具有JTIDS接口的无人机仿真系统

建立了一个具有联合战术信息分发系统接口的无人机仿真系统.在该系统中建立了某型无人机的动力学仿真模型,其气动系数均通过风洞试验获得,并采用单纯形调优法求取无人机初始状态;设计了控制无人机姿态和控制飞行轨迹的内外环控制系统模型;根据联合战术信息分发系统特性,采用模块化方法建立了联合战术信息分发系统接口,使操作员能通过仿真数据链对无人机动力学模型进行任务控制和状态监视.最后进行了虚拟任务仿真试验,结果表明该系统可以满足一定的战术任务需求.     

GAT: a Graphical Annotation Tool for semantic regions

This article presents GAT, a Graphical Annotation Tool based on a region-based hierarchical representation of images. The proposed solution uses Partition Trees to navigate through the image segments which are automatically defined at different spatial scales. Moreover, the system focuses on the navigation through ontologies for a semantic annotation of objects and of the parts that compose them. The tool has been designed under usability criteria to minimize the user interaction by trying to predict the future selection of regions and semantic classes. The implementation uses MPEG-7/XML input and output data to allow interoperability with any type of Partition Tree. This tool is publicly available and its source code can be downloaded under a free software license.     

Extending a Natural Language Interface with Geospatial Queries

In this installation of architectural perspectives, we describe an extension of a menu-based natural language interface (MBNLI) to support geospatial queries. Our extension makes it easier for application analysts and even inexperienced users to phrase complex queries without knowing the relational database query language SQL, database schemas (table structures), spatial operators, or spatial indexes.     

VIAN: A Visual Annotation Tool for Film Analysis

While color plays a fundamental role in film design and production, existing solutions for film analysis in the digital humanities address perceptual and spatial color information only tangentially. We introduce VIAN, a visual film annotation system centered on the semantic aspects of film color analysis. The tool enables expert‐assessed labeling, curation, visualization and Classification of color features based on their perceived context and aesthetic quality. It is the first of its kind that incorporates foreground‐background information made possible by modern deep learning segmentation methods. The proposed tool seamlessly integrates a multimedia data management system, so that films can undergo a full color‐oriented analysis pipeline.     

Design and Prototype of a Performance Tool Interface for OpenMP

This paper proposes a performance tools interface for OpenMP, similar in spirit to the MPI profiling interface in its intent to define a clear and portable API that makes OpenMP execution events visible to runtime performance tools. We present our design using a source-level instrumentation approach based on OpenMP directive rewriting. Rules to instrument each directive and their combination are applied to generate calls to the interface consistent with directive semantics and to pass context information (e.g., source code locations) in a portable and efficient way. Our proposed OpenMP performance API further allows user functions and arbitrary code regions to be marked and performance measurement to be controlled using new OpenMP directives. To prototype the proposed OpenMP performance interface, we have developed compatible performance libraries for the Expert automatic event trace analyzer [17, 18] and the TAU performance analysis framework [13]. The directive instrumentation transformations we define are implemented in a source-to-source translation tool called OPARI. Application examples are presented for both Expert and TAU to show the OpenMP performance interface and OPARI instrumentation tool in operation. When used together with the MPI profiling interface (as the examples also demonstrate), our proposed approach provides a portable and robust solution to performance analysis of OpenMP and mixed-mode (OpenMP+MPI) applications.     

无人机吊挂飞行系统的减摆控制设计

主要考虑了四旋翼无人机（Unmanned aerial vehicle,UAV）吊挂飞行系统的位置控制及负载摆动抑制的设计问题.在存在欠驱动特性以及未知系统参数的约束下,本文基于能量法设计了一种非线性控制策略,实现了对无人机位置的精确控制和飞行过程中负载摆动的快速抑制.基于Lyapunov方法的稳定性分析证明了闭环系统的稳定性,位置误差的收敛及摆动的抑制.实验结果表明本文提出的控制策略取得了较好的控制效果.     

