基于MATLAB/Simulink的捷联惯性导航系统仿真

介绍了仿真软件MATLAB/Simulink及先进的仿真系统平台软件RT-Lab,设计了龙格-库塔积分模块,用于解决在使用定步长求解器及数字时钟情况下的积分精度不高的问题;建立了基于MATLAB/Simulink的捷联惯性导航仿真模型;并将系统分解成一系列功能相对独立的模块,如轨迹发生模块,捷联惯导解算模块;并进行了仿真验证,得到的姿态、速度、位置误差与理论值相符,证明了仿真模型建立正确、方法采用得当、有效。     

利用惯性传感器的人体运动空间轨迹追踪

人体运动的空间轨迹追踪是一种利用传感器技术和计算机技术来分析记录人体的运动过程的方法.为了实现人体运动轨迹的空间追踪,本文设计了一种人体可穿戴式的人体运动捕捉系统,通过佩戴在人体关节点的惯性传感器单元来获取肢体的实时姿态信息.惯性传感器由加速度传感器、角速度传感器和磁力计构成.通过微控制单元获取传感器数据,利用低通滤波和卡尔曼滤波来更新四元数,再将预处理后的数据由蓝牙模块实时发送到电脑端.本文通过对肢体运动的不同角度的实验,证明了利用惯性传感器可以追踪人体肢体、运动的空间轨迹.     

Connectivity and performance tradeoffs in the cascade correlationlearning architecture

The cascade correlation is a very flexible, efficient and fast algorithm for supervised learning. It incrementally builds the network by adding hidden units one at a time, until the desired input/output mapping is achieved. It connects all the previously installed units to the new unit being added. Consequently, each new unit in effect adds a new layer and the fan-in of the hidden and output units keeps on increasing as more units get added. The resulting structure could be hard to implement in VLSI, because the connections are irregular and the fan-in is unbounded. Moreover, the depth or the propagation delay through the resulting network is directly proportional to the number of units and can be excessive. We have modified the algorithm to generate networks with restricted fan-in and small depth (propagation delay) by controlling the connectivity. Our results reveal that there is a tradeoff between connectivity and other performance attributes like depth, total number of independent parameters, and learning time.     

Haptic interface through wave transformation using delayed reflection: application to a passive haptic device

From the viewpoint of passivity, it is well known that wave variables are robust to transmission delay of a system. During wave transformation for the sampled-data system, a unit delay arises due to causality of the reflection wave. This delay makes the wave transformation in the sampled-data system different from the standard one in the continuous-time system. The unit delay on the reflection wave occasionally becomes a passive element. From the passivity condition of the sampled-data system, the wave impedance can be designed such that wave transformation using delayed reflection provides the effect of positive damping and thus a stable haptic interface is achieved in the sampled-data system. For a passive haptic device, although it is always considered stable because of its passive nature, the oscillatory motion appears during the wall-following task with force approximation. Various experiments for a two-linked passive haptic device show that a stable haptic interface can be accomplished for the wall-following task through wave transformation using delayed reflection.     

On delayed sharing patterns

A counterexample is given to a conjectured separation result for delayed sharing patterns when the delay is at least two units. The conjecture is proved to be true for a unit delay.     

捷联惯性测量装置角速度通道动态特性辨识

动态特性是评价捷联惯性测量装置的核心技术指标.以某一型号光纤捷联惯性测量装置(含减振器)为研究对象,通过角振动试验和数据分析,结合频域子空间算法与遗传算法,建立了基于捷联惯性测量装置整机角速度通道传递函数模型,为捷联惯性测量装置整机动态性能应用评估奠定了技术基础,方法得到了比传统方法更好的结果,更适合实际工程应用.     

