Signal tracking method of GNSS receivers for spinning vehicles

A signal tracking method of GNSS receivers for spinning vehicles is proposed in order to eliminate the influence of spinning to the GNSS signal of a vehicle. In the proposed method, a rotation tracking loop is added into the carrier tracking loop of a conventional GNSS receiver. The proposed method was verified through computer simulations and an experiment for live GPS signals. The results show that the proposed method gives an accurate tracking performance.     

Parameter identification and design of a robust attitude controller using <Emphasis Type="Italic">H</Emphasis><Subscript>∞</Subscript> methodology for the raptor E620 small-scale helicopter

Rigorous control synthesis for an unmanned aerial vehicle necessitates the availability of a good, reasonable model for such a vehicle. The work reported in this paper focuses on the modeling of a rotary unmanned aerial vehicle (RUAV) and the development of a robust controller that can handle parameter uncertainties and disturbances. The parameters of the plant model are obtained through the use of the prediction error method with real flight data. The response of the identified linear model shows a good match with the measured flight data. The H _∞ control scheme is applied to obtain a robustly stable controller using the identified model. The proposed controller is analyzed using frequency-domain analysis and time-domain simulations. The performance of the proposed H _∞ controller is better than that of the conventional proportional derivative controller in that the proposed controller has a shorter settling time and less overshoot. Furthermore, the degradation of the proposed controller performance is negligible and stability is maintained when the input gains to the plant are doubled, which demonstrates the good performance and robustness of the controller.     

Stability of a class of switched stochastic nonlinear systems under asynchronous switching

The stability of a class of switched stochastic nonlinear retarded systems with asynchronous switching controller is investigated. By constructing a virtual switching signal and using the average dwell time approach incorporated with Razumikhin-type theorem, the sufficient criteria for pth moment exponential stability and global asymptotic stability in probability are given. It is shown that the stability of the asynchronous stochastic systems can be guaranteed provided that the average dwell time is sufficiently large and the mismatched time between the controller and the systems is sufficiently small. This result is then applied to a class of switched stochastic nonlinear delay systems where the controller is designed with both state and switching delays. A numerical example illustrates the effectiveness of the obtained results.     

面向S3C2440的U-Boot分析与改进

针对目前U - Boot引导程序无法从大页Nandflash启动,以及不能同时支持从Nandflash和Norflash启动的问题,在不改变代码通用性的前提下对U- Boot进行了改进.首先分析U - Boot阶段l的启动原理和U- Boot通用性的实现方法;然后依据S3C2440处理器提供的Nandflash存储启动机制以及大页Nandflash数据操作原理,修改阶段l实现代码,添加从大页Nandflash启动;最后利用大页Nandflash和Norflash存储器读写数据的差异性以及两种存储启动方式实现的不同机理,添加S3C2440处理器自动判断从何种存储器启动的代码,实现U-Boot兼容Nandflash和Norflash启动的改进.通过在基于S3C2440处理器的目标板上运行,结果证明对U - Boot所做的改进具有有效性,扩展了U-Boot的适用范围,增强了代码兼容性.     

NANO-MULTILAYERS WITH HIGH PERPENDICULAR ANISOTROPY FOR MAGNETIC RECORDING

(FePt/Ag)n nano-multilayers were deposited on MgO (100) single crystal with laser ablation and then subjected to annealing. FePt L1o grains with (001) texture and thus a large perpendicular magnetic anisotropy constant Ku of the order of 106 J/m3 were formed. A thick Ag layer is found to be favorable for decreasing the dispersion of the easy axis for magnetization. The measurement of time decay of magnetization gave rise to a small activation volume of the order of 10-25m3, showing the promising of being the recording medium for future high density perpendicular recording.     

A holistic approach to feature modeling for product line requirements engineering

Requirements engineering (RE) offers the means to discover, model, and manage the requirements of the products that comprise a product line, while software product line engineering (SPLE) offers the means of realizing the products’ requirements from a common base of software assets. In practice, however, RE and SPLE have proven to be less complementary than they should. While some RE techniques, particularly goal modeling, support the exploration of alternative solutions, the appropriate solution is typically conditional on context and a large product line may have many product-defining contexts. Thus, scalability and traceability through into product line features are key challenges for RE. Feature modeling, by contrast, has been widely accepted as a way of modeling commonality and variability of products of a product line that may be very complex. In this paper, we propose a goal-driven feature modeling approach that separates a feature space in terms of problem space and solution space features, and establish explicit mappings between them. This approach contributes to reducing the inherent complexity of a mixed-view feature model, deriving key engineering drivers for developing core assets of a product line, and facilitating the quality-based product configuration.     

Design of a slave arm of a surgical robot system to estimate the contact force at the tip of the employed instruments

Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph.     

一种多接口多信道VANET动态信道分配算法研究

为了合理地实现多接口多信道车载自组织网络（VANET）车辆节点间通信信道的动态分配,提出了一种基于通信双方车辆节点信道切换队列的动态信道分配算法。定义了车辆节点的射频接口状态,给出了信道的性能因子以及信道切换队列的生成方法,通过综合考虑通信双方车辆节点的射频接口状态和信道切换队列,快速自主地建立通信链路,从而解决了信道公平接入和分配不合理的问题。通过软件仿真比较可以看出,该算法实现了信道的动态分配,减小了平均端到端时延,增加了网络平均吞吐量,显著提高了多接口多信道VANET的网络性能。     

基于个性诊断的路段缺失速度值估计

针对基于GPS的浮动车技术因无法做到对路网的时空间全覆盖导致部分路段实时交通状态缺失问题,提出基于热门路段个性化诊断(personality diagnosis base on popular road,PDPR)模型对各路段上的缺失速度值进行估计。使用K均值算法对所有原始数据作离散化处理,根据数据覆盖率对路段进行分类;以高覆盖率路段的速度数据为辅助,使用个性诊断算法(personality diagnosis,PD)对低覆盖率路段进行缺失速度估计,把估计值映射到连续型空间。实验结果表明,PDPR模型估计误差比PPCA(probabilistic principal component analysis)算法低32.84%,比滑动平均法低5.70%。     

数控系统伺服驱动优化方法

如何提高伺服驱动系统的动态特性和零件加工精度,是维修、调试人员必须掌握的一项工作.机床各轴的驱动、电机的数据,比如速度环、位置环的增益会直接影响轴的动态运行特性.如果这些参数设置不当,就可能出现机床振动、伺服电机啸叫等现象,使加工无法进行,甚至导致丝杆或导轨损坏.目前,数控机床配置的数控系统主要为日本的FANUC和德国的SIEMENS系统.以这2种系统为例,阐述了驱动参数的优化方法及其具有的实际意义.