一种人-自动化系统协作的无人机航迹规划方法

为解决无人机航迹规划中考虑“人在闭环”控制需求、结合人机综合优势以进一步提高规划能力的问题,提出了一种人-自动化系统协作的航迹规划方法;该方法利用操控员选取人工引导路径点,以起始点、人工引导路径点和目标点为根节点形成多树扩展;引入Dubins曲线应用于随机树扩展和寻找最近子节点过程,改善航迹平滑性;仿真实验结果表明,该方法在自动化系统局部自主能力的基础上引入人的智能,规划效率和可靠性得到了提高,可用于无人机航迹规划实践。     

带约束条件的停车场启发式停车诱导算法

随着城市化进程的推进,市区停车难严重制约交通的发展。针对停车场使用效率低下问题,分析了影响车位选择的各种因素,提出带有约束条件的泊车诱导算法,通过划分场内小区保证车辆在空间均衡分布,以最短行驶路径/时间和停车难度两项指标衡量道路权重,使用改进的启发式A*搜索算法计算最佳车位。仿真结果证明方法合理可行,在时间和效率上有所节省,所选的最佳车位更符合实际情况。     

无人机多阶段航迹预测协同任务规划

针对多无人机(Unmanned Aerial Vehicles, UAVs)协同控制问题,提出了一种UAVs多阶段航迹预测分布式任务规划方法。定义从一次任务分配开始到其中一项任务完成为一个任务周期。在每个规划周期,首先,各UAV使用A*算法快速预测到所有任务目标的路径,提供至任务分配;然后,采用聚类算法修改目标价值向量,协商分配结果,并实时计算探测范围内的最短路径;最后,采用三次B样条曲线平滑所分配的最短路径,在线规划出满足飞行约束的飞行航迹。通过仿真实验对算法的有效性进行了验证,结果表明,提出的算法能够实时获得近似最优的任务分配结果并规划出可飞行航迹,并有效处理突发任务。     

双极柱等值坐标电容器的电容

双极柱坐标是一种常用的正交曲线坐标,尤其适合表示与圆弧柱板之间的关系.本文讨论了双极柱坐标下的两个正交曲线参量所表示的共焦和共轴圆弧柱导体电容器的电容.     

隘路环境下排爆机械臂Multi-RRT路径规划算法

排爆机械臂通常工作在类似隘路的环境中,传统的基于采样的路径规划方法在隘路环境下计算效率较低;提出一种采样增强的Multi-RRT路径规划方法,该方法分为两个部分:第一部分为区域随机桥采样法,该方法以采样特征决定局部C空间(configuration space)随机桥测试的参数并采集有限隘路样本;第二部分为Multi-RRT算法,以起始点、目标点和随机桥采样所得点为树根,多树多方向协调生长规划路径;仿真实验结果表明该方法提高了快速扩展随机树算法的计算效率,有效地解决了隘路环境下排爆机械臂的路径规划问题,适用于多维高自由度机器人系统的路径规划。     

最优路径搜索压缩感知水声通信信道估计

将信号恢复中最优路径搜索的A*正交匹配追踪(A*Orthogonal Matching Pursuit,A*OMP)伪贪婪算法引入到水声通信信道估计中,可以有效改善正交匹配追踪(OMP)算法容易陷入局部最优的问题,并提出了一种改进型的A*OMP水声信道估计算法。改进了路径初始化方式,同时为了避免过多迭代引起的未知误差,将前后两次迭代残差之差作为停止准则。在正交频分复用(OFDM)通信体制下,对OMP、A*OMP和本文改进方法的估计误差和误比特率进行了仿真对比,随着信噪比的增加,改进方法未出现误差平台,且受导频间隔影响较小。仿真结果表明相对于OMP算法和传统A*OMP算法,在高信噪比下改进方法的估计误差分别降低约2和1个数量级,海试数据结果验证了改进方法的可行性,其误比特率分别平均降低42.0%和4.7%。      

内部带特征约束的任意平面域的三角形网格生成方法

基于Ｄｅｌａｕｎａｙ三角化方法 ,给出了内部带有任意复杂特征约束的任意平面域的三角形网格生成方法。区域内部特征约束可以是点、直线、圆、圆弧、平面样条曲线以及由它们组合构成的封闭环或者不封闭环。     

