车载MIMU/GPS/地磁系统的模糊广义RBFNN辅助滤波算法

以车载微惯性测量单元/GPS/地磁系统为研究对象,构造一类模糊广义径向基函数网络辅助滤波器,完成对基于EKF的非线性导航滤波解算,以提高导航系统参数估算精度和系统动态性能.相同条件下的仿真表明,对比标准EKF和模糊广义径向基函数网络辅助滤波方法,采用后者获得的导航参数误差均方差小,统计特性好,对姿态、航向角误差的最优估计分别控制在0.2°和0.4°以内.导航解算对微惯性测量单元误差在一定范围内的变动不敏感,保证了测量的精度.     

图论与复杂网络

近10年来迅猛发展起来的复杂网络理论为研究复杂性与复杂系统科学提供了一个重要支撑点,它高度概括了复杂系统的重要特征,无论是在理论还是在应用方面都具有很强的生命力,而且在各个方面都得到了很大发展.重点讨论图论在复杂网络中的应用,特别是代数图论在复杂网络同步问题中的应用.首先给出一些图的最小非零与最大特征值以及同步能力的估计,并且讨论了子图与图特征向量在同步能力估计中的作用.其次以两个简单图指出同步能力与网络结构参数的关系复杂,并给出补图与加边对同步研究的意义,然后给出图运算在复杂网络同步中的作用.最后从图论与控制理论角度展望了复杂网络领域未来可能的发展方向.      

多模式自适应重要抽样法及其应用

针对多模式的可靠性分析，研究了其失效概率计算的自适应重要抽样法，该方法用模拟退火 算法来自动调整每个失效模式的重要抽样函数，使其逐渐趋近于估计方差最小的重要抽样 函数. 对于多个模式系统失效概率的计算，采用混合加权自适应重要抽样的方法, 反映了每个 失效模式对系统失效概率的贡献；对于系统失效模式所含基本变量不全相同的情况，提出了 扩展自适应重要抽样法, 来统一所有失效模式中的基本变量，从而使得混合自适应 重要抽样, 可以方便地求解变量不全相同时的系统失效概率. 对估计值方差和变异系数的计算公 式进行了推导. 验证算例结果, 充分说明方法的合理性与可行性.     

基于区域分解的结构动力学系统首次穿越失效

提出了高斯白噪声激励的线性及非线性结构动力学系统的首次穿越失效概率的估计方法. 对于线性结构动力学系统,失效区域被分解为互斥的基本失效域之和,每个基本失效域可用其设计点完全描述,并以正态分布代替卡方分布估计失效概率中的参数. 对于非线性结构动力学系统,基于Rice穿越理论,将非线性方程转化为与之具有相同平均上穿率的线性化方程,然后利用文中方法对等效线性化方程估计首穿失效概率. 最后给出了线性及非线性结构动力学系统的数值例子,并将所提方法与蒙特卡罗法及重要样本法相比较,模拟结果显示了方法的正确性与有效性.     

Unscented卡尔曼滤波算法在光电跟踪系统中的应用

针对控制系统中由于测量延迟现象导致的不能直接进行状态估计问题,提出在测量方程中引入一不确定因子γ以表明系统存在测量延迟,且由γ的概率来表示系统的延迟量。同时根据U卡尔曼滤波原理,给出带有测量延迟的非线性系统的状态估计计算方法(称其为测量延迟U卡尔曼滤波算法),并将此方法应用到实际非线性测量光电跟踪系统中,与稳态卡尔曼估值器进行性能对比。仿真实验结果证明,在测量方程中引入一不确定因子γ以表明系统存在测量延迟是有效可行的,而且其性能优于卡尔曼估值器。     

