多无人机完全分布式有限时间编队控制

针对分布式通信网络,研究多无人机完全分布式编队生成和保持控制问题.基于滑模和自适应方法设计自适应耦合增益,进而结合与邻居无人机之间的相对状态设计一种新的有限时间编队控制器.该算法去掉了传统编队控制器依赖通信网络范围和拓扑及Leader无人机状态等全局信息的限制,基于Lyapunov理论证明无人机编队误差在有限时间可以收敛到边界可调的邻域内.对三维运动的多无人机编队进行仿真验证,结果显示,所设计的编队控制算法可以实现多无人机有限时间完全分布式编队生成和保持.     

基于Agent人工智能的异构网络多重覆盖节点入侵检测系统设计

异构网络具有结构复杂、多重覆盖面积大等特征,使得网络入侵检测较为隐蔽,为网络安全运行造成威胁,为此,设计基于Agent人工智能的异构网络多重覆盖节点入侵检测系统。通过检测Agent和通信Agent装设主机Agent,以Cisco Stealthwatch流量传感器作为异构网络传感器检测攻击行为,采用STM32L151RDT6 64位微控制器传输批量数据,由MAX3232芯片实现系统电平转化,实现硬件系统设计。软件部分设计入侵检测标准,利用传感器设备捕获网络实时数据,通过Agent技术解析异构网络协议并提取数据运行特征,综合考虑协议解析结果及与检测标准匹配度,实现异构网络多重覆盖节点入侵检测。通过系统测试得出结论:设计的基于Agent人工智能的异构网络多重覆盖节点入侵检测系统入侵行为的漏检率和入侵类型误检率的平均值仅为6%和5%,能够有效提高检测精度,减小检测误差。     

含驱动器动力学的移动机器人编队自适应控制

针对含有驱动器及编队动力学的多非完整移动机器人编队控制问题,基于领航者-跟随者[l-ψ]控制结构,通过反步法设计了一种将运动学控制器与驱动器输入电压控制器相结合的新型控制策略。采用径向基神经网络（RBFNN）对跟随者及领航者动力学非线性不确定部分进行在线估计,并通过自适应鲁棒控制器对神经网络建模误差进行补偿。该方法不但解决了移动机器人编队控制的参数与非参数不确定性问题,同时也确保了机器人编队在期望队形下对指定轨迹的跟踪;基于Lyapunov方法的设计过程,保证了控制系统的稳定与收敛;仿真结果表明了该方法的有效性。     

基于故障观测器的多无人机姿态一致性控制

在多个固定翼无人机姿态主从式一致性控制过程中,给出单个固定翼无人机在理想情况下的姿态动力学模型,即名义模型。考虑到无人机在实际运行过程中存在的外部干扰、状态测量误差、控制器微小故障以及无人机实际模型与名义模型之间的偏移,提出一种基于观测器和神经网络的故障检测方法,以实时检测出无人机中存在的故障、模型不确定以及干扰情况。基于无人机名义模型和检测出的故障及干扰,设计主从式多无人机姿态一致性控制器,以实现多无人机姿态的一致性准确跟踪。仿真结果表明,在外部干扰、状态测量误差与控制器微小故障下,与基于神经网络的直接姿态一致性控制器相比,该控制器能够使得无人机的姿态运动状态更接近于期望状态。     

级联RTAC系统动态神经网络辨识与分散镇定控制

针对含不确定关联项的级联RTAC系统的镇定控制问题, 提出了一种基于动态神经网络辨识的分散控制方 案. 应用拉格朗日方程建立起了考虑不确定非线性作用力的级联RTAC系统数学模型, 采用动态神经网络实现级 联RTAC系统中不确定关联项的在线辨识, 通过构造含神经网络权值矩阵迹的Lyapunov函数, 证明了辨识误差的一 致有界性. 通过动态神经网络辨识不确定关联项、补偿系统建模误差, 建立级联RTAC系统分层滑模控制算法, 以实 现级联RTAC系统的高精度分散镇定控制. 数值仿真验证了动态神经网络的引入对级联RTAC系统分散镇定控制系 统瞬态幅值抑制、稳态精度提升的效果.     

拓扑感知的无线传感网络数据聚合方法

针对无线传感网络中数据聚合能耗和重建误差问题,提出了一种拓扑感知的数据聚合方法(TADA).首先,构建了一个包含网络初始化、数据分帧和数据预处理的数据流,形成无线传感网络的通信过程;然后,构造测量矩阵将数据分解为多个路径转发,从而进行全网络矢量分配,并提出了基于平衡最小生成树是数据聚合算法.通过实验表明:所提方法在数据聚合能耗和数据重建错误率要求上低于其它压缩感知的方法.     

