An extended-state-observer(ESO) based predictive control scheme is proposed for the autopilot of lunar landing.The slosh fuel masses exert forces and torques on the rigid body of lunar module(LM),such disturbances wil...An extended-state-observer(ESO) based predictive control scheme is proposed for the autopilot of lunar landing.The slosh fuel masses exert forces and torques on the rigid body of lunar module(LM),such disturbances will dramatically undermine the stability of autopilot system.The fuel sloshing dynamics and uncertainties due to the time-varying parameters are considered as a generalized disturbance which is estimated by an ESO from the measured attitude signals and the control input signals.Then a continuous-time predictive controller driven by the estimated states and disturbances is designed to obtain the virtual control input,which is allocated to the real control actuators according to a deadband logic.The 6-DOF simulation results reveal the effectiveness of the proposed method when dealing with the fuel sloshing dynamics and parameter perturbations.展开更多
Aiming at the potential presence of mixing automatic identification system(AIS) signals,a new demodulation scheme was proposed for separating other interfering signals in satellite systems.The combined iterative cross...Aiming at the potential presence of mixing automatic identification system(AIS) signals,a new demodulation scheme was proposed for separating other interfering signals in satellite systems.The combined iterative cross-correlation demodulation scheme,referred to as CICCD,yielded a set of single short signals based on the prior information of AIS,after the frequency,code rate and modulation index were estimated.It demodulates the corresponding short codes according to the maximum peak of cross-correlation,which is simple and easy to implement.Numerical simulations show that the bit error rate of proposed algorithm improves by about 40% compared with existing ones,and about 3 dB beyond the standard AIS receiver.In addition,the proposed demodulation scheme shows the satisfying performance and engineering value in mixing AIS environment and can also perform well in low signal-to-noise conditions.展开更多
AIM:To investigate the performance of a new software-based colonoscopy quality assessment system.METHODS:The software-based system employs a novel image processing algorithm which detects the levels of image clarity,w...AIM:To investigate the performance of a new software-based colonoscopy quality assessment system.METHODS:The software-based system employs a novel image processing algorithm which detects the levels of image clarity,withdrawal velocity,and level of the bowel preparation in a real-time fashion from live video signal.Threshold levels of image blurriness and the withdrawal velocity below which the visualization could be considered adequate have initially been determined arbitrarily by review of sample colonoscopy videos by two experienced endoscopists.Subsequently,an overall colonoscopy quality rating was computed based on the percentage of the withdrawal time with adequate visualization(scored 1-5;1,when the percentage was 1%-20%;2,when the percentage was 21%-40%,etc.).In order to test the proposed velocity and blurriness thresholds,screening colonoscopy withdrawal videos from a specialized ambulatory colon cancer screening center were collected,automatically processed and rated.Quality ratings on the withdrawal were compared to the insertion in the same patients.Then,3 experienced endoscopists reviewed the collected videos in a blinded fashion and rated the overall quality of each withdrawal(scored 1-5;1,poor;3,average;5,excellent) based on 3 major aspects:image quality,colon preparation,and withdrawal velocity.The automated quality ratings were compared to the averaged endoscopist quality ratings using Spearman correlation coefficient.RESULTS:Fourteen screening colonoscopies were assessed.Adenomatous polyps were detected in 4/14(29%) of the collected colonoscopy video samples.As a proof of concept,the Colometer software rated colonoscope withdrawal as having better visualization than the insertion in the 10 videos which did not have any polyps(average percent time with adequate visualization:79% ± 5% for withdrawal and 50% ± 14% for insertion,P < 0.01).Withdrawal times during which no polyps were removed ranged from 4-12 min.The median quality rating from the automated system and the reviewers was 3.45 [interquartile range(IQR),3.1-3.68] and 3.00(IQR,2.33-3.67) respectively for all colonoscopy video samples.The automated rating revealed a strong correlation with the reviewer's rating(ρ coefficient= 0.65,P = 0.01).There was good correlation of the automated overall quality rating and the mean endoscopist withdrawal speed rating(Spearman r coefficient= 0.59,P = 0.03).There was no correlation of automated overall quality rating with mean endoscopists image quality rating(Spearman r coefficient= 0.41,P = 0.15).CONCLUSION:The results from a novel automated real-time colonoscopy quality feedback system strongly agreed with the endoscopists' quality assessments.Further study is required to validate this approach.展开更多
The chattering noise problem of reed switch sensor signal for Automatic Meter Reading system was analyzed experimentally under various types of external vibrations and shocks. The external vibration level amplitude wa...The chattering noise problem of reed switch sensor signal for Automatic Meter Reading system was analyzed experimentally under various types of external vibrations and shocks. The external vibration level amplitude was measured with an accelerometer. To apply for water flow measurement devices, the reed switch sensors should keep high reliability. But the measured digital meter data are occurred difference or errors by chattering noise. The reed switch contains chattering error by itself at the force equivalent position. The vibrations such as passing vehicle near to the reed switch installed location causes chattering. In order to reduce chattering error, most system uses just software methods, for example using digital filter algorithm and also statistical calibration methods. However software approaches were implemented for reducing chattering error, there has still generated chattering error due to external mechanical vibrations and magnetic field. The chattering errors can be reduced by changing leaf spring structure using mechanical hysteresis characteristics.展开更多
基金Project(020301)supported by the Manned Spaceflight Advanced Research,ChinaProject(14JJ3024)supported by Hunan Natural Science Foundation,China
文摘An extended-state-observer(ESO) based predictive control scheme is proposed for the autopilot of lunar landing.The slosh fuel masses exert forces and torques on the rigid body of lunar module(LM),such disturbances will dramatically undermine the stability of autopilot system.The fuel sloshing dynamics and uncertainties due to the time-varying parameters are considered as a generalized disturbance which is estimated by an ESO from the measured attitude signals and the control input signals.Then a continuous-time predictive controller driven by the estimated states and disturbances is designed to obtain the virtual control input,which is allocated to the real control actuators according to a deadband logic.The 6-DOF simulation results reveal the effectiveness of the proposed method when dealing with the fuel sloshing dynamics and parameter perturbations.
