Modeling and Neuro-Fuzzy adaptive attitude control for Eight-Rotor MAV

This paper focuses on modeling and intelligent control of the new Eight-Rotor MAV which is used to solve the problem of low coefficient proportion between lift and gravity for Quadrotor MAV. The dynamical and kinematical modeling for the Eight-Rotor MAV was developed which has never been proposed before. Based on the achieved dynamic modeling, two types of controller were presented. One type, a PID controller is derived in a conventional way with simplified dynamics and turns out to be quite sensitive to sensor noise as well as external perturbation. The second type controller is the Neuro-Fuzzy adaptive controller which is composed of two type-II fuzzy neural networks (TIIFNNs) and one PD controller: The PD controller is adopted to control the attitude, one of the TIIFNNs is designed to learn the inverse model of Eight-Rotor MAV on-line, the other one is the copy of the former one to compensate for model errors and external disturbances, both structure and parameters of T-IIFNNs are tuned on-line at the same time, and then the stability of the Eight-Rotor MAV closed-loop control system is proved using Lyapunov stability theory. Finally, the validity of the proposed control method has been verified through real-time experiments. The experimental results show that the performance of Neuro-Fuzzy adaptive controller performs very well under sensor noise and external disturbances, and has more superiority than traditional PID controller.     

基于多目视觉的变形钢板三维测量方法

提出了一种使用4个相机测量变形钢板三维形状的方法;在没有纹理的钢板上画一些点,使用4个相机同时拍摄钢板;利用边缘检测算法找出钢板的边缘,利用特征点提取算法提取出4个图像中钢板上的特征点,并找到4个图像上精确的特征点匹配关系,然后测量出这些特征点的三维点;最后,以这些三维点为种子点向外区域增长,从而得到钢板的三维形状;实验对变形钢板进行三维测量,得到了钢板的精确的三维形状,结果验证了该方法的有效性和可行性。     

VC和MATLAB混合编程方法在迷彩斑块设计中的应用

通过一个迷彩斑块设计实例,阐述VC和MATLAB的混合编程方法在迷彩设计中的应用。使用MATLAB函数调用图像处理工具箱,创建COM接口,从而实现VC＋＋调用该COM接口,并对返回结果进行处理。实现对输入的背景图像进行处理,获得图像的边缘轮廓,为迷彩的斑块设计提供依据。既能充分利用成熟的函数库加快软件开发,成功提取到背景的较闭合边缘,又能保证良好的用户界面及性能。     

基于集对分析的保障能力薄弱环节改进模型研究

确定保障能力薄弱环节对提高部队保障能力至关重要,目前保障能力薄弱环节确定有指标评估得分法和权重法两种方法,两种方法均存在一定的片面性。针对存在的问题,提出一种基于指标裕度空间和权重的求指标薄弱度的方法查找、确定保障能力薄弱环节,并且将集对分析的思想应用到指标优化和指标裕度空间的分析求取上,使指标薄弱度更加精确。最后结合某基层一级保障单位进行实例,运用Matlab软件仿真模型,进行保障能力指标薄弱度分析,并与目前存在的两种方法对比分析,实践证明所提出的方法更适用于保障能力薄弱环节的确定。     

视频质量客观评估方法分析

文章简单介绍了视频监控系统的应用,指出了视频质量主观评估的缺点,并按不同的分类分析了常用的视频质量客观评估方法,在此基础上探索了一种视频质量无参评客观估方法的思路。     

雷达抗干扰性能评估指标分析与测试平台设计

复杂电磁环境下雷达抗干扰性能外场实验通常具有复杂度高、设备代价高昂的问题。通过分析雷达电磁环境组成和相关评估指标,在综合一系列雷达对抗想定的基础上,提出了雷达对抗性能测试系统设计方案。该系统利用高速DSP和ARM终端显示控制灵活实现雷达干扰样式选择和参数设置。有效地解决了雷达状态信息采集、回波信号实时模拟以及战场环境想定的显控终端控制。研究了多种性能评估指标的具体测试方法,分析了影响干扰效果的关键性因素。结合具体雷达设备进行了雷达抗干扰半实物仿真实验,实验和数据处理结果证明了测试方法的有效性和可行性。该方法为解决有限设备条件下雷达抗干扰性能评估、雷达系统改进提供了参考依据。     

