI system. Then, the Weierstrass Form transformation was involved to transform A and E matrices to be in a special form. An illustrative example is presented to support the result. Negative imaginary systems, positive real systems, descriptor systems, Negative imaginary lemma.
基金Supported by the National Natural Science Foundation of China （50977080） the Science ＆ Technology Department Project of Hunan Province （2010F J3116） the Education Department Project of Hunan Province （ 10A 114）
文摘A new method of switched reluctance wind power generation position sensorless based on DFNN by FEA was proposed, Through current and magnetic linkage to get the angle of SRG rotor position, the nonlinear mapping of cur- rent-magnetic linkage-angle was built, By training these sample data from FEA, the angle of SRG rotor position was replaced by the output of DFNN to achieve SRG position sensorless. Simulation results show that the error between actual rotor position and estimate rotor position is small; SRG can commutate with great accuracy; and the output voltage of SRG wind power system under variable wind speed is essentially constant.
