A Retrodirective Array Enabled by CMOS Chips for Two-Way Wireless Communication with Automatic Beam Tracking

This article proposes and demonstrates a retrodirective array(RDA)for two-way wireless communication with automatic beam tracking.The proposed RDA is enabled by specifically designed chips made using a domestic complementary metal-oxide semiconductor(CMOS)process.The highly integrated CMOS chip includes a receiving(Rx)chain,a transmitting(Tx)chain,and a unique tracking phaselocked loop(PLL)for the crucial conjugated phase recovery in the RDA.This article also proposes a method to reduce the beam pointing error(BPE)in a conventional RDA.To validate the above ideas simply yet without loss of generality,a 2.4 GHz RDA is demonstrated through two-way communication links between the Rx and Tx chains,and an on-chip quadrature coupler is designed to achieve a nonretrodirective signal suppression of 23 dBc.The experimental results demonstrate that the proposed RDA,which incorporates domestically manufactured low-cost 0.18 lm CMOS chips,is capable of automatically tracking beams covering±40with a reduced BPE.Each CMOS chip in the RDA has a compact size of 4.62 mm^(2) and a low power consumption of 0.15 W.To the best of the authors’knowledge,this is the first research to demonstrate an RDA with a fully customized CMOS chip for wireless communication with automatic beam tracking。

Fuzzy control on automatic frequency tracking of ultrasonic vibration system with high power and high quality factor Q

In order to realize automatic tracking drift of resonance frequency of ultrasonic vibration system with high power and high quality factor Q, adaptive fuzzy control was studied with a self-fabricated ultrasonic plastic welding machine. At first, relations between amplitude of vibration and frequency as well as main loop current and amplitude of vibration were analyzed. From this analysis, we deduced that frequency tracking process of the vibration system can be concluded as an optimizing problem of one dimensional fluctuant extremum of main loop current in vibration system. Then a method of self-optimizing fuzzy control, used for the realization of automatic frequency tracking in vibration system, is presented on the basis of serf-optimizing adaptive control approach and fuzzy control approach. The result of experiments shows that the fuzzy self-optimizing method can solve the problem of tracking frequency drift very well. Response time of tracking in the system is less than 50 ms, which basically meets the requirements of frequency tracking in ultrasonic plastic welding machine.

Automatic stabilization of velocity for ultrasonic vibration system

Describes the structure of a current feedback ultrasonic generation system with such characteristic as velocity stabilization and automatic frequency tracking, discusses the velocity stabilization principle, and points out that successful frequency tracking is precondition for velocity stabilization.

Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning

We address a state-of-the-art reinforcement learning(RL)control approach to automatically configure robotic pros-thesis impedance parameters to enable end-to-end,continuous locomotion intended for transfemoral amputee subjects.Specifically,our actor-critic based RL provides tracking control of a robotic knee prosthesis to mimic the intact knee profile.This is a significant advance from our previous RL based automatic tuning of prosthesis control parameters which have centered on regulation control with a designer prescribed robotic knee profile as the target.In addition to presenting the tracking control algorithm based on direct heuristic dynamic programming(dHDP),we provide a control performance guarantee including the case of constrained inputs.We show that our proposed tracking control possesses several important properties,such as weight convergence of the learning networks,Bellman(sub)optimality of the cost-to-go value function and control input,and practical stability of the human-robot system.We further provide a systematic simulation of the proposed tracking control using a realistic human-robot system simulator,the OpenSim,to emulate how the dHDP enables level ground walking,walking on different terrains and at different paces.These results show that our proposed dHDP based tracking control is not only theoretically suitable,but also practically useful.

MAGE ANALYSIS OF GEOSTATIONARY METEOROLOGICAL SATELLITE FOR MONITORING MOVEMENT OF MESOSCALE CONVECTIVE SYSTEMS OVER TIBETAN PLATEAU

Disaster weather forecasting is becoming increasingly important. In this paper, the trajectories of Mesoscale Convective Systems （MCSs） were automatically tracked over the Chinese Tibetan Plateau using Geostationary Meteorological Satellite （GMS） brightness temperature （Tbb） from June to August 1998, and the MCSs are classified according to their movement direction. Based on these, spatial data mining methods are used to study the relationships between MCSs trajectories and their environmental physical field values. Results indicate that at 400hPa level, the trajectories of MCSs moving across the 105°E boundary are less influenced by water vapor flux divergence, vertical wind velocity, reIative humidity and K index. In addition, if the gravity central longitude locations of MCSs are between 104°E and 105°E, then geopotential height and wind divergence are two main factors in movement causation. On the other hand, at 500hPa level, the trajectories of MCSs in a north-east direction are mainly influenced by K index and water vapor flux divergence when their central locations are less than 104°E. However, the MCSs moving in an east and south-east direction are influenced by a few correlation factors at this level.