Design and Prototype of a Performance Tool Interface for OpenMP

This paper proposes a performance tools interface for OpenMP, similar in spirit to the MPI profiling interface in its intent to define a clear and portable API that makes OpenMP execution events visible to runtime performance tools. We present our design using a source-level instrumentation approach based on OpenMP directive rewriting. Rules to instrument each directive and their combination are applied to generate calls to the interface consistent with directive semantics and to pass context information (e.g., source code locations) in a portable and efficient way. Our proposed OpenMP performance API further allows user functions and arbitrary code regions to be marked and performance measurement to be controlled using new OpenMP directives. To prototype the proposed OpenMP performance interface, we have developed compatible performance libraries for the Expert automatic event trace analyzer [17, 18] and the TAU performance analysis framework [13]. The directive instrumentation transformations we define are implemented in a source-to-source translation tool called OPARI. Application examples are presented for both Expert and TAU to show the OpenMP performance interface and OPARI instrumentation tool in operation. When used together with the MPI profiling interface (as the examples also demonstrate), our proposed approach provides a portable and robust solution to performance analysis of OpenMP and mixed-mode (OpenMP+MPI) applications.     

A Multi-modality Sensor System for Unmanned Surface Vehicle

Neural Processing Letters - The onboard multi-modality sensors significantly expand perception ability of Unmanned Surface Vehicle (USV). This paper aims to fully utilize various onboard sensors...     

四旋翼自主飞行器的控制器设计与仿真

四旋翼自主飞行器是一类具有强耦合性和欠驱动特点的空中机器人.从空气动力学和飞行运动学两方面分析并建立了其机理模型,提出了相应的参数辨识方法.根据模型的串级结构,设计了一种新型的控制器,在考虑白噪声的影响下建立了Simulink仿真并验证了该控制方案的稳定性和鲁棒性.     

Information-Measuring System for Unmanned Aerial Vehicle Payload Control

Journal of Computer and Systems Sciences International - The features of payload control are indicated on the example of an unmanned aerial vehicle equipped with an onboard radar station, when it...     

无人水下航行器势场航路规划方法研究

对运动障碍威胁环境下无人水下航行器(UUV)航路规划问题进行了研究;首先分别对规划过程中固定障碍、运动障碍建立了排斥势场,对目标点建立了吸引势场,将航路规划问题转变为寻找最优势场点问题;然后提出一种改进的粒子群算法(NPSO),在UUV航路规划过程中,寻找距离当前路径点固定步长范围内的最优势场点,将其作为下一路径点,最终实现UUV在运动障碍威胁环境中的航路规划;最后对所提方法进行了仿真验证,UUV可以有效躲避固定障碍与运动障碍威胁,寻找到较优航路,取得了较好的仿真效果。     

微小型四旋翼无人飞行器姿态控制

关于自主研发的微小型四旋翼无人飞行器姿态控制问题,针对姿态控制要求的稳定性,根据飞行器的飞行原理,通过数学推导建立近似的姿态角线性模型.操作飞行器飞行并采集相关飞行数据在MATLAB中辨识出有效的模型参数并验证模型准确性.在姿态角模型的基础上,分别设计了ALQR控制器以及卡尔曼滤波器.飞行实验结果表明,设计的卡尔曼滤波器具有很好的滤波效果和状态量推测性能,设计的ALQR控制器能较好的解决控制指令跟踪的问题,满足姿态优化控制的要求.     

Data Comets: Designing a Visualization Tool for Analyzing Autonomous Aerial Vehicle Logs with Grounded Evaluation

Autonomous unmanned aerial vehicles are complex systems of hardware, software, and human input. Understanding this complexity is key to their development and operation. Information visualizations already exist for exploring flight logs but comprehensive analyses currently require several disparate and custom tools. This design study helps address the pain points faced by autonomous unmanned aerial vehicle developers and operators. We contribute: a spiral development process model for grounded evaluation visualization development focused on progressively broadening target user involvement and refining user goals; a demonstration of the model as part of developing a deployed and adopted visualization system; a data and task abstraction for developers and operators performing post-flight analysis of autonomous unmanned aerial vehicle logs; the design and implementation of Data Comets , an open-source and web-based interactive visualization tool for post-flight log analysis incorporating temporal, geospatial, and multivariate data; and the results of a summative evaluation of the visualization system and our abstractions based on in-the-wild usage. A free copy of this paper and source code are available at osf.io/h4p7g     

