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改进TDM-LoRa低功耗森林火灾监测预警系统

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福州大学学报（自然科学版） 2024年第3期52卷 253-260页

作者：林金亮彭侠夫厦门大学航空航天学院福建厦门361102 闽西职业技术学院信息工程学院福建龙岩364021

针对目前森林火灾监测系统成本高、功耗大、维护复杂的缺点,提出一种基于改进TDM-LoRa设计的低功耗森林火灾监测预警系统.系统以STM32系列微处理器为节点控制核心,LoRa-SX1278芯片为通信模块,并使用增量传输和改进时分复用通信机制,有... 详细信息

针对目前森林火灾监测系统成本高、功耗大、维护复杂的缺点,提出一种基于改进TDM-LoRa设计的低功耗森林火灾监测预警系统.系统以STM32系列微处理器为节点控制核心,LoRa-SX1278芯片为通信模块,并使用增量传输和改进时分复用通信机制,有效降低节点能耗,从而延长监测节点和汇聚节点寿命.试验结果表明,数据信息在发射功率为20 dBm、传输速率为1.2 kbit·s^(-1)的情况下,节点在3500 m范围内实现的丢包率仅为7.2%;在使用2600 mA·h的电池、数据采集上传间隔时间为30 min的情况下,单个节点有效工作时间理论可达90.7个月,实现无中继远距离低功耗森林环境监测数据的采集.

关键词：森林火灾火灾监测预警系统改进TDM-LoRa 增量传输低功耗丢包率

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基于图优化参数辨识的船体变形测量方法

哈尔滨工程大学学报 2024年第2期45卷 247-253页

作者：徐东生张霄力何荧彭侠夫宋凝芳厦门大学航空航天学院福建厦门361005 北京理工大学自动化学院北京100081 江南机电设计研究所贵州贵阳550009 北京航空航天大学仪器科学与光电工程学院北京100191

针对船体变形惯性匹配测量中模型参数准确性影响测量精度的问题,本文提出了一种基于图优化的船体变形模型参数辨识方法并应用于惯性匹配测量。通过分析船体变形模型预设参数对惯性匹配测量的Kalman滤波影响,得到参数对惯性匹配精度的影... 详细信息

针对船体变形惯性匹配测量中模型参数准确性影响测量精度的问题,本文提出了一种基于图优化的船体变形模型参数辨识方法并应用于惯性匹配测量。通过分析船体变形模型预设参数对惯性匹配测量的Kalman滤波影响,得到参数对惯性匹配精度的影响机制;利用船体变形历史数据,结合待辨识的船体变形模型参数组成图优化超图,建立船体变形参数辨识的图优化模型,实现船体变形惯性匹配预设模型参数的辨识,最后将参数辨识结果代入惯性匹配方程以完成准确测量。仿真实验验证了该方法可以有效地完成船体变形参数辨识,保障船体变形惯性匹配测量的准确度。

关键词：船体变形惯性匹配测量预设参数 Kalman滤波图优化超图参数辨识准确测量

二阶锥约束规划的机器人视觉闭环位姿自协调方法

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中国机械工程 2024年第6期35卷 1064-1073页

作者：仲训杲罗家国田军仲训昱彭侠夫刘强厦门理工学院电气工程与自动化学院厦门361024 厦门大学航空航天学院厦门361005 布里斯托大学工程数学与技术学院布里斯托BS81TW 厦门市高端电力装备及智能控制重点实验室厦门361024

将机器人“手-眼”位姿自协调视为无标定约束规划问题,提出一种基于二阶锥约束规划的视觉闭环控制方法。在图像平面和笛卡儿空间分别建立基于图像与基于位姿的视觉伺服控制算法;在路径约束和局部极小约束准则下构建二阶锥凸优化模型,实... 详细信息

将机器人“手-眼”位姿自协调视为无标定约束规划问题,提出一种基于二阶锥约束规划的视觉闭环控制方法。在图像平面和笛卡儿空间分别建立基于图像与基于位姿的视觉伺服控制算法;在路径约束和局部极小约束准则下构建二阶锥凸优化模型,实现了图像特征轨迹和机器人运动路径折中最优;将所提出的二阶锥约束规划模型嵌入自适应状态估计器,实现了机器人雅可比矩阵在线映射学习,解决了“手-眼”标定参数和视觉深度信息未知问题;最后通过无标定机器人视觉定位证明了二阶锥约束规划模型的有效性,真实环境抓取操作表明了机器人位姿自协调控制的可行性。

关键词：位姿协调约束规划无标定视觉伺服混合闭环反馈控制

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Evaluation of fault diagnosability for nonlinear uncertain systems with multiple faults occurring simultaneously

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Journal of Systems Engineering and Electronics 2020年第3期31卷 634-646页

作者： LIN Lixiong WANG Qing HE Bingwei peng xiafu School of Mechanical Engineering and Automation Fuzhou UniversityFujian 350000China Department of Automation Xiamen UniversityXiamen 361005China

Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many ***,no attempt has been done to evaluate the diagnosability of multiple faults occurring simultaneously for nonlinear *** paper proposes a method based on differential geometry theories to solve this *** the evaluation of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is *** deal with the effect of control laws on the evaluation results of fault diagnosability,a design scheme of the evaluation of fault diagnosability is *** the influence of uncertainties on the evaluation results of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is *** numerical simulation results are obtained to show the effectiveness of the proposed evaluation scheme of fault diagnosability.

