Improved stability conditions for systems with interval time-varying delay

The paper is concerned with the stability of linear systems with interval time-varying delay. Through constructing a new augmented Lyapunov-Krasovskii functional (LKF) which contains some quadruple-integral terms and estimating the time derivative of the LKF less conservatively, new stability criteria are derived without introducing any free matrices. Moreover, by proving the positive definiteness of the LKF with some integral inequalities, the constraints on some functional parameters are relaxed and the conservatism of the obtained results are further reduced. Numerical examples are also given to demonstrate the effectiveness and reduced conservatism of the obtained results.     

分布式实时仿真的目标语言编译器的应用研究

通过对目标语言编译器的研究,提出了一种在分布式实时仿真控制中,利用控制前端展现目标结构的方法。新方法通过使用TLC嵌入S函数,读取RTW文件,获取其中的相关信息并进行了整合。而后即可使用控制前端对这些信息进行读取,展现目标程序的所有信息。根据上述方法,实现了在分布式实时仿真中,控制前端对目标程序具体结构的展现。测试结果表明,新方法可以完全展现目标程序的所有信息,为实现控制前端对目标程序的实时控制打下了良好的基础。     

一种新的红外图像快速分割方法研究

研究红外图像目标分割快速优化问题。在高分辨率红外图像的分割中,红外图像存在数据量大、目标的边缘模糊和噪声较大等导致分辨率低和实时性差。为了快速准确分割,提出基于低尺度分割阈值预测的快速红外图像分割方法(LFIRS)。首先建立尺度阶数计算模型以确定保留原始红外图像目标基本信息所需的最小尺度,在分析多尺度过程对具有目标/背景强相关特性的红外图像进行分割阈值,建立多尺度红外图像分割阈值的相关模型(CLM),结合经典二维阈值法得到的最低两个尺度的阈值CLM模型参数,可以通过CLM模型与最小尺度的快速获取原始尺度的分割阈值,实现红外图像的快速分割。实验结果表明,改进方法提高了图像分辨和分割速度,且改善了分割效果。     

水下柔性臂动力学建模方法研究

将柔性臂应用到水下环境,探索一种新型的水下作业工具。在空间柔性臂动力学建模方法的基础上,考虑水动力做功以及水动力对柔性臂变形的影响,首先基于Hamilton原理建立中心刚体-水下柔性臂组成的刚柔耦合系统的动力学模型,然后采用假设模态法对动力学模型进行离散化,导出了考虑刚柔耦合作用的水下柔性臂有限维离散化动力学方程。最后给出仿真算例,验证了动力学模型对于研究水下柔性臂末端变形的有效性,能够准确反映水下柔性臂动力学特性,可用于水下柔性臂的主动控制研究。     

基于Android平台的无线WiFi控制方法

提出了一种基于Android手机的无线WiFi控制系统。首先采用嵌入式ARM9为硬件控制模块,手机终端以Android为应用程序的开发,编写了一个手机客户端软件,完成了手机端与控制器端之间的数据传输,实现了手机远程对PWM调速等的控制。系统中Android手机可利用周围无线网络资源与其他设备进行交互并实施控制,不仅为现有智能控制系统提供了新的控制方法,也为实现机器与人的信息交换提供了新的交互手段。     

Design of the broadband microstrip array antenna for blast furnace surface monitoring

Aiming at the requirements of high-resolution imaging and high integration of the blast furnace radar,this paper presents a method for designing a wideband microstrip array antenna,which broadens the antenna bandwidth through the design of parasitic patches and air layers.By combining multi-input multi-output (MIMO) radar and synthetic aperture radar (SAR) imaging principles,a linear MIMO array is designed,and a near-field simulation imaging experiment is performed on the simulated feed line through the wave number domain imaging algorithm.Simulation results show that the gain of the main lobe of the antenna can reach 14.05 dBi,the reflection coefficient is less than -10 dB,the absolute bandwidth is 5.25 GHz,the operating frequency is 20.67~25.92 GHz,and the range resolution is increased to 3 cm compared with the existing blast furnace radar.The average error of the azimuth direction of the simulated material line imaging is 0.008 m,and the range direction is 0.0011 m.Compared with the traditional microstrip array antenna,this antenna effectively widens the bandwidth,and the range resolution is higher than that of the traditional blast furnace radar.It can accurately obtain the shape information on the simulated material line,and has an engineering application value for blast furnace surface monitoring.     

Adaptive simulated annealing particle swarm optimization algorithm

Particle swarm optimization is widely used in various fields because of the few parameters to be set and the simple calculation structure.In order to improve the optimization speed and accuracy of the PSO,and to avoid falling into the local optimal solution,an adaptive simulated annealing PSO is proposed,which uses the hyperbolic tangent function to control the inertia weight factor for nonlinear adaptive changes,uses linear change strategies to control 2 learning factors,introduces the simulation annealing operation,set a temperature according to the initial state of the population,guide the population to accept the difference solution with a certain probability according to the Metropolis criterion,and ensure the ability to jump out of the local optimal solution.To verify the effect of the algorithm proposed in this paper,7 typical test functions and 5 algorithms proposed in the literature are selected for comparison and testing.According to the average value,standard deviation and number of iterations of the optimization results,the algorithm proposed in this paper has greatly improved the iteration accuracy,convergence speed and stability so as to overcome the shortcomings of particle swarm optimization.     

一种基于VINS/FINS组合导航方法

针对视觉惯性组合导航系统中微惯性器件精度偏低,以及足部惯性导航系统航向角误差可观测性差的问题,研究了一种基于上述两种系统的信息双向融合的导航定位方案. 该方法的系统结构由安装于双足步行机器人躯干部分的惯性导航系统和安装于其足部惯性导航系统两部分组成. 惯性导航系统通过视觉同时定位与地图构建数据融合方法可以获得相对准确的航向角,足部惯性导航系统利用零速修正后的位置信息实时修正惯性导航系统中的低精度惯性器件误差,从而构建视觉与惯性信息双向融合的组合导航系统结构. 实验结果表明,该组合导航方案可以有效提高双足步行机器人的航向精度和定位精度.     

基于改进YOLOv3的运动目标分类检测算法研究

提出一种基于改进YOLOv3算法的一类运动目标检测算法. 为进一步提高YOLOv3的检测精度,采用基于DIoU优化的边界框回归损失函数进行计算; 优化非极大值抑制,有效减少了目标框重叠的现象,提高检测精度; 针对运动目标检测,提出一种基于目标框多中心点位移的检测算法. 经UA-DETRAC数据集上的实验表明,改进后的算法在提高检测精度的同时保证了较快的速度,准确率和召回率相比原始YOLOv3分别提高了 8.07%和3.87%,对运动目标的检测速度可达20 fps/s,可满足实时检测的要求.     

10kV运行配电线路雷电感应过电压波形在线监测

雷电感应过电压是造成配电网故障的重要原因之一,针对雷电感应过电压波形特征不清晰的问题,作者采用过电压在线监测系统,对实际运行的佛山10kV富油甲线雷电感应过电压波形进行观测,根据波形特征给出了过电压的波形参数。结果表明,配电线路各相感应电压叠加在运行电压波形上,不同相上感应过电压与对应的回击电流在幅度、时间间隔和波形上都存在同时性,该线路观测的雷电感应电压波形表现为波头时间短、后续发生双极性高频振荡并逐渐转变为低频振荡的波形特点,首次回击感应过电压幅值大于后续回击过电压幅值,首次回击过电压的波头时间比后续过电压长,观测结果对于配电线路雷电保护具有重要意义。