LabelMe: A Database and Web-Based Tool for Image Annotation

We seek to build a large collection of images with ground truth labels to be used for object detection and recognition research. Such data is useful for supervised learning and quantitative evaluation. To achieve this, we developed a web-based tool that allows easy image annotation and instant sharing of such annotations. Using this annotation tool, we have collected a large dataset that spans many object categories, often containing multiple instances over a wide variety of images. We quantify the contents of the dataset and compare against existing state of the art datasets used for object recognition and detection. Also, we show how to extend the dataset to automatically enhance object labels with WordNet, discover object parts, recover a depth ordering of objects in a scene, and increase the number of labels using minimal user supervision and images from the web. The first two authors (B.C. Russell and A. Torralba) contributed equally to this work.     

An Open Road Evaluation of a Self-Driving Vehicle Human–Machine Interface Designed for Visually Impaired Users

ABSTRACT

Fully autonomous or “self-driving” vehicles are an emerging technology that may hold tremendous mobility potential for individuals who are visually impaired who have been previously disadvantaged by an inability to operate conventional motor vehicles. Prior studies however, have suggested that these consumers have significant concerns regarding the accessibility of this technology and their ability to effectively interact with it. We present the results of a quasi-naturalistic study, conducted on public roads with 20 visually impaired users, designed to test a self-driving vehicle human–machine interface. This prototype system, ATLAS, was designed in participatory workshops in collaboration with visually impaired persons with the intent of satisfying the experiential needs of blind and low vision users. Our results show that following interaction with the prototype, participants expressed an increased trust in self-driving vehicle technology, an increased belief in its likely usability, an increased desire to purchase it and a reduced fear of operational failures. These findings suggest that interaction with even a simulated self-driving vehicle may be sufficient to ameliorate feelings of distrust regarding the technology and that existing technologies, properly combined, are promising solutions in addressing the experiential needs of visually impaired persons in similar contexts.     

Testing Unmanned Aerial Vehicle Missions in a Scaled Environment

UAV research generally follows a path from computer simulation and lab tests of individual components to full integrated testing in the field. Since realistic environments are difficult to simulate, its hard to predict how control algorithms will react to real world conditions such as varied lighting, weather, and obstacles like trees and wires. This paper introduces a methodic approach to developing UAV missions. A scaled down urban environment provides a facility to perform testing and evaluation (T&E) on control algorithms before flight. A UAV platform and test site allow the tuned control algorithms to be verified and validated (V&V) in real world flights. The resulting design methodology reduces risk in the development of UAV missions.     

Development of a System for Simulation and Control of an Unmanned Aerial Vehicle

Control systems of different vehicles such as helicopters, cars and boats have a lot in common. Thus, the main goal of this paper is to enable construction of a universal platform providing an opportunity of making such a system in a simplified and fast way. The designed platform operates in three different modes (SIL, MIX and HIL). The platform enables switching between different modes of operation without any changes implemented in a software layer. An embedded controller is able to schedule tasks without any delays, which involves utilization of a real-time operating system. Additionally, it is possible to remotely control and monitor the vehicle during its normal operation.     

服务接口测试自动化工具的研究

在面向服务的架构中,软件功能通常被封装为服务,并以开放可编程接口的方式提供应用.因此,服务接口的正确性和可靠性对于服务理解、重用和集成至关重要.随着软件即服务的思想被广为认可,互联网上越来越多的软件应用以服务接口方式提供开放式访问.面对众多的服务接口,如何进行高效且有效的测试是一个亟待解决的问题.为此,提出了一种基于模型驱动的自动化测试方法,首先采用接口语义契约模型对被测服务接口建模,然后基于接口模型和测试覆盖率需求为单个服务和组合服务生成测试数据和测试用例.在此基础上,设计并实现了AutoTest自动化测试工具,该工具采用多种算法用于优化测试用例生成,且支持图形化测试计划编排和跨语言测试代码生成.实验结果表明,AutoTest能够有效支持大批量测试用例的设计和生成,根据OED(正交实验设计)算法生成的测试用例与IPO组合算法得到的用例相比,具有更为理想的测试覆盖率.