基于EKF的水下LD通信精对准控制算法

高速激光通信中接收机与光斑中心很难处于精对准状态,导致水下光通信链路难以稳定建立.首先采用蒙特卡洛仿真统计法分析激光光子在海水中传输的接收光强分布规律,再通过实验对接收端的光斑图像进行采样分析,利用曲线拟合得到接收器位置与接收光强的关系.仿真与实验结果表明:光束经过25 m的水下传输,接收光强分布仍近似为高斯分布.采用非线性估计算法(扩展卡尔曼滤波)与基本状态控制反馈理论,根据接收光强度估计接收器当前位置与最大光强处的距离,通过反馈算法实现接收端与光斑中心的主动跟踪对准.算法仿真结果显示,接收端对准误差在2 mm以下,稳定后接收效率超过98%.     

Data-driven optimal tracking control of switched linear systems

This paper addresses the optimal tracking control for switched linear systems with unknown dynamics. We convert the problem into an optimal control problem of the augmented switched systems. In view of the augmented systems, we propose a data-driven switched linear quadratic regular algorithm for obtaining the optimal switching signal under unknown system dynamics. It is proved that the optimal switching signal will not cause Zeno behavior and can make the system stable. Besides, with the proposed algorithm, we just need to identify an autonomous system instead of the original systems, which has fewer parameters to be determined. A numerical example is given to illustrate the validity of the main results.     

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.     

观测站非机动情况下的渐进无偏目标跟踪算法

针对无源目标跟踪中将非线性测量方程伪线性化带来有偏估计的缺点,提出了一种基于方位和径向速度联合估计的渐进无偏目标跟踪算法。该算法通过对方位-径向速度组成的伪线性测量方程的噪声协方差矩阵进行约束,使其均方误差达到最小,得到目标状态向量的最小二乘无偏解。仿真和实验结果表明,在观测站非机动情况下,算法能够渐进无偏地收敛到真值,收敛后的距离跟踪误差在5%以内。     

大气湍流对空间激光通信跟踪系统的影响

基于大气信道内的空间激光通信演示验证实验,对系统光斑跟踪精度的影响因素进行了分析,研究了大气湍流对光斑跟踪精度的影响,建立了光斑质心检测模型,设计了一套信标光光斑粗精复合跟踪系统.搭建了室内测试实验系统,完成了大气湍流对光斑跟踪精度影响的测量,结果表明在中弱湍流时,跟踪精度随湍流增大有近似线性关系,系统整体跟踪精度在5~15μrad之间,可较好地完成光斑跟踪功能.在野外环境开展的飞机-飞机激光通信演示实验中,对伺服系统的跟踪性能及跟踪精度进行实际测量,整体跟踪精度不大于15μrad,与室内实验测试系统基本一致.     

PEPT study of particle motion for different riser exit geometries

Laboratory and industrial risers are equipped with exits of many different layouts, and numerous publications discuss the influence of riser exit geometry on local and overall solids hydrodynamics in the riser. The present paper reviews literature findings--mostly based upon indirect experimental techniques and often somewhat contradictory, Direct measurement of particle velocity and particle occupancy near and in the riser exit provide a better indication of the effect of riser exit geometry. Positron Emission Particle Tracking （PEPT） was used in this work for the first time to investigate the exit region of the riser, An abrupt or sharp exit causes particles to be knocked out of the gas flow, so forming a recirculation or reflux region in the upper part of the riser. This is much less pronounced with a curved or gradual exit.     