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According to the different network monitoring requirements of multiple equipments and servers in Radio Frequency Identification (RFID) information network, the common character and feature of network components are researched. The monitoring parameters are designed and selected including common parameters and special parameters. A kind of Simple Network Management Protocol(SNMP)-based Manager-Agent monitoring model is used. A general monitoring system including MIB node, Agent and monitoring tool for RFID information network is developed. Test results show the system can monitor both RFID readers and code resolution servers.     

基于SNMP的RFID信息网络监控系统

根据射频识别(RFID)信息网络中多种设备与服务器的网络监控需求,研究该信息网络中不同网络组件的共性及特性,选取并设计不同的监控参数,包括各种网络组件的公共参数及特性参数,采用基于SNMP协议的Manager-Agent监控模型,设计MIB节点、监控代理、监控工具,实现一种RFID信息网络通用的监控系统。测试结果表明,该监控系统能够成功地监控RFID读写器、RFID编码解析服务器等RFID信息网络组件。     

基于门控网络的军事装备控制指令语音识别研究

军事装备无感控制是军事装备智能化建设进程中的一个重要研究方向,其中语音控制技术作为无人装备无感控制手段的关键组成部分,受到了越来越多的重视。为完成军事装备语音控制任务,设计一种基于门控网络的中文语音识别网络,并构建军事装备控制指令数据集,实现基于控制指令语音识别技术的军事装备控制。在传统卷积神经网络的结构基础上引入深度残差门控卷积网络,提高识别网络的准确性,同时通过多途径构建军事装备控制指令数据集,设计一套针对军事装备无感控制的语音识别方案。实验结果表明,该语音识别网络军事语音控制指令识别率可达87%,外接语言模型后可达92%,语音识别准确率高、误差率低,可完成军事装备的语音控制任务。     

基于BP神经网络的超声波测距非线性误差校正

本文结合笔者所设计的超声波测距仪，介绍了用神经网络校正超声波传感器的非线性误差的原理与方法，并提出了基于BP神经网络的超声波测距非线性误差校正的模型、算法及其硬件实现。通过理论分析和硬件实验，显示出BP神经网络对超声波传感器的温度补偿和非线性校正的效果良好，充分表明了应用神经网络在提高超声波测距精度方面是一种行之有效的方法。     

基于BP神经网络的超声波测距非线性误差校正

本文结合笔者所设计的超声波测距仪,介绍了用神经网络校正超声波传感器的非线性误差的原理与方法,并提出了基于BP神经网络的超声波测距非线性误差校正的模型、算法及其硬件实现。通过理论分析和硬件实验,显示出BP神经网络对超声波传感器的温度补偿和非线性校正的效果良好,充分表明了应用神经网络在提高超声波测距精度方面是一种行之有效的方法。     

多组件协作式网络安全系统的分析与设计

该文提出了一种集网络安全评估分析、防护、检测和响应技术为一体的多组件动态协作式网络安全系统。该系统采用多组件动态协作模型设计,主要包括防火墙、网络探测器、主机代理、扫描器、管理控制台等多种安全组件,系统中各个组件之间能动态地密切协作,共同维护网络安全。文中重点阐述了该系统的结构、多组件协作的具体内容及其实现,以及用于支持协作的基于PKI的身份认证及保密通信机制。     

Multi-focus image fusion: Transformer and shallow feature attention matters

The depth of field (DOF) of camera equipment is generally limited, so it is very difficult to get a fully focused image with all the objects clear after taking only one shot. A way to obtain a fully focused image is to use a multi-focus image fusion method, which fuses multiple images with different focusing depths into one image. However, most of the existing methods focus too much on the fusion accuracy of a single pixel, ignoring the integrity of the target and the importance of shallow features, resulting in internal errors and boundary artifacts, which need to be repaired after a long time of post-processing. In order to solve these problems, we propose a cascade network based on Transformer and attention mechanism, which can directly obtain the decision map and fusion result of focusing/defocusing region through end-to-end processing of source image, avoiding complex post-processing. For improving the fusion accuracy, this paper introduces the joint loss function, which can optimize the network parameters from three aspects. Furthermore, In order to enrich the shallow features of the network, a global attention module with shallow features is designed. Extensive experiments were conducted, including a large number of ablation experiments, 6 objective measures and a variety of subjective visual comparisons. Compared with 9 state-of-the-art methods, the results show that the proposed network structure can improve the quality of multi-focus fusion images and the performance is optimal.     

