基于粒子群优化算法的船舶动力定位云模型控制器设计

云模型控制理论是智能控制学科的新兴领域,因此如何扩展云模型的应用范围并使其走向工程化实用化成为其研究重点。针对船舶运动模型具有不确定性和外部扰动随机性等特点,尝试将云模型应用于船舶动力定位的控制过程中。由于云模型控制器存在参数难以整定的问题,提出了基于粒子群算法的优化设计方法。针对标准粒子群优化算法容易出现早熟收敛的问题,引入自适应粒子群优化算法。仿真研究表明云模型控制及粒子群优化的可行性和有效性。     

Ultrasonic actuators for nanometre positioning

This paper deals with ultrasonic motors based on bimodal plate vibrations and their application to nanometre resolution stepper positioning systems. The concept of a linear ultrasonic motor drive capable of nanometric steps, long-range travel and reversible controlled motion is presented. The motor concept developed is based on the superposition of a longitudinal and bending vibrations of a rectangular resonator. The ultrasonic motor model based on system identification via discrete observations and prediction has been developed for control applications. The control algorithm for ultrasonic motors has been developed and theoretical investigations have been made. The open loop positioning system with designed stepper ultrasonic drive produced 10 nm resolution and 5% displacement repeatability. The system with computer controlled position feedback has shown 0.3 micron positioning accuracy over the 100 mm positioning range.     

Focusing for laser hole drilling

The power intensity distribution of a laser beam across the focal plane is important for producing good hole geometry. To examine the power intensity distribution in the region of the image plane of a practical lens, a diffraction integral method is employed. Lens aberration is accounted for by the intensity of the appropriate phase changes. In the analysis, a free-running pulsed multimode solid-state laser is considered and the lens is assumed to have aberrations. Since an on-axis object is examined, only spherical aberration is taken into account.     

LAMOST光纤定位单元定位精度检测技术研究

对 L AMOST光纤定位系统光纤定位单元提出了单元定位精度非接触检测的装置。检测装置采用面阵CCD传感器 ,通过检测光纤端部出射光斑的特征点以表征定位单元上光纤端部位置。检测算法采用灰度加权平均法 ,可以达到亚像素级的检测精度。介绍了提高检测精度的主要措施 ,装置选用白光照明 ,对所采集的图像采用多次平均的方法 ,提高了装置的稳定性。     

一种全球定位系统接收机单点定位的新算法及数值试验

借助于Bancroft方法快速决定全球定位系统中接收机的大概位置，可作为观测方程线性化的初值.采用最小二乘法来求解方程时，观测数据存在较大误差(即出现粗差)的情况下，最小二乘解会出现不稳定性，即问题呈不适定性.为了克服解的不适定性，引入了正则化方法，采用正则化方法及正则化参数最优选择来提高抗粗差能力.实验结果表明，利用这种定位方法的抗粗差能力有一定的改进，这对实时、快速定位有重要意义. 关键词： 全球定位系统 Bancroft方法 最小二乘法 正则化     

Acoustic field positioning for containerless processing

The non-contact positioning of materials in a space processing chamber is accomplished using a new type of acoustic levitator. Liquid and solid materials are positioned using a single source of sound. Fine control of position may be obtained by motion of an acoustical reflector. The electrical power required is usually less than 100 watts. The system operates satisfactorily at high and low temperatures and is adaptable as an “add-on” feature to existing space experiments. Containerless melting and solidification can be performed and a freely suspended liquid can be shaped to the contour of the sound field. Experiments are described in which aluminium, glass and plastic materials are melted and solidified in the containerless state. The system has applications to containerless crystal growth, melting and related processes.     

Polychromatic light interferometer for high-accuracy positioning

Superposition of different-wavelength, multimode- and single-mode laser diode beams is investigated to locate the fringe of zero interference order in a Twyman-Green interferometer. The possibility of central fringe detection using three multimode laser diodes or one single-mode together with a pair of multimode laser diodes is shown. If a single-mode laser diode is applied, a simultaneous fringe-counting technique for displacement measurement is available. The influence of the angle between wavefronts entering the interferometer is analyzed. A repeatability of about 5 nm is shown for surface position determination when using three-beam source.     