Study of Glow Wire Ignition Temperature (GWIT) and Comparative Tracking Index (CTI) performances of engineering thermoplastics and correlation with material properties

Recent regulation IEC 60335-1 ed.4 (2008) was introduced for materials used in electric appliance, establishing new limits in Glow Wire Ignition Temperature (GWIT) performance for materials used for electric connectors. Development of new products with high GWIT is possible, but the main issue is to keep good mechanical properties and processability, as well as tracking resistance (Comparative Tracking Index-CTI). Only a few patents and scientific publications exist about glow wire test performance of polymers. In this work we report GWIT and CTI properties for three engineering thermoplastic polymers (PBT, PET and PC). We have also studied the phenomena involved in this test, treating the phenomena with the parameterisation approach already used in the studies of the fire behaviour of polymers. PC, PBT and PET filled with 30% w/w glass fibres have been tested, and material properties that can be related to GWIT and CTI performance have been measured by TGA, Laser Flash Thermal Diffusivity (LFTD), Pyrolysis-GC/MS. CTI seems to be correlated with the char formation tendency of the materials, so PBT show a higher tracking resistance than PET and PC. Polycarbonate was the only material that passed the glow wire test (GWIT higher than 775 °C) but generally GWIT performance is not directly related with degradation temperature, since PET is thermally more stable compared with PBT, but less stable in glow wire test. The ignition process, together with the unsteady heat and mass transfer process characteristic of glow wire testing, are affected by many parameters at the same time. That’s why it is not easy to relate results of TGA, Laser flash, Pyrolysis-GC/MS with the glow wire ignition temperature of the materials tested, but the whole of these properties can give useful indication.     

空地激光通信跟踪精度主要外界影响因素研究

为了分析空地激光通信外界因素对跟踪精度的影响情况,将平台振动、大气湍流和背景光三个主要影响因素归结到对跟踪精度影响的统一框架下进行了研究。使用实际测量得到的平台振动数据,建立空地激光通信跟踪仿真系统,分析了不同条件下,三种外界因素对跟踪精度的综合影响情况。在文中假设基础上,分析可知:粗跟踪单元可以较好的抑制地面运动平台的振动,保证激光能够进入精跟踪视场;中强度的湍流使精跟踪残差标准差增大4倍左右,如果试验地点选择在高海拔地区,大气湍流使精跟踪残差标准差增大2倍左右。     

Research on laser Doppler velocimeter for vehicle self-contained inertial navigation system

An idea of using laser Doppler velocimeter (LDV) to measure the velocity for the vehicle inertial navigation system was put forward. The principle of measuring its own velocity with laser Doppler technique was elaborated and reference-beam LDV was designed. Then Doppler signal was processed by tracking filter, frequency spectrum refinement and frequency spectrum correction algorithm. The result of theory and experiment showed that the reference-beam LDV solved the problem that dual-beam LDV cannot be used for measuring when the system was out of focus. Doppler signal was tracked so that signal-to-noise ratio was improved, and the accuracy of the system was enhanced by the technology of frequency spectrum refinement and correction. The measurement mean error was less than 1.5% in velocity range of 0-30 m/s.     

Multiresolutional Maneuvering Target Tracking Fusion Algorithm Based on Singular Sensor and Multipale Models

§１．　ＤｉｓｃｒｅｔｅＷａｖｅｌｅｔＴｒａｎｓｆｏｒｍａｔｉｏｎＴｈｅｍｕｌｔｉｒｅｓｏｌｕｔｉｏｎａｌａｎａｙｓｉｓｔｈｏｕｇｈｔｉｓｔｈａｔｗｅｄｅｃｏｍｐｏｓｅｔｈｅｓｉｇｎａｌｗｈｉｃｈｉｓｄｅａｋｅｄｔｏｄｉｆｆｅｒｅｎｔｒｅｓｏｌｕｔｉｏｎｌｅｖｅｌｕｓｉｎｇｗａｖｅｌｅｔｔｒａｎｓｆｏｒｍａｔｉｏｎ，ｔｈｅｌｏｗｅｒｒｅｓｏｌｕｔｉｏｎｓｉｇｎａｌｄｅｃｏｍｐｏｓｅｄｉｎｓｍｏｔｈｉｎｇｓｉｇｎａｌ，ｔｈｅｓｉｇｎａｌｔｈａｔｅｘｉｓｔｉｎｈｉｇｈｅｒｒｅｓｏｌｕｔｉｏｎｌｅｖｅ…