ARM+Cortex+M4自学笔记+基于Kinetis K60

经过多年发展，餐饮管理已经逐渐由定性管理，进入到重视定量管理的科学阶段。众所周知，在定量管理的具体实现方法和手段方面，最有效的工具就是电脑管理。

FFMPEG工程浩大，可以参考的书籍又不是很多，因此很多刚学习FFMPEG的人常常感觉到无从下手。因此特地分离出了一个简单的视频编码器供学习之用。该视频编码器实现了YUV420P像素数据编码为H.264码流尽管该视频编码器的代码十分简单，但是几乎包含了使用FFMPEG编码一个视频所有必备的API。十分适合FFmpeg的初学者。工程基于VC2010。使用了2014.5.6版本的FFmpeg类库。注：这是修正版，增加了flush_encoder()函数

【实例简介】ellipsefit为椭圆拟合程序。ellipse1为示例。只要输入点的坐标（无论多少点），此程序就可算出拟合的椭圆方程

stm32 stm32f103 stm32f10x 的sd卡读写实验例子，sdio模式（非spi）,整个工程打包，带串口usart1（115200，8bit，无校验） 调试，把sd卡的数据读出来打印到securityCRT或者超级终端，可用winhex配合调试。是一个sd卡的驱动，由st官方的程序改编。适用于学习

Gordon L. Stüber著，为英文原文第三版。其第二版已经翻译成中文，即为移动通信原理（第二版），由电子工业出版社出版，但翻译水平很差。Gordon L. StuberPrinciples of mobileCommunicationThird edition② SpringerGordon L. StuberGeorgia Institute of TechnologyAtlanta gaUSAstuber @ece gatech. eduISBN978-1-4614-0363-0e-ISBN978-1-46140364-7DOI10.1007/978-1-46140364-7Springer New York Dordrecht Heidelberg londonLibrary of Congress Control Number: 2011934683C Springer Science+Business Media, LLC 2002, 2011All rights reserved. This work may not be translated or copied in whole or in part without the writtenpermission of the publisher(Springer Science+ Business Media, LLC, 233 Spring Street, New York,NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use inconnection with any form of information storage and retrieval, electronic adaptation, computer softwareor by similar or dissimilar methodology now known or hereafter developed is forbiddenThe use in this publication of trade names, trademarks, service marks, and similar terms, even if they arenot identified as such, is not to be taken as an expression of opinion as to whether or not they are subjectto proprietary rightsPrinted on acid-free paperSpringerispartofSpringerScience+businessMedia(www.springer.com)To Alana, our son nickolasmy father lothar Stuiberand my late mother Beatrice stiiberPrefacePrinciples of Mobile Communication, third edition, is a major revision of thesecond edition. Like its earlier editions, this book provides a mathematicallyrigorous overview of physical layer wireless communications. The basic pedagogicmethodology is to include fully detailed derivations from first principles. The text isintended to provide enough principle material to guide the novice student, whilit the same time having plenty of detailed material to satisfy graduate studentsinclined to pursue research in the area. The book is intended to stress the principlesof wireless communications that are applicable to a wide array of wireless standardsIt is intended to serve as a textbook and reference for graduate students, and a usefulreference for practicing engineersOrganization of the bookChapter 1 begins with an overview that is intended to introduce a broad array ofissues relating to wireless communications. Included is a brief description of theevolution of various wireless standards, the basic concepts of