软件系统的复杂网络研究进展

互联网给软件带来了革命性的转变------软件网络化,这种趋势使软件作为全局性的资源,以网络为媒介向大众用户提供各种信息资源的应用服务.软件的计算模式、应用模式、产品形态以及盈利模式都会发生很大的变化,例如今后软件的应用方式就像打电话一样, 通过网络租用软件来实现.网络化软件正会成为联接各种网络资源、数据资源、计算资源的核心,成为数据和数据交换的基础. 同时, 网络化软件系统也将成为复杂系统,而复杂性也是软件开发困难、质量难以保证的关键.软件工程是将系统化、规范化、可度量的方法应用于软件的开发、运行和维护.复杂网络理论的最新研究成果,为复杂系统的软件工程提供了新的数学基础和方法. 分析了软件的复杂性,介绍了复杂网络与软件复杂性结合的研究工作,包括软件系统的拓扑特性、形成机理、演化规律以及软件复杂性度量和评估,对软件网络的研究现状进行了小结, 并列举了需要进一步研究的问题.提出软件网络观(软件在网络中生长、可以用网络来刻画软件)将有助于我们深入理解和认识软件的复杂性本质.      

基于链式贝叶斯网络的结构可靠性分析

将贝叶斯网络与传统可靠性方法结合,建立结构系统的可靠性贝叶斯网络模型,通过改进的分支限界法确定结构主要失效模式,并将贝叶斯网络链式化来提升计算效率。根据可靠性方法计算条件概率表;使用概率网络估算法来考虑主要失效模式之间的相关性,计算系统可靠性;当有新信息出现时,利用贝叶斯网络推理,对结构系统可靠性进行评估。以一桁架结构为研究对象,计算结构系统的可靠性,并在新信息出现的情况下对系统可靠性进行了更新。     

浅谈网络机群系统的安全配置和管理

网络机群系统是一种造价低廉、易于构筑、并且具有较好可扩展性的体系结构。文中主要从系统构架、IP划分、磁盘阵列、系统配置和安全管理等几方面讨论网络机群配置和管理,以实现网络机群系统的性能、用户使用、数据通讯、数据存储安全,充分发挥网络机群系统的能力。     

基于鞍点估计及其改进法的可靠性灵敏度分析

鞍点估计可以直接逼近非正态变量空间中线性功能函数概率分布, 进而得出功能函数的失效概率. 在此基础上进行了基于鞍点估计的可靠性灵敏度分析. 对于非线性功能函数, 尤其是强非线性功能函数, 基于鞍点估计进行可靠性及灵敏度分析时存在较大的误差, 为此建立了基于鞍点估计的改进方法------鞍点线抽样方法的可靠性灵敏度分析. 在标准化的变量空间中利用线抽样方法的样本点将系统失效概率转化为一系列线性响应功能函数失效概率的平均值, 从而可靠性灵敏度转化为一系列线性响应功能函数的失效概率对随机变量分布参数偏导数的平均值, 再采用鞍点概率估计方法直接估计非正态变量标准化空间中这一系列线性响应功能函数的失效概率及可靠性灵敏度. 通过比较两种方法的基本思想、实现过程和算例结果可以发现: (1) 第1种方法只适用于线性程度较好的功能函数的情况, 其误差主要来源于非线性极限状态函数的线性化; (2) 改进方法给出的是失效概率及失效概率对随机变量分布参数偏导数的估计值, 这些估计值随样本点数的增加而趋于真值, 并且该方法可以考虑功能函数的非线性对失效概率的影响, 因此具有广泛的适用范围.      

复杂动态网络控制研究进展

研究复杂网络结构性质与模型的主要目的之一就是为了了解网络结构与网络功能之间的关系,并在此基础上考虑改善网络性能的有效途径.综述了近年关于利用分布式控制的方法使得一个动态网络具有期望行为的一些研究进展.对于具有固定和连通的拓扑结构的复杂动态网络,牵制控制策略的有效性与网络拓扑密切相关.综述了牵制控制的可行性、稳定性分析以及控制策略比较研究. 另一方面,对于具有时变拓扑结构的动态网络的控制,着重综述了移动多自主体网络系统的蜂拥控制,并特别阐述了如何把牵制控制的思想用于蜂拥控制.      