关键词： fault diagnosability multiple faults occurring simultaneously uncertain affine nonlinear system

On common solutions of Riccati inequalities

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控制理论与应用（英文版） 2011年第2期9卷 225-230页

作者： Sun, Hongfei Yang, Zhiling peng, xiafu Department of Automation Xiamen University Xiamen Fujian 361005 China

This paper extends the previous work on common positive definite solutions (CPDSs) to planar algebraic Riccati inequalities (ARIs) to those with arbitrary *** topological structure of the set of all positive definite solutions of an ARI is *** leads to a necessary and sufficient condition for the existence of CPDSs to a set of Riccati *** also reveals that the solution set of ARIs is a positive cube in Rn,which arouses a new method to search the *** examples of three-dimensional ARIs are presented to show the effectiveness of the proposed *** linear matrix inequality (LMI) method,the computing collapse will not occur with the increase of the number of Riccati inequalities due to the fact that our approach handles the ARIs one by one rather than simultaneously.

关键词： Switched systems Common solutions of Riccati inequalities Linear matrix inequality (LMI)

Design of Sensor Placement Based on Fault Diagnosability

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Design of Sensor Placement Based on Fault Diagnosability

第36届中国控制会议

作者： Xiaoqiang Hu Xiaoli Zhang xiafu peng Qi Ding Chengrui Liu Department of Automation Xiamen University Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering

ISBN: (纸本)9781538629185

This paper studies the sensor optimization configuration which meets the fault diagnosability of affine nonlinear faulty *** of all,the judgment method of fault diagnosability and the relevant quantitative evaluation indexes based on the differential geometry theory are *** the optimal sensor allocation model is built,and the pagerank algorithm of the web page ranking is introduced into the configuration *** differ from the new intellective heuristic algorithms,the weighted pagerank algorithm shifts the focus from designing an optimal subset search algorithm of better performance out to evaluating the important degree of each measuring point,and makes use of the analytic model more efficiently rather than the direct graph *** the end,a validation example of the point mass satellite system is presented to demonstrate the effectiveness of the proposed approach.

关键词： sensor optimization configuration fault diagnosability pagerank algorithm

Adaptive Observer-Based Fault Diagnosis for Sensor in a Class of MIMO Nonlinear System

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Adaptive Observer-Based Fault Diagnosis for Sensor in a Clas...

第36届中国控制会议

作者： Qi Ding xiafu peng Xiaoli Zhang Xiaoqiang Hu Xunyu Zhong Department of Automation Xiamen University

ISBN: (纸本)9781538629185

This paper presents a novel sensor parameter fault diagnosis method for generally multiple-input mutiple-output(MIMO) affine nonlinear systems based on adaptive ***,the affine nonlinear systems are transformed into the particular systems via diffeomoiphic transformation using Lie ***,based on the techniques of high-gain observer and adaptive estimation,an adaptive observer structure is designed with simple method for jointly estimating the states and the unknown parameters in the output equation of the nonlinear *** an algorithm of the fault estimation is *** global exponential convergence of the proposed observer is proved *** the proposed method can be applied to the fault diagnosis of generally affine nonlinear systems directly by the reversibility of aforementioned coordinate ***,a numerical example is presented to illustrate the efficiency of the proposed fault diagnosis scheme.

关键词： MIMO nonlinear system fault diagnosis adaptive observer sensor

Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM

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Online Self-calibration of Camera-IMU External Parameters an...

第三十九届中国控制会议

作者： Jian peng Xunyu Zhong xiafu peng Yueliang Li Department of Automation Xiamen University

The positioning accuracy of simultaneous localization and mapping（SLAM） system based on visual and IMU fusion depends on accurate IMU initialization and external parameters between camera and IMU to a large ***,the SLAM system recalibrated when the relative position of the camera and IMU ***,the off-line calibration of the SLAM system is complicated *** solve the problem,a new method of external parameter self-calibration and IMU online initialization ***,the proposed method employs the calibrated stereo camera to avoid the ambiguous-scale of the monocular *** processes are included in our ***,the parameter of external rotation between camera and IMU with the rotation between camera and IMU of two consecutive frames as input is ***,the gyro bias estimated by the obtained external ***,the gravity and the parameter of external translation roughly estimated without considering the accelerometer ***,the gravity and external translation optimized with the accelerometer *** results on datasets demonstrate that the proposed method with stereo VI-SLAM has better performance of positioning accuracy,convergence,and deviation of external parameters than that of the state-of-the-art VINS-mono of the new version.

关键词： Stereo Ⅵ-SLAM Online Self-calibration Initialization

Multi-Sensor Fusion Technology in Inertial Navigation System Using Factor Graph

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Multi-Sensor Fusion Technology in Inertial Navigation System...

第37届中国控制会议

作者： Cheng Chen Xiaoli Zhang xiafu peng Xiaoqiang Hu School of Aerospace Engineering Xiamen University

This paper presents a novel algorithm that is able to satisfy the demands of multi-sensor fusion. It uses a probabilistic model based on factor graph, which provides a better understanding of navigation solution on non-linear optimization. This architecture which achieves plug-and-play can receive multi-rate, asynchronous measurements. The incoming measurements from various sensors are added to the factor graph as nodes and form an entire graph structure. We design a total-state estimator including velocity and poses of the vehicle. To reduce the angular error because of gyroscope drift, a novel quaternion-based on attitude estimator with magnetic, angular rate and gravity（MARG） sensor arrays are used to ensure the accuracy of attitude heading reference system（AHRS）. The attitude estimator provides a better reference value for the inertial navigation system in time. The simulation results show that the approach not only provides a solution of high accuracy and reliability, but also meets the need of various condition using the multi-sensor fusion.

关键词： Multi-sensor fusion factor graph asynchronous navigation plug-and-play