大型复杂系统控制器设计的功能组合途径

大型复杂系统包括许多基本控制环节,某些环节本身也是一个复杂系统。它们有着较大的时滞,时滞可能是时变的,而且它们之间存在着强耦合,所以对复杂大系统的单元控制方法的研究,就必须从整个系统来考虑。在整个系统统筹优化的观点下,来考虑单元控制器的设计问题。针对这一问题进行了一些分析和讨论,提出了控制设计的一种新途径,即功能组合设计途径。     

Multi-Sensory Motion Estimation and Control of an Autonomous Quadrotor

In this paper, a fully autonomous quadrotor in a heterogeneous air–ground multi-robot system is established only using minimal on-board sensors: a monocular camera and inertial measurement units (IMUs). Efficient pose and motion estimation is proposed and optimized. A continuous-discrete extended Kalman filter is applied, in which the high-frequency IMU data drive the prediction, while the estimates are corrected by the accurate and steady vision data. A high-frequency fusion at 100 Hz is achieved. Moreover, time delay analysis and data synchronizations are conducted to further improve the pose/motion estimation of the quadrotor. The complete on-board implementation of sensor data processing and control algorithms reduces the influence of data transfer time delay, enables autonomous task accomplishment and extends the work space. Higher pose estimation accuracy and smaller control errors compared to the standard works are achieved in real-time hovering and tracking experiments.     

无陀螺微惯性测量装置

首先简要介绍了惯性测量装置及微惯性测量装置的特点及分类,指出了采用无陀螺技术设计微惯性测量装置的优势。并介绍了国内外无陀螺测量技术发展状况,提出了一种新颖的结构设计,推导了导航方程的算法,利用了多传感器的冗余信息对算法进行优化,降低了求解微分方程的累积误差,提高了无陀螺微惯性测量组合的导航精度,最后进行了仿真计算,验证了该方案的可行性。     

基于MEMS和CORTEX-M3的微惯性测量单元研制

从工程实际出发,给出了一种基于新型Cortex-M3内核ARM和MEMS惯性传感器的低成本、高性能微型惯性测量单元的结构框架。详细介绍了采用三轴MEMS陀螺、三轴MEMS加速度计和三轴磁阻传感器研制的微惯性测量单元硬件设计方案,分析了陀螺和加速度计的信号噪声,利用均值滤波法对信号进行预处理,对预处理后的信号采用FIR滤波器进行滤波,对陀螺和加速度计进行了标定。该测量单元已应用于某小型无人机的姿态测量,达到预期效果。     

温室大棚气肥施放单片机控制系统

文中讨论了一个单片机系统在温室大棚的ＣＯ２气肥施放中的应用，以及纯滞后补偿器在处理大惯性滞后系统中的控制方法。     

Cost-benefit analysis of two-unit parallel system with administrative delay in repair

The analysis of parallel systems with two dissimilar units is examined. Each unit has two modes—‘normal’ or ‘total failure’. Whenever an operative unit fails, an administrative delay occurs in locating the repairman and making him available at the system location. A system is observed at suitable regenerative epochs in order to obtain various economic related reliability characteristics. The explicit results are obtained in few particular cases.     

惯性测量组件动态误差补偿

介绍了惯性测量组件常用的动态误差模型,讲解了对动态误差系数进行标定常用的恒速试验和角振动试验,在此基础上,重点讲述了优化改进的正交三轴匀角速率试验,对惯性测量组件的动态误差进行了较好的补偿。     

基于椭球拟合的微惯性测量组合现场快速标定方法

在静态随意放置条件下,微惯性测量组合中三个轴向正交配置的惯性器件所敏感矢量和为固定矢量.依据上述客观事实,提出了一种微惯性测量组合现场快速标定方法.在建立并优化微惯性测量组合标定模型基础上,通过基于椭球约束的最小二乘法拟合得到全部待标定参数,从而实现微惯性测量组合现场高精度标定,最后合理编排了微惯性测量组合现场快速标定...     