基金Project(9140C860304) supported by the National Defense Key Laboratory Foundation of China
文摘Aiming at the potential presence of mixing automatic identification system(AIS) signals,a new demodulation scheme was proposed for separating other interfering signals in satellite systems.The combined iterative cross-correlation demodulation scheme,referred to as CICCD,yielded a set of single short signals based on the prior information of AIS,after the frequency,code rate and modulation index were estimated.It demodulates the corresponding short codes according to the maximum peak of cross-correlation,which is simple and easy to implement.Numerical simulations show that the bit error rate of proposed algorithm improves by about 40% compared with existing ones,and about 3 dB beyond the standard AIS receiver.In addition,the proposed demodulation scheme shows the satisfying performance and engineering value in mixing AIS environment and can also perform well in low signal-to-noise conditions.
基金Supported by The Natural Sciences and Engineering Research Council of Canada (Partially)
文摘AIM:To investigate the performance of a new software-based colonoscopy quality assessment system.METHODS:The software-based system employs a novel image processing algorithm which detects the levels of image clarity,withdrawal velocity,and level of the bowel preparation in a real-time fashion from live video signal.Threshold levels of image blurriness and the withdrawal velocity below which the visualization could be considered adequate have initially been determined arbitrarily by review of sample colonoscopy videos by two experienced endoscopists.Subsequently,an overall colonoscopy quality rating was computed based on the percentage of the withdrawal time with adequate visualization(scored 1-5;1,when the percentage was 1%-20%;2,when the percentage was 21%-40%,etc.).In order to test the proposed velocity and blurriness thresholds,screening colonoscopy withdrawal videos from a specialized ambulatory colon cancer screening center were collected,automatically processed and rated.Quality ratings on the withdrawal were compared to the insertion in the same patients.Then,3 experienced endoscopists reviewed the collected videos in a blinded fashion and rated the overall quality of each withdrawal(scored 1-5;1,poor;3,average;5,excellent) based on 3 major aspects:image quality,colon preparation,and withdrawal velocity.The automated quality ratings were compared to the averaged endoscopist quality ratings using Spearman correlation coefficient.RESULTS:Fourteen screening colonoscopies were assessed.Adenomatous polyps were detected in 4/14(29%) of the collected colonoscopy video samples.As a proof of concept,the Colometer software rated colonoscope withdrawal as having better visualization than the insertion in the 10 videos which did not have any polyps(average percent time with adequate visualization:79% ± 5% for withdrawal and 50% ± 14% for insertion,P < 0.01).Withdrawal times during which no polyps were removed ranged from 4-12 min.The median quality rating from the automated system and the reviewers was 3.45 [interquartile range(IQR),3.1-3.68] and 3.00(IQR,2.33-3.67) respectively for all colonoscopy video samples.The automated rating revealed a strong correlation with the reviewer's rating(ρ coefficient= 0.65,P = 0.01).There was good correlation of the automated overall quality rating and the mean endoscopist withdrawal speed rating(Spearman r coefficient= 0.59,P = 0.03).There was no correlation of automated overall quality rating with mean endoscopists image quality rating(Spearman r coefficient= 0.41,P = 0.15).CONCLUSION:The results from a novel automated real-time colonoscopy quality feedback system strongly agreed with the endoscopists' quality assessments.Further study is required to validate this approach.
文摘The chattering noise problem of reed switch sensor signal for Automatic Meter Reading system was analyzed experimentally under various types of external vibrations and shocks. The external vibration level amplitude was measured with an accelerometer. To apply for water flow measurement devices, the reed switch sensors should keep high reliability. But the measured digital meter data are occurred difference or errors by chattering noise. The reed switch contains chattering error by itself at the force equivalent position. The vibrations such as passing vehicle near to the reed switch installed location causes chattering. In order to reduce chattering error, most system uses just software methods, for example using digital filter algorithm and also statistical calibration methods. However software approaches were implemented for reducing chattering error, there has still generated chattering error due to external mechanical vibrations and magnetic field. The chattering errors can be reduced by changing leaf spring structure using mechanical hysteresis characteristics.