On-line pseudo-dynamic network testing on base-isolated bridges using Internet and wireless Internet

In this paper we present the results of the online pseudo-dynamic network testing using the Internet that were jointly conducted by several institutions in Korea and Japan. Example studies were performed on base-isolated bridges with four continous spans. Test facilities located at several institutions were interactively used to test the non-linear behaviors of the base isolators. At first, a series of international network tests was carried out between Japan and Korea, and the performance of two system configurations with different data communication schemes was compared. Then, network tests were repeated on a similar bridge structure between two institutions in Korea, and the overall performance was discussed. A web-based Java monitoring system was developed for checking the partners' testing conditions and for sharing the test results with the authorized observers. Wireless Internet technology using mobile phones was also investigated. The results indicate that the time to execute a single step varies widely, depending on the data communication/sharing schemes and the testing hardware, e.g., 0.2–15 s for data communication and 1–10 s for execution of the pseudo-dynamic tests for each time-step. The time required additionally for data communication in the on-line network testing is judged as reasonable in comparison with the time for the pseudo-dynamic test. The results also show that the wireless communication is very attractive for on-line network testing, owing to the mobility and Internet security.     

Analysis of reactive routing protocols for mobile ad hoc networks in Markov models

Mobile ad hoc networks (MANETs) have become a hot issue in the area of wireless networks for their non-infrastructure and mobile features. In this paper, a MANET is modeled so that the length of each link in the network is considered as a birth-death process and the space is reused for n times in the flooding process, which is named as an n-spatial reuse birth-death model (n-SRBDM). We analyze the performance of the network under the dynamic source routing protocol (DSR) which is a famous reactive routing protocol. Some performance parameters of the route discovery are studied such as the probability distribution and the expectation of the flooding distance, the probability that a route is discovered by a query packet with a hop limit, the probability that a request packet finds a r-time-valid route or a symmetric-valid route, and the average time needed to discover a valid route. For the route maintenance, some parameters are introduced and studied such as the average frequency of route recovery and the average time of a route to be valid. We compare the two models with spatial reuse and without spatial reuse by evaluating these parameters. It is shown that the spatial reuse model is much more effective in routing.     

Effective and relative permeabilities of anisotropie porous media

A model composed of a three-dimensional orthogonal network of capillary tubes was used to simulate the flow behavior in an unsaturated anisotropic soil. The anisotropy in the network's permeability was introduced by randomly selecting the radii in the three mutually orthogonal directions of the network tubes from three different lognormal probability distributions, one for each direction. These three directions were assumed to be the principal directions of anisotropy. The sample was gradually drained, with only tubes smaller than a certain diameter remaining full at each degree of saturation. Computer experiments were conducted to determine the network's effective permeability as a function of saturation. The main conclusion was that the relationship between saturation and effective permeability depends on direction. Consequently the concept of relative permeability used in unsaturated flow should be limited to isotropic media and not extended to anisotropic ones.     

A micromechanically motivated diffusion-based transient network model and its incorporation into finite rubber viscoelasticity

This paper presents the development of a physical-based constitutive model for the representation of viscous effects in rubber-like materials. The proposed model originates from micromechanically motivated diffusion processes of the highly mobile polymer chains described within the formalism of Brownian motion. Following the basic assumption of accounting for the elastic and the viscous effects in rubber viscoelasticity by their representation through a separate elastic ground network and several viscous subnetworks, respectively, the kinetic theory of rubber elasticity is followed and extended to represent also the viscous contribution in this work. It is assumed that the stretch probability of certain chain segments within an individual viscous subnetwork evolves based on the movement of the chain endpoints described by the Smoluchowski equation extended in this work from non-interacting point particles in a viscous surrounding to flexible polymer chains. An equivalent tensorial representation for this evolution is chosen which allows for the closed form solution of the macroscopic free energy and the macroscopic viscous overstress based on a homogenization over the probability space of the introduced micro-objects. The resulting model of the viscous subnetwork is subsequently combined with the non-affine micro-sphere model and applied in homogeneous and non-homogeneous tests. Finally, the model capacity is outlined based on a comparison with in the literature available experimental data sets.     