数据驱动下火电机组时延鉴别及主汽温度预测

针对传统的火电机组主汽温度建模时在海量特征和长机组延迟下的特征及对应时延的有效选择困难的问题,提出一种综合考虑特征选择和时延选择的融合模型的建模方法。针对火电机组特征的高维性,通过结合相关性系数和梯度提升机的特征选择以筛选出与主汽温度高相关的特征。针对时延鉴别,设计基于相关度的时延计算（TD-CORT）算法用以估计各参数与预测目标主汽温度之间的时延大小,并为预测目标和计算复杂度实现了滑动窗口大小的自动匹配。最后,采用深度神经网络（DNN）与长短期记忆（LSTM）的融合模型实现对火电机组主汽温度的预测。在国内某1 000 MW超超临界燃煤机组的部署结果表明,所提方法的预测平均绝对误差（MAE）值达到0.101 6,该方法相较未考虑时延的神经网络在预测准确度上提升了57.42%。     

数据驱动下火电机组时延鉴别及主汽温度预测

针对传统的火电机组主汽温度建模时在海量特征和长机组延迟下的特征及对应时延的有效选择困难的问题，提出一种综合考虑特征选择和时延选择的融合模型的建模方法。针对火电机组特征的高维性，通过结合相关性系数和梯度提升机的特征选择以筛选出与主汽温度高相关的特征。针对时延鉴别，设计基于相关度的时延计算（TD-CORT）算法用以估计各参数与预测目标主汽温度之间的时延大小，并为预测目标和计算复杂度实现了滑动窗口大小的自动匹配。最后，采用深度神经网络（DNN）与长短期记忆（LSTM）的融合模型实现对火电机组主汽温度的预测。在国内某1 000 MW超超临界燃煤机组的部署结果表明，所提方法的预测平均绝对误差（MAE）值达到0.101 6，该方法相较未考虑时延的神经网络在预测准确度上提升了57.42%。     

On stabilization of the controlled mechanical systems

Consideration was given to stabilization of the equilibrium of the controlled stationary mechanical systems with controllers which take into account only the delay in coordinate. The theorem of asymptotic stability of the retarded nonautonomous functional differential equation with infinite delay was proved. The study was based on the method of limiting equations and the Lyapunov functionals with fixed-sign derivative. The problem of stabilization of triaxial orientation of a solid body in the inertial coordinate system was considered as an example.     

基于MEMS的动作跟踪器的研制

本文针对增强现实中的跟踪定位的需求,采用嵌入式系统设计思想,以新型的微机电惯性器件为核心,利用单片机来构建了一种结构紧凑、低功耗、低成本的通用型惯性测量硬件平台。实现模拟信号处理,并采用多传感器的数据融合算法。最后,通过实验分析,验证了惯性跟踪器的功能。     

Pattern recognition through compatibility of excitatory and inhibitory rhythms

A pattern recognition mechanism (“windowing mechanism”) is proposed that is based on Hebbian memory and oscillatory inhibition. It is related to properties of cortical gamma oscillations as expressed with the communication-through-coherence hypothesis. The rhythm dominating among excitatory units is imprinted on the inhibitory units through columnar couplings. Excitatory units that participate in the dominating rhythm may escape the feedback from the inhibitory pool through being active in the time windows given by the minima of the inhibitory effect. The activity of other units is suppressed. Constituting an excitatory rhythm that is compatible with the inhibitory one, the participating units comprise the winning patterns. This windowing mechanism is specified through giving an oscillatory network model and demonstrating it with image processing examples. Thereby, we also provide a gradient system formulation for inhibitory generation of synchrony.     

微惯性测量单元设计及其误差补偿模型的研究

针对微惯性测量单元(MIMU)小体积、低功耗、低成本、高实时性的应用需求,设计了一种基于ARM和MEMS惯性器件的MIMU系统,并根据实验中得到的惯性器件的误差特性建立了一种惯性器件误差补偿模型,然后在硬件系统上进行了实验验证.利用该模型对惯性器件测量结果进行修正,可以有效抑制误差,提高MIMU的测量精度.整个系统能满足使用精度要求.