Design reuse oriented partial retrieval of CAD models

As a huge number of 3D CAD models is generated each year, retrieval of 3D CAD models is becoming more and more important for achieving design reuse. However, the existing methods for partial retrieval of 3D CAD models are very few and far from the requirements of design reuse. In this paper, we present an approach to partial retrieval of 3D CAD models for design reuse. The criteria for determining whether a subpart of 3D CAD models is reusable for design is defined first. Based on the criteria defined, all the design reusable subparts involved in the 3D CAD models in the library are automatically extracted and stored in the library as reference models. Moreover, each design reusable subpart in the library is represented by all its local matching regions in a hierarchical way so as to support multi-mode partial retrieval. In our approach, three partial retrieval modes including normal retrieval, exact retrieval and relaxed retrieval are defined to meet various partial retrieval requirements of design reuse such as the incomplete and vague queries during the early design stage. And the multi-mode partial retrieval is achieved by performing multi-mode matching and similarity assessment between the query and the design reusable subparts in the library indexed by bitmap. Experimental results are presented to demonstrate the effectiveness of the approach.     

Modified HSS iteration methods for a class of complex symmetric linear systems

In this paper, we introduce and analyze a modification of the Hermitian and skew-Hermitian splitting iteration method for solving a broad class of complex symmetric linear systems. We show that the modified Hermitian and skew-Hermitian splitting (MHSS) iteration method is unconditionally convergent. Each iteration of this method requires the solution of two linear systems with real symmetric positive definite coefficient matrices. These two systems can be solved inexactly. We consider acceleration of the MHSS iteration by Krylov subspace methods. Numerical experiments on a few model problems are used to illustrate the performance of the new method.     

Three dimensional numerical simulations of long-span bridge aerodynamics, using block-iterative coupling and DES

The design of long-span bridges often depends on wind tunnel testing of sectional or full aeroelastic models. Some progress has been made to find a computational alternative to replace these physical tests. In this paper, an innovative computational fluid dynamics (CFD) method is presented, where the fluid-structure interaction (FSI) is solved through a self-developed code combined with an ANSYS-CFX solver. Then an improved CFD method based on block-iterative coupling is also proposed. This method can be readily used for two dimensional (2D) and three dimensional (3D) structure modelling. Detached-Eddy simulation for 3D viscous turbulent incompressible flow is applied to the 3D numerical analysis of bridge deck sections. Firstly, 2D numerical simulations of a thin airfoil demonstrate the accuracy of the present CFD method. Secondly, numerical simulations of a U-shape beam with both 2D and 3D modelling are conducted. The comparisons of aerodynamic force coefficients thus obtained with wind tunnel test results well meet the prediction that 3D CFD simulations are more accurate than 2D CFD simulations. Thirdly, 2D and 3D CFD simulations are performed for two generic bridge deck sections to produce their aerodynamic force coefficients and flutter derivatives. The computed values agree well with the available computational and wind tunnel test results. Once again, this demonstrates the accuracy of the proposed 3D CFD simulations. Finally, the 3D based wake flow vision is captured, which shows another advantage of 3D CFD simulations. All the simulation results demonstrate that the proposed 3D CFD method has good accuracy and significant benefits for aerodynamic analysis and computational FSI studies of long-span bridges and other slender structures.     

802.11g保护机制对网络性能影响的仿真与分析

在探讨IEEE802.11g保护机制工作模式的基础上,构建OPNET仿真网络以测试保护机制对WEAN网络性能的影响.实验结果表明,保护机制的引入可显著地降低WLAN网络吞吐率.纯802.11g模式下,网络平均吞吐率最大可达23.95 Mb/s;启用CTS-to-self保护机制的802.11b/g混合模式下,网络平均吞吐率仅为11.45 Mb/s,约为前者的50%;启用RTS/CTS保护机制时,网络平均吞吐率只有7 Mb/s,减少到前者的30%,且此时单个802.11g站点仅获得约7.5 Mb/s的TCP传输速率.为更好地规划和部署802.11无线网络提供了较准确的数据分析依据.