cellular frequencyreuse, the land mobile radio propagation environment, link budgets, and coverageand capacity of cellular radio systemsChapter 2 provides an extensive treatment of radio propagation, since goodunderstanding of the physical wireless channel is essential for the developmentand deployment of wireless systems. The chapter begins with a treatment ofthe narrow-band faded envelope for conventional fixed-to-mobile channels foundin cellular radio systems, mobile-to-mobile channels found in mobile ad henetworks, and multiple-input multiple-output (MIMO) channels where multipleantennas are used at both the transmitter and receiver to achieve high capacity afterconsidering the narrow-band channel, we consider the statistical treatment of wide-band channels. The emulation of wireless channels is essential for the developmentand testing of wireless systems, and the chapter provides a detailed discussion ofchannel simulation techniques. Finally, the chapter concludes with a discussion ofshadowing and path loss models for land mobile radio environmentsPreraceChapter 3 provides a detailed treatment of co-channel interference which is therimary impairment in spectrally efficient cellular frequency reuse systems. Veryoften the receivers in such systems are affected by multiple co-channel interferersand the probability distribution of the total interfering power is considered. Thchapter also considers the link outage performance due to co-channel interferencein a variety of wireless environmentsChapter 4 covers the various types of modulation schemes that are used in mobilecommunication systems along with their spectral characteristics. The chapter beginswith the mathematical representation of bandpass modulated signals, along withNyquist pulse shaping. Later, a large variety of modulation schemes used in wirelesssystems are considered, including both single-carrier and multi-carrier modulation,and both linear and nonlinear modulation techniques This is followed by a treatmentof the power density spectrum of modulated signals. Although quite mathematicalin nature, power spectrum is an important topic, since wireless systems are requiredto operate within a specified out-of-band emission maskChapter 5 discusses the error probability performance of various digital modulation schemes on narrow-band fat fading channels. The performance is evaluatedwith a variety of receiver structures, including coherent detectors, differentialcoherent detectors and noncoherent detectorsChapter 6 includes a treatment of multi-antenna techniques for combatingenvelope fading. The chapter includes a discussion of various diversity combiningtechniques for coherent, differentially coherent, and noncoherent receiver detectionof signals on fading channels with additive white gaussian noise. also consideredis optimal combining which is effective when the primary