α-β和α-β-γ滤波在延时控制起爆算法中的应用

制导引信一体化起爆算法研究的一个重要方面就是通过对最佳起爆延时的估计来确定炸点,而对测量数据进行滤波从而提高炸点的估计精度是其中的一个必要环节。α-β和α-β-γ滤波算法ααα具有计算简单,工程中易于实现的特点。本文针对导引头测距测角模型中基于延时控制的算法,使用c＋＋builder工具进行仿真试验。研究结果表明在基于导引头测距测角模型进行起爆延时的计算中,α-β和α-β-γ滤波是可行的,同时根据仿真讨论了在滤波中影响炸点估计精度的因素及如何合理选取δ因子。     

浅谈数学教学中学生自主学习能力的培养

学生自主学习能力的形式发展离不开学习方法,学生自主学习方法的掌握并非"无师自通",它有赖于教师悉心的渗透与指导。但是在实际的教学中,往往显得过于形式化,表面化,远远无法达到预期的教学效果。本文结合数学教学的实际分析了当前学生自主学习中存在的一些问题,并提出相关的对策,以期适应教育改革的精神,促进教育的发展。     

构建项目课程模式下的新教学评价体系

评价体系的改革是项目课程体系改革的重要一环,在给出传统教学评价体系基础上,构建新教学评价体系,并以具体的工作任务为例说明新教学评价的实施,实践证明,新教学评价体系能激发学生学习的积极性,主动性,有利于培养学生的综合职业能力,缩短学校与社会接轨的时间。     

基于NPSO算法求解车间作业调度问题

研究车间生产生产调试系统,使资源达到优化配置,实现了一种基于小生境的粒子群优化算法用于求解车间作业调度问题。通过在粒子群算法中引入共享函数和共享适应度函数分别用来计算粒子间的共享度和粒子的共享适应值,并用粒子的共享适应值来反映其适应能力。粒子的位置越相近,则粒子间的共享度越大,相应粒子的共享适应值则越小。通过设置小生境半径的方式,将整个粒子群分解为多个小生境子种群,并通过设置小生境中的最大粒子个数参数,严格控制各个小生境中的粒子数量,使得所有粒子尽可能地分布到整个搜索空间的不同局部峰值区域,从而有效求得问题的全局最优值。仿真结果表明了算法对经典JSP问题求解的优良性能。     

基于DWILS的无人机着陆导引与控制仿真

导引和控制技术是大型无人机实现自动着陆的两项关键技术。针对分米波仪表着陆系统（DWILS）的无人机着陆导引与控制技术的仿真验证,为了提高导引的可靠性,给出了基于DWILS的无人机着陆地面仿真系统的结构,着陆导引仿真设备,根据DWILS的工作原理给出了导引信号的计算公式,同时设计了着陆控制器。根据导引设备的原理建立了基于DWILS的无人机着陆导引与控制仿真系统模型,并进行仿真验证。仿真结果表明,基于DWILS的导引方式满足无人机着陆导引的需要,设计的着陆控制器具有较好的控制效果。     

红外制导导弹最优导引律工程实现方法研究

为了研究提高导引精度,用最优控制理论推导出的最优比例导引律,给出了一种只需目标视线角速率信息的最优比例导引律工程实现方法,方法不需要最优比例导引律中的相对速度、目标加速度和剩余时间等信息,与基于小离轴角的假设推导得出的经典的比例导引律相比,可满足近距格斗导弹大离轴发射和攻击高机动目标的要求。经仿真结果证明,最优比例导引律的工程实现方法尤其适合不带测距功能的红外制导导弹,与需要剩余时间估计算法的方法相比具有更强的工程可实现性。     

Motion Planning for Haptic Guidance

Haptic devices allow a user to feel either reaction forces from virtual interactions or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task or to assist him/her to safely teleoperate a robot. The generation of guiding forces relies on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space (-space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of -space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of -space. A harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called the Kautham planner) that, given an initial and a goal configuration, provides: (a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; (b) two harmonic functions over the whole -space, one that guides motions towards the channel and another that guides motions within the channel towards the goal; and (c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces. This work was partially supported by the CICYT projects DPI2005-00112 and DPI2007-63665.     

求解柔性作业调度的共生进化算法

在柔性作业处理系统中,运行操作的机器、操作运行顺序及完成特定加工的操作集等均可含有柔性,作业调度的最优性依赖流程设计的结果。该文在共生遗传算法求解此问题的基础上,定义了一种新的适应度函数,将个体所参与的所有组合解的算术平均值作为此个体的适应度。引进较优的遗传交叉方法。仿真结果证明,新的适应度函数表现优异,对给定的复杂调度问题得到了更好的解。     

基于遗传算法的不同形状物体布局求解研究

通过对不同形状物体布局特点的分析,依据遗传算法的基本思想,选择通过对不同形状物体布局特点的分析,根据遗传算法的基本思想,选择合适的编码方法、遗传算子和适应性度函数,提出一种基于遗传算法的不同形状物体布局求解算法.该算法可实现对不同形状物体进行布局求解.计算机仿真实验表明,该算法具有收敛速度快,能够在较短时间内获得较佳的布局方案.     

Guiding Attention by Cooperative Cues

A common assumption in visual attention is based on the rationale of ＂limited capacity of information processing＂. From this view point there is little consideration of how different information channels or modules are cooperating because cells in processing stages are forced to compete for the limited resource. To examine the mechanism behind the cooperative behavior of information channels, a computational model of selective attention is implemented based on two hypotheses. Unlike the traditional view of visual attention, the cooperative behavior is assumed to be a dynamic integration process between the bottom-up and top-down information. Furthermore, top-down information is assumed to provide a contextual cue during selection process and to guide the attentional allocation among many bottom-up candidates. The result from a series of simulation with still and video images showed some interesting properties that could not be explained by the competitive aspect of selective attention alone.