An offset-free neural controller based on a non-extrapolating scheme for approximating the inverse process dynamics

This work presents a novel control scheme based on approximating the inverse process dynamics with a radial basis function (RBF) neural network model, trained with the fuzzy means algorithm. The produced RBF network constitutes an inverse model of the process, which can be applied as an explicit control law. In order to avoid extrapolation in the RBF model predictions, a concept borrowed from chemometrics, namely the applicability domain, is incorporated to the proposed framework. Moreover, an error correction term is added, allowing the inverse neural controller to account for modeling errors and process uncertainty and eliminate offset. The proposed approach is applied to the control of a nonlinear Continuous Stirred Tank Reactor (CSTR) exhibiting multiple equilibrium points, including an unstable one. A comparison with other control schemes on various tests, including set-point tracking, unmeasured disturbance rejection and process uncertainty highlights the advantages of the proposed controller.     

关于路由器配置诊断及优化系统的研究与设计

多数的网络故障是由于软件错误导致的,而其中由于网络设备配置错误的导致的故障占了很大的比例,其中又有很大比例是路由器的配置错误.当前,路由器的配置错误在诊断纠错上存在一定难度.对路由器其进行配置诊断和系统优化的方法有多种,本文对利用构件化的集成诊断系统与数据挖掘技术的决策树命令诊断系统设计进行浅要分析.     

Distributed finite‐time fault‐tolerant error constraint containment algorithm for multiple ocean bottom flying nodes with tan‐type barrier Lyapunov function

The ocean bottom flying node (OBFN) is a special autonomous underwater vehicle (AUV) for seabed resource exploration. In this article, unmodeled uncertainties, thruster faults, and ocean disturbances are considered. The trajectory errors are constrained. Based on the directed topology, the distributed finite‐time fault‐tolerant error constraint containment control problem for multiple OBFN systems is solved, while only a part of follower OBFNs can measure the state of leaders. By using the backstepping method and a tan‐type barrier lyapunov function (BLF), a novel form of virtual controller is constructed. Neural network is employed to approximate and compensate the general disturbances. And the upper bound of the estimation error is dealt with by proposing an adaptive law. Besides, the trajectory errors can be constrained to a small neighborhood of zero in finite time. In other words, follower OBFNs can reach the convex hull consisted of leaders in finite time. The effectiveness of the designed algorithm is shown by presenting numerical experiment.     

Cyberattack detection model using deep learning in a network log system with data visualization

The Journal of Supercomputing - Network log data is significant for network administrators, since it contains information on every event that occurs in a network, including system errors, alerts,...     

Adaptive fuzzy neural network finite-time command filtered control of n-link robotic systems with actuator saturation

The finite time tracking control of n-link robotic system is studied for model uncertainties and actuator saturation. Firstly, a smooth function and adaptive fuzzy neural network online learning algorithm are designed to address the actuator saturation and dynamic model uncertainties. Secondly, a new finite-time command filtered technique is proposed to filter the virtual control signal. The improved error compensation signal can reduce the impact of filtering errors, and the tracking errors of system quickly converge to a smaller compact set within finite time. Finally, adaptive fuzzy neural network finite-time command filtered control achieves finite-time stability through Lyapunov stability criterion. Simulation results verify the effectiveness of the proposed control.     

基于电阻抗谱特性与集成神经网络的天然气水合物饱和度软测量模型

含天然气水合物饱和度的计算是储层优选和资源量评估的关键参数,针对目前数据解释模型计算精度低以及模型输入参数少等问题,提出了一种基于电阻抗特性参数和集成神经网络的软测量模型建立方法。在对电阻抗谱数据进行预处理、特征参数提取以及选择的基础上形成了样本集,针对四对传感器分别设计了BP神经网络,采用平均法作为集成策略将四个BP网络作为子网络进行集成得到集成网络模型。模型测试结果表明：通过集成网络模型计算得到的含水合物饱和度值平均相对误差3.33%、平均绝对误差0.0014、均方根误差为6.56%,三项误差指标均低于各个子网络的计算误差。在宽频范围内对含水合物沉积物进行电阻抗谱测试能够获得沉积物的频率响应特性以及特性描述参数,可为神经网络模型提供大量的输入参数;利用集成神经网络能够综合应用位于不同测量方位的多个传感器的测量数据,通过采用适合的集成策略能够克服水合物空间分布不均匀对饱和度计算准确度的不利影响。