additive impairment isco-channel interference rather than noise. Finally, the chapter considers the use ofmultiple antennas at the transmitter in the context of classical beam-forming andtransmit diversityChapter 7 provides an extensive treatment of digital signaling on intersymbolinterference(ISI) channels that are typical of broadband land mobile radio systemsThe chapter begins with the characterization of Isi channels and goes on todiscuss techniques for combating ISI based on symbol-by-symbol equalization andsequence estimation. Later, error probability for maximum likelihood sequenceestimation is considered. The chapter concludes with a discussion of co-channeldemodulation for the purpose of mitigating co-channel interference on Isi channelsChapter 8 covers error control coding techniques for wireless systems. Thechapter begins with a discussion of basic block coding including space-time blockcodes Convolutional coding is considered next along with the Viterbi and BCJRalgorithms for decoding convolutional codes, followed by trellis coded modulationThe chapter then provides a detailed discussion on the design and performanceanalysis of convolutional and trellis codes for awgn channels, and interleaved fatfading channels, and fading isi channels. Later, space-time trellis codes are treatedand the chapter concludes with Turbo codinChapter 9 is devoted to spread spectrum techniques The chapter begins with anintroduction to direct sequence and frequency hop spread spectrum. This is followedy a detailed treatment of spreading sequences. Also included is a discussionPrefaceof the effects of tone interference on direct sequence spread spectrum, and theRAKE receiver performance on wide-band channels. The chapter wraps up witha discussion of cdma multiuser detectionChapter 10 is devoted to multi-carrier techniques. It considers the performanceof ofdm on frequency-selective channels and considers the effect of residualISI and problem of residual ISI cancellation. Later, the chapter examines singlecarrier frequency-domain equalization(SC-FDE)techniques. This is followed by atreatment of orthogonal frequency division multiple access (OFDMA)on both theforward and reverse links. The chapter concludes with a discussion of single-carrierfrequency division multiple acceSs (SC-FDMA)Chapter 11 considers frequency planning techniques for cellular systems. Thechapter begins with a discussion of cell sectoring, cell splitting, and reuse partition-ing. Later, the chapter considers radio planning for OFDMa cellular systems. Thisis followed by hierarchical overlay/underlay architectures based on cluster planningFinally, the chapter wraps up with macrodiversity TDMA cellular architecturesChapter 12 considers CDMa considers CDMA cellular systems, consideringtopics such as capacity and power control This is followed by a discussion ofhierarchical