基于Arduino的目标跟踪系统设计

利用Arduino设计并实现了一种目标跟踪系统。该系统包括图像采集处理、基于Arduino开发的下位机软件和舵机云台3个模块。相机实时接收图像,对捕获到的图像进行预处理,调用OpenCV中的函数对图像进行霍夫圆检测。计算机通过串口与Arduino开发板连接,将图形位置信息数据实时发送。通过Arduino控制舵机的转动角度,精确调整相机的方位、俯仰姿态,完成实时的目标追踪。实验结果表明,在使用Python开发的计算机软件中,通过动态目标视觉检测以及PID控制的角度输出,舵机云台实现了很好的控制效果,使二维转台实现圆形识别跟踪。     

基于卡尔曼滤波的电力虚假数据注入攻击检测方法

能源互联网的主体是基于状态估计下的电力系统。虚假数据注入攻击（FDIA）通过恶意篡改或注入电力数据,进而引发错误的状态估计结果。这种攻击方式存在引发大面积停电事故的风险,严重影响能源互联网的正常运行。在matpower 4.0中的IEEE-14节点系统上,利用以残差方程为基础的标准残差检测法和目标函数极值法,对FDIA进行了检测实验。提出了一种基于卡尔曼滤波的FDIA检测方法,并在MATLAB上进行了验证。实验结果表明,该方法可以在短时间内发现FDIA的发生。     

深度空气分级条件下配风方式对炉内燃烧特性影响的数值模拟研究

借助数值模拟方法对四角切圆煤粉锅炉进行三维稳态数值模拟,观察其炉内燃烧过程,重点对比了在空气分级下不同配风方式对炉内空气流动和燃烧特性的影响。结果表明:底部配风量较多的正宝塔型、均等、缩腰型配风在炉膛底部形成较高切圆且温度较高,主燃区上部风量较小的正宝塔型和鼓腰型配风速度分布均匀,温度偏差较小,倒宝塔型和鼓腰型配风时出口NOx较其他3种配风方式要小。     

计及灵活性储备的含风电多微电网系统分布式协调调控策略

高比例风电的接入和需求响应技术的应用对分布式架构下的多微电网系统有功功率动态平衡提出了更高的要求,有必要充分利用灵活性资源对系统进行协调调控.提出一种新颖的灵活性电池储备模型对多微电网系统灵活性备用容量进行评估,定义虚拟灵活性电池储备模型对风电场备用与需求响应负荷备用进行评估,充分挖掘其调频的潜在能力.在此基础上,基于一致性算法求解该模型下各微电网的功率分配,提出计及灵活性储备的含风电多微电网系统分布式协调调控策略,实现分布式架构下灵活性资源的协调优化.通过华东某地区实际数据验证了所提策略的有效性.算例结果表明,协调优化源-荷灵活性储备资源在保障风电消纳的同时,实现了分布式架构下系统的动态功率平衡.     

Rescheduling policies for large-scale task allocation of autonomous straddle carriers under uncertainty at automated container terminals

This paper investigates replanning strategies for container-transportation task allocation of autonomous Straddle Carriers (SC) at automated container terminals. The strategies address the problem of large-scale scheduling in the context of uncertainty (especially uncertainty associated with unexpected events such as the arrival of a new task). Two rescheduling policies–Rescheduling New arrival Jobs (RNJ) policy and Rescheduling Combination of new and unexecuted Jobs (RCJ) policy–are presented and compared for long-term Autonomous SC Scheduling (ASCS) under the uncertainty of new job arrival. The long-term performance of the two rescheduling policies is evaluated using a multi-objective cost function (i.e., the sum of the costs of SC travelling, SC waiting, and delay of finishing high-priority jobs). This evaluation is conducted based on two different ASCS solving algorithms–an exact algorithm (i.e., branch-and-bound with column generation (BBCG) algorithm) and an approximate algorithm (i.e., auction algorithm)–to get the schedule of each short-term planning for the policy. Based on the map of an actual fully-automated container terminal, simulation and comparative results demonstrate the quality advantage of the RCJ policy compared with the RNJ policy for task allocation of autonomous straddle carriers under uncertainty. Long-term testing results also show that although the auction algorithm is much more efficient than the BBCG algorithm for practical applications, it is not effective enough, even when employed by the superior RCJ policy, to achieve high-quality scheduling of autonomous SCs at the container terminals.     

Ensemble clustering by means of clustering embedding in vector spaces

Ensemble clustering is a recently evolving research direction in cluster analysis and has found several different application domains. In this work the complex ensemble clustering problem is reduced to the well-known Euclidean median problem by clustering embedding in vector spaces. The Euclidean median problem is solved by the Weiszfeld algorithm and an inverse transformation maps the Euclidean median back into the clustering domain. In the experiment study different evaluation strategies are considered. The proposed embedding strategy is compared to several state-of-art ensemble clustering algorithms and demonstrates superior performance.     

Estimation bias of ocean current measured by along-track interferometric synthetic aperture radar and its compensation methods

In previous works on current measured by along-track interferometric synthetic aperture radar (ATISAR), the decorrelation function of an ocean-surface backscattering signal was usually assumed to be a real Gaussian function, i.e. the phase term was omitted. In this study, it is proved that the omission of the phase term included in the decorrelation function results in a significant estimation bias that can be modelled by a higher-order function of time lag and that the coefficients of this higher-order function can be expressed as a series of higher-order Doppler spectral moments. This model is validated by the scatterometer data obtained from an experimental wind-wave tank. The estimation bias especially needs to be considered for the ATISAR system with a long time lag. Simulation results show that if the time lag is equal to the coherence time, the estimation bias of the current can reach about 0.2 m s^?1, which is not insignificant in high-precision current-retrieving applications. However, because most real-life ATISAR systems, including TerraSAR-X, operate with time lags significantly shorter than the expected coherence time, the estimation biases in these systems are relatively small or even negligible. Finally, four possible compensation methods for the estimation bias are proposed and discussed.     

基于渔船监测系统的近海捕捞水产品溯源

通过对渔船监测系统的船位、航向、航速等信息挖掘,可以进行水产品溯源,保障海洋水产品的食品安全。基于渔船监测系统数据,结合渔场、沿海区划等信息,构建近海捕捞水产品溯源模型,研究渔船溯源、渔区和渔场溯源、渔获溯源,为水产品安全保障提供参考依据。     

网络团购新进入者及竞争策略探讨

伴随着美国Groupon团购网站的成功,国内出现了大量模仿者,也吸引了众多互联网的成熟企业进入团购领域。文章介绍了本地生活搜索网站、社交网站、电子商务网站、门户网站等新的进入者,提出了Groupon团购网站的关键成功因素,并基于关键成功因素探讨了新进入者的市场竞争策略。