光沿最短路径行走

我们知道,光在均匀介质中都是沿直线传播的,即光沿最短路径行走。但是,光在反射中所走路径是否最短呢? 下面以光从A点经某凸镜反射至B点(如图1)为例,讨论一下这个问题。     

改进的分层A*算法在停车场路径寻优中的应用

在大型停车场车位路径寻优中,传统的评价指标是距离最短作为最优指标,并不可虑实际路况,为此引入了切实可行的时间较优评价指标,既能简化引导系统硬件设计,又能节省软件开销。首先,建立了停车场网络图R(P,C,D,V)数学模型,并把网络中的所有节点分成两层,分别构建了不同的估价函数,采用改进的A*算法,提高了以时间较优为评价指标的路径搜索效率和搜索精度。最后,程序运行结果表明,针对不同的路段属性参数,算法总能较快的找到时间较优路径。     

基于A*算法的无人机跟踪目标的航迹规划

针对无人机跟踪目标的航迹规划问题,本文提出了一种双评估函数的改进A*算法。首先,根据无人机在跟踪目标时的飞行特点提出了航迹规划策略,并结合无人机的油耗、航迹长短和机动性能等约束条件来设计中间目标点的评估函数和航迹片段的评估函数。之后,采用加权法对A*算法进行改进,以使航迹的优化与时间耗费之间找到平衡点。同时,改进在Open表中插入与删除节点的方式,提高计算效率。最后,通过对跟踪航迹的仿真,表明该算法可以快速、有效地为无人机在跟踪目标时规划出优化的航迹。     

Hybrid Wavelength and Code Division Multiple Access in Optical Networks

A review of schemes for multiple access in fiber optic networks shows that a hybrid of wavelength and code division multiple access (WCDMA) combines the best features of both. In particular, the hybrid scheme retains the large information carrying capacity of wavelength division multiple access (WDMA) and flexibility of code division multiple access (CDMA). In this paper WDMA, optical CDMA (OCDMA), and WCDMA networks are discussed. In OCDMA networks, concept of incoherent and coherent coding including inverse decoding and matched filter is introduced. The delay performance of both WDMA and WCDMA networks, under the simple suboptimum access protocols based on cyclic search, is computed. It has been shown quantitatively that tuning delay significantly affects the delay performance of both WDMA and WCDMA networks. Futhermore, delay performance of WCDMA networks is always better than the WDMA networks for the same tuning delay, load, and number of users.     

Guided-Wave Two-Dimensional Acousto-Optic Scanner Using Proton-Exchanged Lithium Niobate Waveguide

Two-dimensional scanning of a 0.6328 mum guided-light beam has been realized using noncolinear acousto-optic (AO) coplanar Bragg diffraction together with colinear AO guided-mode to substrate radiation-mode conversion in a Z-cut Xpropagation LiNbO3 proton-exchanged (PE) waveguide. The two surface acoustic (SAW) waves utilized are at the center frequencies of 500 and 200 MHz, propagating in the Y and X axes, respectively. Two-dimensional scanning of approximately 720 resolvable light beam spots, namely, 18 40 (horizontal vertical) scanning, has been demonstrated using a light beam of 1.0 mm aperture. The total number of resolvable beam spots can be greatly increased from 720 by simply utilizing SAW transducers of larger bandwidth and a light beam of greater aperture. It should also be possible to significantly increase the diffraction efficiency from 3 % by optimizing the parameters of the PE waveguide and the SAWs.     

Femtosecond Transform-Limited Pulse Generation by Compensating for the Linear Chirp of SPM Spectra in Dispersion Shifted Fibers

A simple technique of pulse compression, based on the linear chirp compensation of self-phase modulation (SPM) spectra in dispersion shifted fibers, is demonstrated. The optimization procedure is carried out, for a short span of a single-mode fiber, using a parabolic law, which describes the behavior of the squared output pulse width versus the pump peak power in the case of Gaussian pulses. The experimental results give a minimum pulse duration of 233 fs, which is in good agreement with the model. Shorter and coherent pulses, down to 90 fs, have been obtained by inserting an interference filter at the optical output.     