macrodiversity CDMa architectures and their performanceChapter 13 is devoted to cellular radio resource management. The chapter beginswith an introduction to basic hard and soft handoff. Later, the chapter considers theimportant problem of link quality evaluation, including signal strength averaging,velocity estimation, and velocity adaptive hard handoff algorithms later, a detailedanalysis of hard and soft handoff is provided. Finally, the chapter wraps up withmethods for estimating received carrier-to-interference plus noise ratio(CINR)The Appendix includes a brief and focused tutorial discussion of probabilityand random processes. A good understanding of the material in the Appendix isessential, since the concepts are widely used throughout the textUSing This Book for InstructionThe book has been developed from a graduate-level course on physical wirelesscommunications that I have taught at Georgia Tech since 1993. Normally, I prefera graduate-level course in digital communications as a prerequisite for this courseHowever, such a prerequisite may be waived to the extent that there is extensivebackground material in each chapter. A course may cover the introductory materialin each chapter and skip the more specialized material. In my own classes, I alwaystry to judge the mathematical level of the students early and adapt accordinglyThe book obviously contains far too much material to be taught in a onesemester course. However, i believe that it can serve as a suitable text in mostsituations through the appropriate instructor selection of background sections. Myown preference for a one semester course is to include the following material inorder: Chap. 1, Chap 2(skipping the more advanced material), and the first twosections of Chap 3. In moving to modulation waveforms in Chap. 4, an instructormay have to treat/assume basic signal-space representation. However, most students

基于主成分分析的图像融合matlab代码及实验图像

alternating direction method of multipliers优化算法讲解OutlineDual decompositionMethod of multipliersAlternating direction method of multipliersCommon patternsExamplConsensus and exchangeConclusionsDual decompositionDual problemp convex equality constrained optimization problemminimizesubject to Ax= 6e Lagrangian: L(a, g)=f(a)+y(Ac-bdual function: g(y)=infx L(, g)e dual problem: maximize g(g)recover x*=argminL(, y*)Dual decompositionDual ascentgradient method for dual problem: y+l=yk +aVg(yky ")=A c-b, where a= argmin L(a, y")b dual ascent method isk+1gminz L(a, yk/-minimization(Axk+I-b)// dual updateworks, with lots of strong assumptionsDual decompositionDual decompositione suppose f is separablef(x)=f1(x1)+…+fN(xN),x=(x1Nthen L is separable in x: L(a, y)=L1(a1, 3)+...