ANALYSIS OF MESOSCALE CONVECTIVE SYSTEMS OVER TIBETAN PLATEAU IN SUMMER

In this paper, Geostationary Meteorological Satellite (GMS) infrared black-body temperature (Tbb) data from June to August 1998 are used to automatically track the activity of Mesoscale Convective System (MCS) over the Tibetan Plateau in China. Consequently, the features of MCS, such as area, intensity, life cycle, activity region and shape, are obtained. High Resolution Limited Area Analysis and Forecasting System (HLAFS) values provided by China National Meteorological Center are used to study the relationships between the MCS trajectories and their environmental physical field values, based on the distribution and trajectories of MCSs over the Tibetan Plateau. Favorable environmental physical field charts of influencing MCS movement out of the Tibetan Plateau in different UTC (Universal Time Coordinate) are developed by using spatial data mining techniques at levels of 400hPa and 500hPa, respectively.

Design and test of flexible chassis automatic tracking steering system

In order to develop an innovative omnidirectional non-homonymic flexible chassis(FC),the four-wheel steering control method of FC was designed by a new concept called off-centered steering(OCS)and the automatic tracking steering system was analyzed.Novelty of this wheel concept lies in the non-conventional positioning of the steering axis and wheel axis.Additionally,the steering axis of steerable wheel was motorized with an on/off electrometrical brake to overcome a hyper-motorization issue inherent to the wheel’s geometrical properties and hold the steering position.Based on the off-centered steering characteristics of FC,the Wheatstone bridge was applied in the steering control system.The bridge resistances are used to track target steering angles and the actual steering angle,respectively.The output voltage of the bridge is exploited to adjust the wheel’s speed so that steering and automatic tracking could be achieved.Experiments at different speeds,loadings,and target steering angles were conducted.Results showed that the chassis can indeed be controlled independently and its steering range is from-90°to 90°,which indicated the automatic tracking steering system was effective.The electromagnetic lock(EL)can significantly improve the stability of the chassis and reduce the vibration.Loading has no significant effect on the accuracy of the steering angle and the time it takes to complete steering tasks.The time taken to complete a forward steering task showed a linear relationship with the required angles,but was independent of rotation speed;for backward steering,time was related to both target angles and rotation speed.The results presented in this research may provide a reference for the steering control strategies of the four-wheel individual drive and four-wheel(4WID/4WIS)vehicle in the future.

Precise bearing and automatic target tracking in digital sonar

Precise bearing and Automatic Target Thacking (ATT) for moving vessels is an important thesis in passsive sonar design. Thaditionally in the analogue sonar, DOA (Direction Of Arrival) of the target is determined by the single beam steerillg directioll, which rotate some kind of compensator to steer the target. The compensator is typically made of many electronic and mechanical components. The bearing accuracy substantially depellds on the accuracy of tapped delay line and many mechanical factors. With the application of digital technique in sonar, the precise bearing and ATT technique have attracted much interests for sonar designer. For a digital sonar the multi-beam system has discrete beam direction, which distributed in space, each beam has its fixed steering direction. It is important to use them to estimate precisely DOA of target and then to track the target automatically when the target is moving. An algorithm, which can precisely estimate the value of DOA of the target, is derived in this paper. The relationship among bearing accuracy and the array aperture, signal frequency band is expressed. The expression of time-delay estimation and bearing accuracy is presented. DOA of the target can be precisely calculated by the parabolic interpolation in the neighbourhood of the main lobe of the directivity function. It is easy to implement ATT technique in real time by DSP chips. The results of system simulation show that the algorithm derived in this paper has very good performance in target tracking.

Visual detection of rice rows based on Bayesian decision theory and robust regression least squares method

Paddy field management is complicated and labor intensive.Correct row detection is important to automatically track rice rows.In this study,a novel method was proposed for accurate rice row recognition in paddy field transplanted by machine before the disappearance of row information.Firstly,Bayesian decision theory based on the minimum error was used to classify the period of collected images into three periods(T1:0-7 d;T2:7-28 d;T3:28-45 d),and resulting in the correct recognition rate was 97.03%.Moreover,secondary clustering of feature points was proposed,which can solve some problems such as row breaking and tilting.Then,the robust regression least squares method(RRLSM)for linear fitting was proposed to fit rice rows to effectively eliminate interference by outliers.Finally,a credibility analysis of connected region markers was proposed to evaluate the accuracy of fitting lines.When the threshold of credibility was set at 40%,the correct recognition rate of fitting lines was 96.32%.The result showed that the method can effectively solve the problems caused by the presence of duckweed,high-density inter-row weeds,broken rows,tilting(±60°),wind and overlap.