二维联合概率分布函数构造方法对结构串联系统可靠度影响分析

简要介绍了两种构造联合分布函数近似方法：基于Pearson相关系数的近似方法P和基于Spearman相关系数的近似方法S。推导了基于直接积分方法的串联系统失效概率计算公式,提出了两构件功能函数间负相关时串联结构系统失效概率上限值的计算公式。以理论联合概率分布函数是二维极值分布为例研究了两种近似方法在串联系统可靠度计算中的精度。结果表明,两种近似方法能够有效地计算串联结构系统可靠度,且精度很高,为不完备概率信息条件下串联结构系统可靠度分析提供了一条有效的途径。当两构件的功能函数正相关时,两种近似方法误差随串联系统失效概率的减小而增加,但近似方法与精确方法系统失效概率的差别最大也不会超过2倍;当两构件的功能函数负相关时,两种近似方法误差随系统失效概率的减小而减小,但两种近似方法的失效概率几乎与精确解一样。此外,两种近似方法误差不是随构件间相关性的增加而单调增加,而是存在一极大值。     

Solution Structure of Multi-layer Neural Networks with Initial Condition

This paper studies the initial value problem of multi-layer cellular neural networks. We demonstrate that the mosaic solutions of such system is topologically conjugated to a new class in symbolic dynamical systems called the path set (Abram and Lagarias in Adv Appl Math 56:109–134, 2014). The topological entropies of the solution, output, and hidden spaces of a multi-layer cellular neural network with initial condition are formulated explicitly. Also, a sufficient condition for whether the mosaic solution space of a multi-layer cellular neural network is independent of initial conditions is addressed. Furthermore, two spaces exhibit identical topological entropy if and only if they are finitely equivalent.     

An extended chaotic maps based user authentication and privacy preserving scheme against DoS attacks in pervasive and ubiquitous computing environments

As the era of pervasive and ubiquitous computing comes close, hand-held and smart devices are expected to achieve the dream of all time everywhere computing. Remote user authentication is important to verify the legitimacy of a login user over an insecure communication channel. Furthermore, in order to protect user privacy such that others cannot trace login users by eavesdropping the communication messages, several researchers proposed some dynamic ID-based remote user authentication schemes for providing user anonymity. On the other hand, the denial-of-service (DoS) attacks may make legal users unable to access a remote server by intercepting the authentication message which a login user sends to the remote server. It will make the latest user identities kept by login user and the remote server differ from each other. To ensure user anonymity and prevent such DoS attacks, we propose an extended chaotic map and dynamic ID-based user authentication scheme against DoS attacks. The proposed scheme is suitable for use in pervasive computing environments such as online financial authentication since it can ensure security while maintaining efficiency.     

Transitions in a Duffing oscillator excited by random noise

We investigate a Duffing oscillator driven by random noise which is assumed to be a harmonic function of the Wiener process. We show that the correlation time of the noise has a strong effect on the form of the response stationary probability density functions. It represents the so-called reentrance transitions, i.e. for the same noise intensity the probability density function has an identical modality for both the small and the large correlation time but a different modality for the moderate correlation time. The transitions are observed for both the single-well and twin-well potential case. A new approach is used to study the response probability density function. It is based on analysis of hyperbolic systems.     

An adaptive critic neural network for motion control of a wheeled mobile robot

In this paper, we propose a new application of the adaptive critic methodology for the feedback control of wheeled mobile robots, based on a critic signal provided by a neural network (NN). The adaptive critic architecture uses a high-level supervisory NN adaptive critic element (ACE), to generate the reinforcement signal to optimise the associative search element (ASE), which is applied to approximate the non-linear functions of the mobile robot. The proposed tracking controller is derived from Lyapunov stability theory and can guarantee tracking performance and stability. A series of computer simulations have been used to emulate the performance of the proposed solution for a wheeled mobile robot.     

Effects of excitation probability distribution on system responses

For a system subjected to a random excitation, the probability distribution of the excitation may affect behaviors of the system responses. Such effects are investigated for a variety of dynamical systems, including a linear oscillator, an oscillator of cubic non-linearity in both damping and stiffness, and a non-linear oscillator of the van der Pol type. The random excitations are assumed to be stationary stochastic processes, sharing the same spectral density, but with different probability distributions. Each excitation process is generated by passing a Brownian motion process through a non-linear filter, which is governed by an Ito stochastic differential equation. Monte Carlo simulations are carried out to obtain the transient and stationary properties of the system response in each case. It is shown that, under different excitations, the transient behaviors of the system response can be markedly different. The differences tend to reduce, however, as time of exposure to the excitations increases and the system reaches the stationary state.