+Ln(N, 3)-y bLi(ai, y)=fi(ai)+y Aiaie -minimization in dual ascent splits into N separate minimizationsk+1argmin Li(li, y)Which can be carried out in parallelDual decompositionDual decompositiondual decomposition(Everett, Dantzig, Wolfe, Benders 1960-65k+1argLi(ei, y)N A: k+scatterupdate i in parallel, gather Ai k+solve a large problemby iteratively solving subproblems(in parallel)dual variable update provides coordinationworks, with lots of assumptions; often slowDual decompositionOutlineDual decompositionMethod of multipliersAlternating direction method of multipliersCommon patternsExamplConsensus and exchangeConclusionsMethod of multipliersMethod of multipliersa method to robustify dual ascentb use augmented Lagrangian(Hestenes, Powell 1969),p>0(, y)=f(c)+y(Ax-b)+(p/2)Acmethod of multipliers( Hestenes, Powell; analysis in Bertsekas 1982)k+1argmin Lp(a, yD(A.(note specific dual update step length pMethod of multipliersMethod of multipliers dual update stepoptimality conditions( for differentiableAcx-b=0, Vf(a*)+A(primal and dual feasibility)Since ah+1minimizes Lp(a, y)k+1 kf(x4+1)+A7(y+p(AVxf(at)+adual update yti=y+p(k+1k+1dual feasibleprimal feasibility achieved in limit: A k+I-b>0Method of multipliers

《多智能体系统的协同群集运动控制》以多智能体系统协同群集运动控制为主线，首先介绍了图论和控制器设计所用到的基础理论知识；其次，分别从拓扑结构的边保持和代数连通度两个角度介绍了连通性保持条件下的协同群集运动控制协议设计方法；进而，针对典型的轮式移动机器人非完整约束模型介绍了连通性保持条件下的协同控制策略，为简化系统复杂拓扑结构，还介绍了基于骨干网络提取的协同群集运动控制策略；书中将个体动态模型提升到高阶非线性系统模型，介绍了高阶非线性系统协同控制协议设计方法；最后，针对多智能体系统非合作行为检测与隔离进行了详细介绍，并提出了相关算法。内容简介本书以多智能体系统协同群集运动控制为主线,首先介绍了图论和控制器设计所用到的基础理论知识;其次,分别从拓扑结构的边保持和代数连通度两个角度介绍了连通性保持条件下的协同群集运动控制协议设计方法;进而,针对典型的轮式移动机器人非完整约束模型介绍了连通性保持条件下的协同控制策略,为简化系统复杂拓扑结构,还介绍了基于骨干网络提取的协同群集运动控制策略;书中将个体动态模型提升到高阶非线性系统模型,介绍了高阶非线性系统协同控制协议设计方法;最后,针对多智能体系统非合作行为检测与隔离进行了详细介绍,并提出了相关算法。本书可作为系统与控制及其相关研究领域的科研工作者、工程技术人员、高等院校师生的参考书,也可作为研究生和高年级本科生的教科书。图书在版编目(CIP)数据多智能体系统的协同群集运动控制/陈杰,方浩,辛斌著.一北京:科学出版社,2017(系统与控制丛书)ISBN978-7-03-051165-2L.①多…Ⅱ.①陈…②方…③辛…Ⅲ.①人工智能-研究Ⅳ.①TP18中国版本图书馆CP数据核字(2016)第310934号责任编辑:杨向萍裴育纪四稳/责任校对:桂伟利责任印制:张倩/封面设计:蓝正舞学出服出版北京东黄城根北街16号邮政编码:100717http://www.sciencep.com京通州皇家印刷厂印刷科学出版社发行各地新华书店经销2017年1月第一版开本:720×10001/162017年1月第一次印刷印张:1414字数:268000定价:95.00元(如有印装质量问题,我社负责调换)《系统与控制丛书》编委会主编:郭雷中国科学院数学与系统科学研究院副主编:陈杰北京理工大学编委:洪奕光中国科学院数学与系统科学研究院黄捷Chinese University of Hong Kong姜钟平Polytechnic Institute of New YorkUniversity USAFrank lewisUniversity of Texas at Arlington, USA林宗利University of Virginia, USA申铁龙Sophia University, Japan谈自忠Washington University, USA谢立华Nanyang Technological UniversitySingapore殷刚Wayne State University, USA张纪峰中国科学院数学与系统科学研究院周东华清华大学编者的话我们生活在一个科学技术飞速发展的信息时代,诸如宇宙飞船、机器人、因特网、智能机器及汽车制造等高新技术对自动化提出了更高的要求。系统与控制理论也因此面临着更大的挑战。它必须能够为设计高水平的物理或信息系统提供原理和方法,使得设计出的系统能感知并自动适应快速变化的环境。为帮助系统控制专业的专家、工程师以及青年学生迎接这些挑战,科学出版社和中国自动化学会控制理论专业委员会合作,设立了《系统与控制丛书》的出版项目。本丛书分中、英文两个系列,目的是出版一些具有创新思想的高质量著作,内容既可以是新的研究方向,也可以是至今仍然活跃的传统方向。研究生是本丛书的主要读者群,因此,我们强调内容的可读性和表述的清晰。我们希望丛书能达到这些目的,为此,期盼着大家的支持和奉献!《系统与控制丛书》编委会2007年4月1日序言自20世纪50年代以来,控制科学不断发展,诞生了诸如最优控制、鲁棒控制、非线性控制等众多研究方向以及大量的科研成果,极大地推动了第三次工业革命的发展。但近年来,由于控制对象规模呈爆炸式增长、信息化社会生成海量数据,系统与控制科学作为一门面向应用的学科正面临着许多重大挑战;同时,计算机科学以及人工智能的兴起也为系统与控制科学的发展带来了新的机遇和启示。