Precise absolute positioning for a single-frequency user

A new strategy to realize precise absolute positioning for a single-frequency user is presented. In the presented strategy, the receiver clock and ambiguities are removed using the satelliteand epoch-differenced (SDED) algorithm. As a further development of the SDED algorithm, a regional augmentation network is used to generate the SDED atmospheric delays at the user. The weakened mathematic property due to the epoch-differenced operation is improved by adding the generated atmospheric delays and applying the robust estimation. To test the new approach, the 24-h data at 5 Continuous Operation Reference Station (CORS) stations in Shanghai is processed. The results show a more than 96% success rate, defined as the case where three directions achieve the desired positioning accuracy of 10 cm, when the observation is longer than 20 min. The 20-min static results show that the new method can reach an accuracy of 3.42, 4.76 and 9.26 cm in the North, East and Up directions, respectively. An experiment was carried out to assess the kinematic positioning. The results show that the kinematic positioning accuracy is 4.11, 5.31 and 4.05 cm in the north-south, east-west and height directions,respectively.     

基于最优非线性加权的光点定位方法

对传统的光点信号定位方法作了理论分析,讨论了各种方法的目标函数与优化过程。在此基础上,提出了一种基于最优加权的光点定位方法,使得像素的灰度对光点定位的贡献达到最佳。传统的方法均可看作是此方法理论框架下的特例。理论和实验表明该方法优于传统的方法。     

Laser pulse optimization for practical laser drilling

Laser drilling is a common commercially developed technique for material processing. From the application viewpoint, it is the end product for a laser system, for instance a drilled hole, that matters. Laser pulse profile is the most important parameter controlling the laser hole drilling process. An efficient and practical method is therefore needed to develop a relationship between the pulse parameters and the depth of hole produced in a known material. In the present study, dimensionless groups are developed to optimize laser pulse parameters to give information on workpiece materials. Consequently, an optimal laser pulse for drilling an aluminum workpiece is predicted.     

目标跟踪与定位中的视觉标定算法研究

目标跟踪与定位中的一个重要步骤就是摄像机标定,其目的是估计摄像机的外部和内部参数。在严格的几何约束关系之上建立准确的数学模型,提出一种快速得到摄像机中心的方法,然后通过合理的求解次序获得其他摄像机参数,保证了标定参数的精度。利用计算出来的标定参数校正失真图像中的各个像素位置以重新得到像素间原来的空间关系,从而产生精确的不失真图像,并且利用摄像机标定参数对标定模板上的点进行位置计算后,再和实际位置比较进行检验。图像的校正效果实验以及精度验算的结果表明：提出的算法得到了准确可靠的标定参数,和其他算法相比有效提高了精度,能够满足运动跟踪时目标特征位置估计的精度要求。     

Low-magnification particle positioning for 3D velocimetry applications

Three-dimensional (3D) position and velocity information can be extracted by directly analysing the scattering patterns in velocimetry imaging of seeding particles using real-time CCD cameras. A Fraunhöfer diffraction simplification of generalised Lorenz–Mie theory is shown to yield a representative model of particle position, such that particle position can be approximately deduced from typical experimental particle images. Data are obtained by pattern-matching theoretical to experimental images using a Nelder–Mead algorithm, subject to digitisation considerations and the concept of “locales”. In this way, information about the characteristics of positional error as a function of magnification, pixel size, intensity resolution, and spatial resolution can be derived. This work shows that an optimum magnification exists, beneath which error begins to increase drastically. A practical application is demonstrated. The theory, simulations and experimental verification of this basic problem are discussed.     