Effect ofγ-radiation on the spectral luminescence characteristics of impure cadmium tungstate crystals

Results of a study of the effect of γ-radiation on the spectral luminescence properties of cadmium tungstate crystals doped with silver, bismuth, and molybdenum cations are presented. Spectral characteristics of the nondnnnoped crystals are briefly described. Absorption and photo and X-ray luminescence spectra of the crystals taken before and after exposure to γ-radiation (5.5·10⁴ Gy) are compared. It is found that the spectral characteristics of the crystals doped with silver, bismuth, and molybdenum cations do not change markedly after the exposure. The relation between the type of impurity-induced defects, individual characteristics of the impurity cations, and the character of the effect of γ-radiation on the spectral luminescence properties of impure crystals is analyzed (preliminarily). Translated from Zhurnal Prikladnoi Spektroskopii, Vol. 64, No. 1, pp. 55–60, January–February, 1997.     

Theoretical analysis and simulation of conjugate heights for dual-conjugate AO system in lidar

A multi-conjugate adaptive optics （MCAO） can offer a possibility of widening field of view （FOV） characterized by the isoplanatic angle, and the choose of conjugate height becomes a basic problem for MCAO, which influences the size of iosplanatic angle. Considering the application of lidar, the isoplanatic angle＇s expressions of two deformable mirrors （DMs） MCAO for uplink and downlink are deduced. The effects of conjugate heights for dual-conjugate AO are thoughtfully discussed, and the isoplanatic angles are further analyzed. The results show that the isopanatic angle varies with the conjugate height and reaches the maximum as the conjugate height is at the optimal altitude. Moreover, the optimal conjugate height changes with the propagation distance.     

Quick single-photon detector with many avalanche photo diodes working on the time division

Due to the limit of response speed of the present single-photon detector, the code rate is still too low to come into practical use for the present quantum key distribution (QKD) system.A new idea is put up to design a quick single-photon detector.This quick single-photon detector is composed of a multi-port optic-fiber splitter and many avalanche photo diodes (APDs).Au of the ports with APDs work on the time division and cooperate with a logic discriminating and deciding unit driven by the clock signal.The operation frequency lies on the number N of ports, and can reach N times of the conventional single-photon detector.The single-photon prompt detection can come true for high repetition-rate pulses.The applying of this detector will largely raise the code rate of the QKD, and boost the commercial use.     

Research on beamforming method for dual-line array with space mismatch between the two line arrays

The performance of port/starboard discrimination of dual-line array will be seriously degraded when the space between the two line arrays of the dual-line array is mismatched. The directivity function of the delay-sum and delay-subtract beamforming is deduced and the port/starboard discrimination of the delay-sum and delay-subtract beamforming is also studied both under the ideal status and the status under which the space between the two line arrays of the dual-line array is mismatched. Analysis results show the delay-subtract beamforming has better performance of port/starboard discrimination. At last, the sea trial results demonstrate the theoretical results.     

Sorting of bending magnets for the SSRF booster

The Shanghai Synchrotron Radiation Facility(SSRF)booster ring,a full energy injector for the storage ring,is deigned to accelerate the electron beam energy from 150MeV to 3.5GeV that demands high extraction efficiency at the extraction energy with low beam loss rate when electrons are ramping.Closed orbit distortion(COD)caused by bending magnet field uniformity errors which affects the machine performance harmfully could be effectively reduced by bending magnet location sorting.Considering the affections of random errors in measurement,both ideal sorting and realistic sorting are studied based on measured bending magnet field uniformity errors and one reasonable combination of bending magnets which can reduce the horizontal COD by a factor of 5is given as the final installation sequence of the booster bending magnets in this paper.     

Retrieval of ultraviolet skylight radiances and O3 slant column densities from balloon-borne limb spectrometer

With a novel light-weight and absolutely calibrated ultraviolet （UV） spectrometer, UV skylight radiances and O3 slant column densities are measured by balloon-borne limb measurements in Xinjiang area, China. UV skylight radiances measured at the height of 31 km are compared with the results from Modtran in the wavelength range from 290 to 420 nm. O3 slant column densities are derived from radiance spectra in the Huggins bands （320 - 335 nm） using differential optical absorption spectroscopy method. And the parameter exhibits a good correlation with the same value simulated by radiative transfer model （Tracy）. The O3 profile simultaneously measured by an O3 sonde is used as input in Tracy calculations. The O3 sonde is launched on the same balloon.