受到自然界广泛存在的生物种群有序运动现象的启发,多智能体的研究开始受到广大学者的关注。70年代末期,智能体概念初现,主要研究如何通过协作方式分布式求解问题。90年代,多智能体系统涌现出自主性、社会能力、反应性等特性,使多智能体协同成为控制领域的研究热点。目前,多智能体协同已经应用于智能机器人交通控制、柔性制造、网络自动化和作战智能体模型等领域。毫无疑问,未来几年多智能体协同仍将吸引更多学者的广泛关注,继续在系统与控制科学的发展中扮演十分重要的角色。多智能体协同控制所要解决的根本问题在于如何设计合理的控制协议来协调多个个体统一完成任务,这与传统基于单一对象的控制理论有很大的区别。陈杰教授团队对此进行了大量的研究工作,并取得了很好的研究成果。该书以多智能体系统协同群集运动控制为主线,结合作者在该领域多年的研究积累及国内外最新的研究成果,给出了基于代数连通度估计、基于骨干网络等多种分布式群集运动控制方法,同时考虑了系统连通性保持、模型参数不确定性、多任务约束等诸多限制条件,扩展了相应成果的应用范围。全书内容丰富,论述深入浅出,既有严谨的理论推导与证明,又有数值仿真与实物实验验证,是一本难得的介绍控制理论在多智能体协同控制方面最新研究进展的学术专著。当前世界正在发生着深刻的变革,以互联网产业化、工业智能化、工业一体化为代表的第四次工业革命正悄然到来。该书所研究的内容顺应了当前工业发展的潮流,在民用、军用等领域有着广阔的应用前景,也非常适合相关领域的学者和工程技术人员参考阅读。序言我相信,该书的出版能够对多智能体协同控制领域的研究发展有所帮助,也希望作者能够在该方向上持续研究,取得更多的高水平研究成果。郑列了西安交通大学教授中国自动化学会理事长中国工程院院士2016年12月前言智能体的概念来源于分布式人工智能的思想,通常而言,可以把智能体定义为用来完成某类任务,能作用于自身和环境、有生命周期的一个物理的或抽象的计算实体。智能体的特点是具有自主性、局部通信/感知能力、分布式协作能力、任务分解能力、自适应性和推理能力。而多智能体系统是由多个智能体组成的具有松散耦合结构的,并且通过系统中智能体之间以及智能体与环境之间的通信、协商和协作来共同完成单个智能体( Agent)因能力、知识或资源上的不足而无法解决的问题的系统。多智能体系统通过相互协作,可以完成超出它们各自能力范围的任务,使得系统整体能力大于个体能力之和。鲁棒性、分散性、自组织性是多智能体系统动态行为的基本特征。多智能体协同控制是目前控制科学研究领域的一个热点课题在许多国际期刊及会议中,每年均有大量关于多智能体系统的研究文章出现。多智能体系统由个体的动态模型、通信网络拓扑、分布式控制律(或者协议/规则)三个基本要素构成。本书以多智能体系统协同群集运动控制为主线,围绕上述三个基本要素,首先介绍图论和控制器设计所用到的基础性理论等背景知识;其次面向典型应用,考虑实际约東条件,分别从拓扑结构的边保持和代数连通度两个角度介绍通信连通性保持条件下的协同群集运动控制协议设计方法;进而,从个体动态模型和拓扑结构模型两方面继续深入,针对典型的轮式移动机器人非完整约束模型介绍连通性保持条件下的协同控制策略,为简化系统拓扑结构对控制器设计的影响,介绍基于骨干网络提取的协同群集运动控制策略;书中还将个体动态模型由简单的一阶、二阶线性模型提升到高阶非线性系统模型,介绍高阶非线性系统协同控制协议设计方法;最后针对多智能体系统非合作行为检测与隔离进行详细介绍,并提出相关算法。本书内容自成体系,旨在向读者详细介绍多智能体系统协同群集运动控制的基础理论和最新研究成果本书由11个章节构成。第1章为基础知识部分,首先对多智能体群集运动控制、一致性控制以及非合作行为检测与补偿进行全面的综述,其次介绍在理论推导过程中所用到的代数图论的基础理论知识。第2章介绍在无法获取动态领航者智能体的加速度信息的条件下,进行连通性保持的有界群集运动控制方法。第3章从前言全局连通性的角度,介绍基于代数连通度分布式估计的连通性保持控制方法。第4章针对非完整约束轮式机器人,介绍连通性保持下的多移动机器人群集控制。第5章介绍层次型骨干网络的建立方法,以及基于骨干网络提取的协同避障运动控制方法。第6章针对参数不确定的高阶非线性多智能体系统,设计分布式控制器实现系统的一致性。第7章针对 Brunovsky型高阶非线性多智能体系统,设计分布式一致性控制器。第8章针对高阶非线性多智能体系统,设计自适应鲁棒一致性控制器,并对控制器性能进行分析。第9章在多任务约束下,设计多智能体一致性控制器。第10章介绍一阶多智能体系统的非合作行为检测、隔离与修复算法。第11章介绍基于邻居相关状态的多智能体非合作行为检测与隔离算法。感谢中国自动化学会控制理论专业委员会、《系统与控制丛书》编委会对本书出版的大力支持。本书得到了国家杰出青年科学基金项目(60925011)、国家自然科学基金创新研究群体项目(61321002、61621063)、国家自然科学基金重大国际合作研究项目(61120106010)、国家自然科学基金项目(61573062、61304215、61673058)、北京市优秀博士学位论文指导教师科技项目(20131000704)的资助,在此表示衷心的感谢。同时,还要感谢本领域相关同行学者在本书撰写过程中给予的热心支持,以及毛昱天、黄捷、杨庆凯、李俨、尉越、卢少磊、吴楚、王雪源、商成思、开昰雄、罗明等同学对本书出版给予的大力帮助。由于作者水平有限,书中疏漏和不妥之处在所难免,敬请读者批评指正。作者2016年11月目录编者的话序言前言第1章绪论··················.······1.1多智能体分布式群集运动控制12多智能体一致性控制概述51.2.1低阶积分器多智能体一致性……1.2.2高阶线性多智能体一致性…111.2.3高阶非线性多智能体一致性1713多智能体非合作行为检测与补偿概述2114代数图论背景知识…………26第2章连通性保持条件下多智能体系统群集运动控制3121研究背景3122问题描述312.3领航跟随群集运动控制律∴……………………………·3224稳定性分析……………3425仿真和实验372.51数值仿真37252实物实验,,,,·,,,,,………………402.6结论………………43第3章基于代数连通度估计的多智能体系统群集运动控制·4431研究背景443.2问题描述…………………………………………443.3控制律设计∴………………4634入2的分布式估计473.5稳定性分析52

熵权法是一种客观赋权方法。在具体使用过程中，熵权法根据各指标的变异程度，利用信息熵计算出各指标的熵权，再通过熵权对各指标的权重进行修正，从而得出较为客观的指标权重。

使用单片的普通IO口模拟IIC的主机和从机，自己由此开始，感觉归纳总结的很好，代码也很具有参考性