机载光电系统的地面多目标定位算法

传统的单目标地理定位方法无法适应现代战场态势实时多变、目标数量多的情况。为了提高目标定位效率,在单目标地理定位的基础上,给出一种适用于机载光电侦察系统的半主动多目标定位算法。通过建立初始东北天坐标系、飞机东北天坐标系、飞机机轴坐标系、光电稳瞄坐标系和多目标投影坐标系,同时结合目标相对方位、俯仰角度,得到了一系列欧拉角坐标转换公式,可以同时计算出多个地面目标的经纬度。计算机仿真结果表明:该算法能够对同一视场内的多个目标同时进行定位,即具有多目标定位功能。由于像素偏差增加了坐标转换累积误差,次目标定位精度略低于主目标定位精度。     

定位定量检测光电内窥系统

本文分析定位定量窥测系统设计中普遍存在的问题,提出一种检测方案,并预示窥测仪器的发展趋势。     

The holographic-hole drilling method for residual stress determination

Holographic-hole drilling is a method developed for the rapid determination of residual stresses from an optical interference fringe pattern. A small diameter blind hole is drilled into a part containing residual stresses, and the displacements caused by localized stress relief are registered by real-time holographic interferometry. The resulting fringe pattern is evaluated to calculate residual stresses, using a simple ‘fringe counting’ method described here. Results of applying the method in laboratory tests to a variety of uniform biaxial states-of-stress from equibiaxial compression to pure shear are shown. Two sample applications of the method, the evaluation of residual stresses at a cold-worked hole and at a weld bead, are also given. Extensions of the method to evaluate stresses non-uniform in depth and/or along the surface are discussed.     

概率定位算法在全球定位系统模拟实验中的应用

开设了基于声源定位平台模拟GPS的多星定位实验. 引入概率定位算法,推导出理论公式,给出整个问题的求解过程,编写相关的解题程序,得出很好的定位精度.     

精密检测平台定位误差自适应补偿技术

为了实现光学元件精密检测平台定位误差的自适应补偿,以保证在不同的检测环境中平台能够自行保持高精度,提出了基于检测环境监测和支持向量回归机的定位误差自适应补偿方法。首先,以多组检测环境中温度、湿度和气压的具体测量值作为训练数据,利用支持向量回归机建立定位误差最大值的预测模型,进行最大值预测。然后,将最大值同温度、湿度、气压等环境因素和位置信息一起作为训练数据,迭代使用支持向量回归机,建立任意位置定位误差预测模型。最后,将预测到的定位误差值传入检测平台控制器中进行补偿。应用雷尼绍激光干涉仪,温度、湿度和气压传感器等仪器设备,在光学元件精密检测平台上进行了具体实验。实验结果表明该技术切实可行,预测数据与实测数据差值绝对值的平均值为0.88μm,Pearson相关系数的平方为0.99,自适应补偿后平均定位误差由43μm降为1.4μm。     

Hardware pre-processing for data of SBL underwater positioning system

The synchro double pulse signal mode is freuqently used in ShortBase Line(SBL)underwater positioning system so as to obtain the informa-tion of both distance and depth of a target simultaneously.Howerer,thissignal mode also brings about ranging indistinctness resulting in a shorterpositioning distance much less than that limited by the period of the synchrosignal.This paper presents a hardware distance-gate data acquiring scheme.It puts the original data sent to the computer in order of"direct firstpulse—depth information pulse(or first pulse reflected by water surface)…"to guarantee the effective positioning distance of the system.It has the advan-tage of reducing the processing time of the computer thus ensuring therealtime functioning of the system.A figure of the orbit of an underwatermoving target measured in practice is attached to the end of the paper.     

四象限光电检测系统的定位算法研究及改进

在相同硬件条件下,四象限光电检测系统的线性区间和响应灵敏度等会因算法不同而产生差异。首先分析光斑定位的常用算法,通过数值积分和曲线拟合得出具有高斯分布的激光光斑位移量在不同算法下的修正曲线,设计制作了一套精度较高的数字式四象限光电定位系统,并使用该系统验证了理论推导结果。     

基于并行蚁群算法的长基线定位方法*

为了降低各个误差源对水声目标导航定位精度的影响,该文将水声目标导航定位问题抽象为带约束条件的非线性优化问题,并论证了最优化表达式参数求解过程与降低误差源干扰的过程具有同一性;设计了并行蚁群算法求其最优解。海试数据处理结果表明,该方法具有收敛速度快、解稳定和定位精度高等优点,能有效地降低各个误差源对水声目标导航定位精度的影响。