THE PARALLEL RECURSIVE AP ADAPTIVE ALGORITHM BASED ON VOLTERRA SERIES

Aiming at the nonlinear system identification problem, a parallel recursive affine projection (AP) adaptive algorithm for the nonlinear system based on Volterra series is presented in this paper. The algorithm identifies in parallel the Volterra kernel of each order, recursively estimate the inverse of the autocorrelation matrix for the Volterra input of each order, and remarkably improve the convergence speed of the identification process compared with the NLMS and conventional AP adaptive algorithm based on Volterra series. Simulation results indicate that the proposed method in this paper is efficient.

Adaptive Noise Identification in Vision-assisted Motion Estimation for Unmanned Aerial Vehicles

Vision localization methods have been widely used in the motion estimation of unmanned aerial vehicles(UAVs).The noise of the vision location result is usually modeled as a white Gaussian noise so that this location result could be utilized as the observation vector in the Kalman filter to estimate the motion of the vehicle.Since the noise of the vision location result is affected by external environment,the variance of the noise is uncertain.However,in previous researches,the variance is usually set as a fixed empirical value,which will lower the accuracy of the motion estimation.The main contribution of this paper is that we proposed a novel adaptive noise variance identification(ANVI) method,which utilizes the special kinematic properties of the UAV for frequency analysis and then adaptively identifies the variance of the noise.The adaptively identified variance is used in the Kalman filter for more accurate motion estimation.The performance of the proposed method is assessed by simulations and field experiments on a quadrotor system.The results illustrate the effectiveness of the method.

Hybrid force control of astronaut rehabilitative training robot under active loading mode

In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.

An efficient equivariant adaptive separation via independence algorithm for acoustical source separation and identification

To balance the convergence rate and steadystate error of blind source separation(BSS) algorithms, an efficient equivariant adaptive separation via independence(Efficient EASI) algorithm is proposed based on separating indicator, which was derived from the convergence condition of EASI, and can be used to evaluate the separation degree of separated signals. Furthermore, a nonlinear monotone increasing function between suitable step sizes and separating indicator is constructed to adaptively adjust step sizes, and forgetting factor is employed to weaken effects of data at the initial stage. Numerical case studies and experimental studies on a test bed with shell structures are provided to validate the efficiency improvement of the proposed method. This study can benefit for vibration & acoustic monitoring and control, and machinery condition monitoring and fault diagnosis.