Neural networks for nonlinear state estimation

Estimating the state of a nonlinear stochastic system (observed through a nonlinear noisy measurement channel) has been the goal of considerable research to solve both filtering and control problems. In this paper, an original approach to the solution of the optimal state estimation problem by means of neural networks is proposed, which consists in constraining the state estimator to take on the structure of a multilayer feedforward network. Both non-recursive and recursive estimation schemes are considered, which enable one to reduce the original functional problem to a nonlinear programming one. As this reduction entails approximations for the optimal estimation strategy, quantitative results on the accuracy of such approximations are reported. Simulation results confirm the effectiveness of the proposed method.     

存在噪声和未建模动态系统传递函数的渐近无偏估计

存在未建模动态时，如何去除系统传递函数估计中噪声引起的偏差是系统辨识关心的重要问题。本文将我们已提出的ＢＥＬＳ方法进行推广得出：当系统未建模动态可用－ＦＩＲ模型描述时，应用本文的方法可得到系统传递函数的无偏辨识，而不需知道有关噪声和未建模动态概率分布函数的先验知识。     

空间机器人遥控、自主与协同操作的软件基础

空间机器人控制语言是实现空间机器人三种控制方式:遥控操作,自主操作和协同操作的软件基础,本文描述了该语言的基本结构,对于自主方式,给出了编程示例;对于遥控方式,运用程序辅助的方法,解决了操作员单独进行主/从操作时难以解决的问题.     

Processing of Yttria-Alumina Coated Silicon Nitride Slips by Slip Casting

Si₃N₄powders coated with 6 wt% Y₂O₃and 4 wt% Al₂O₃were prepared by coprecipitation. The resulting powders were dispersed in water at different pH values and with addition of various amounts of ammonium polyacrylate (NH₄PA) to produce 32 vol% slips. The influence of the amount of NH₄PA solution added and pH on the rheological properties of 32 vol% coated Si₃N₄slips were studied. In addition, the sintered density of cast samples was determined and related to the degree of slip dispersion. The adsorption of the NH₄PA on the coated particle surface was rather high and the surface became saturated near 0.86 mg/m²at pH 9.2. High NH₄PA concentrations (1.7–3 wt%) were necessary to obtain well dispersed 32 vol% coated Si₃N₄slips at pH 9.2. The best stabilization was obtained with the addition of 2.3 wt% NH₄PA; in this condition, the viscosity reached a minimum value of 35 mPa.s at 100 s^–1. The slip viscosity increased with increasing pH from 9.2 to 10.2. Slips with low viscosities gave a more dense packing of cast samples and consequently higher sintered density values.     

复相材料的循环变形行为

对三种组织状态的F-M复相钢进行了对称和非对称循环加载条件下的形变研究.结果表明,双相钢的循环变形行为,不仅与组织中位错组态的演变过程有关,同时也受循环载荷大小、类型以及加载方式所影响.分析表明,双相钢的循环硬化、软化行为主要受控于两个基本过程,即循环变形时位错组态演变的物理过程和相间分载应力的转嫁、相间残余应力变化的力学过程.     

Efficient mixed Timoshenko–Mindlin shell elements

The precise representation of rigid body motions in the displacement patterns of curved Timoshenko–Mindlin (TM) shell elements is considered. This consideration requires the development of the strain–displacement relationships of the TM shell theory with regard to their consistency with the rigid body motions. For this purpose a refined TM theory of multilayered anisotropic shells is elaborated. The effects of transverse shear deformation and bending‐extension coupling are included. The fundamental unknowns consist of five displacements and eight strains of the face surfaces of the shell, and eight stress resultants. On the basis of this theory the simple and efficient mixed models are developed. The elemental arrays are derived using the Hu–Washizu mixed variational principle. Numerical results are presented to demonstrate the high accuracy and effectiveness of the developed 4‐node shell elements and to compare their performance with other finite elements reported in the literature. Copyright © 2002 John Wiley & Sons, Ltd.     

基于局部多项式逼近的变参数梯度估计算法

本文分析了梯度辨识算法跟踪时变系统的缺点，提出了一种新的基于局部多项式逼近的变参数梯度估计算法。本算法具有良好跟踪性能特别适用于时变系统跟踪且其对噪声的敏感程度与一般梯度估计方法相当。仿真结果验证了其良好性能。     

遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

模糊数学识别火山岩岩性

针对火岩地层岩性识别成功率低的状况，应用模糊数学原理，建立模糊数学识别火山岩岩性模式，识别和划分火山岩地层岩性，以便进一步深入研究火山岩油气藏储层，选择8个反映火山岩岩性测井参数，确定阈值；利用所建立的火山岩岩性识别模式，对火山岩岩性进行分类；依据最大隶属原则，识别火山岩岩性，应用实地研究资料，识别10种火山岩岩性，并与岩心鉴定统计分析结果对比，一致性达85％。表明该方法识别火山岩岩性精度较高，在地质上具有很好的应用前景。     

基于相关性的人机系统可靠性模型

本文在剖析人机系统中操作者行为特征的基础上,考虑到操作者行为的自适应性、自学习能力及其行为形成主因子,着重结合操作者行为的相关性-感知作用于判断决策后影响到动作,建立了人机系统中操作者行为模式,并推导出计算操作者可靠度的公式,求出了相应参数.最后进行了实例量度,同时定量辨识了行为相关性对人可靠性的制约程度,以期从人机系统可靠性角度为人机系统的优化设计提供新的依据.