采用固定时间观测器的翼伞控制方法与应用

针对翼伞–火箭一子级柔性结构系统的控制难题,提出了一种采用固定时间观测器的改进矢量场轨迹跟踪控制方法.首先,设计了在线风场估计方法对未知风场进行了估计;其次,为了保证该控制系统在气动参数不确定、子系统铰连耦合等因素影响下的快速稳定性,提出了一种固定时间干扰观测器用来估计无需知道干扰上边界的复合干扰,并用于补偿控制系统的输入;然后,设计了一个同时保证侧偏距、偏航角以及偏航角速率稳定的横侧向控制器,并利用Lyapunov理论证明了闭环翼伞控制系统的收敛特性.最后,通过数值仿真及硬件在环实验验证了所提出方法的有效性及应用价值.     

Exploring the tidal effect of urban business district with large-scale human mobility data

Business districts are urban areas that have various functions for gathering people, such as work, consumption, leisure and entertainment. Due to the dynamic nature of business activities, there exists significant tidal effect on the boundary and functionality of business districts. Indeed, effectively analyzing the tidal patterns of business districts can benefit the economic and social development of a city. However, with the implicit and complex nature of business district evolution, it is non-trivial for existing works to support the fine-grained and timely analysis on the tidal effect of business districts. To this end, we propose a data-driven and multi-dimensional framework for dynamic business district analysis. Specifically, we use the large-scale human trajectory data in urban areas to dynamically detect and forecast the boundary changes of business districts in different time periods. Then, we detect and forecast the functional changes in business districts. Experimental results on real-world trajectory data clearly demonstrate the effectiveness of our framework on detecting and predicting the boundary and functionality change of business districts. Moreover, the analysis on practical business districts shows that our method can discover meaningful patterns and provide interesting insights into the dynamics of business districts. For example, the major functions of business districts will significantly change in different time periods in a day and the rate and magnitude of boundaries varies with the functional distribution of business districts.     

基于PID控制算法的变电站用锄草机器人设计

目前,国内的变电站内锄草作业主要靠人工完成,锄草质量受锄草工人技术的娴熟程度影响明显。此外在锄草过程中,锄草工人有可能会由于自身不小心造成与变电站内的高压设备产生接触,有人身触电的风险,由此可见锄草自动化势在必行。本文结合国内外锄草机器人的研究现状,阐述了研发此款锄草机器人的目的和现实意义;通过对LEGO（乐高）模块组装锄草机器人的可行性进行分析论证后,对锄草机器人的结构进行了设计;对锄草机器人的锄草轨迹进行了规划设计,实现了半圆曲面和平面的锄草移动作业,并对机器人小车不规则曲线的运动轨迹采用PID控制算法进行了设计。     

Model-based robust control design and experimental validation of collaborative industrial robot system with uncertainty

Based on the traditional PID control and robust control algorithm, a novel practical robust control method is designed for the 6-DOF collaborative industrial robot with uncertainty. The proposed algorithm consists of a robust term and a model-based PD control term, which we call MPDP controller. It is demonstrated by Lyapunov theoretical analysis that the algorithm is able to guarantee uniform boundedness and uniform ultimate boundedness of the system. Simulations and experiments show the good performance of MPDP control in a robot with smaller steady-state tracking errors and better robustness compared to PID controllers.     

Anticipating Cutoff Diameters in Deterministic Lateral Displacement (DLD) Microfluidic Devices for an Optimized Particle Separation

Deterministic lateral displacement (DLD) devices enable to separate nanometer to micrometer‐sized particles around a cutoff diameter, during their transport through a microfluidic channel with slanted rows of pillars. In order to design appropriate DLD geometries for specific separation sizes, robust models are required to anticipate the value of the cutoff diameter. So far, the proposed models result in a single cutoff diameter for a given DLD geometry. This paper shows that the cutoff diameter actually varies along the DLD channel, especially in narrow pillar arrays. Experimental and numerical results reveal that the variation of the cutoff diameter is induced by boundary effects at the channel side walls, called the wall effect. The wall effect generates unexpected particle trajectories that may compromise the separation efficiency. In order to anticipate the wall effect when designing DLD devices, a predictive model is proposed in this work and has been validated experimentally. In addition to the usual geometrical parameters, a new parameter, the number of pillars in the channel cross dimension, is considered in this model to investigate its influence on the particle trajectories.     

Probabilistic crack trajectory analysis by a dimension reduction method

This paper proposes a novel analysis method of stochastic crack trajectory based on a dimension reduction approach. The developed method allows efficiently estimating the statistical moments, probability density function and cumulative distribution function of the crack trajectory for cracked elastic structures considering the randomness of the loads, material properties and crack geometries. First, the traditional dimension reduction method is extended to calculate the first four moments of the crack trajectory, in which the responses are eigenvectors rather than scalars. Then the probability density function and cumulative distribution function of the crack trajectory can be obtained using the maximum entropy principle constrained by the calculated moments. Finally, the simulation of the crack propagation paths is realized by using the scaled boundary finite element method. The proposed method is well validated by four numerical examples performed on varied cracked structures. It is demonstrated that this method outperforms the Monte Carlo simulation in terms of computational efficiency, and in the meanwhile, it has an acceptable computational accuracy.     

一种基于降维密度聚类的船舶异常轨迹识别方法

目的 有效分析和探索海洋船舶时空轨迹行为模式,提高船舶轨迹聚类的效率与质量,更好地检测真实船舶的异常行为。方法 针对当前船舶轨迹数据研究中存在的对多维特征信息利用不足、检测效率不高、检测精度较差等问题,提出一种精确度高、能自主识别分析多维特征的船舶异常轨迹识别方法。首先利用随机森林分类器评估多维特征重要性,构建轨迹特征的最优组合;然后提出一种降维密度聚类方法,将T–分布随机邻域嵌入(T–SNE)和自适应密度聚类(DBSCAN)模型结合,通过构建特征选择层和无监督聚类层实现对数据元素非线性关系的高效提取以及对聚类参数的智能选择;最后根据聚类结果构建类簇特征向量,计算距离阈值判别轨迹相似度,实现轨迹异常检测模型的构建。结果 以UCI数据集为例,降维密度聚类方法对4、13、30、64维特征数据集的F1分数能达到0.9 048、0.9 534、0.8 218、0.6 627,多个聚类指标均优于DBSCAN、K–Means等常见聚类算法的。结论 研究结果表明,降维密度聚类方法能有效提取数据多维特征结构,实现聚类参数自适应,弥补密度聚类中参数难以确定的问题,有效实现对多种类型船舶轨迹异常的识别。     

火箭弹壳体强度的计算机辅助分析

研究了用计算机进行火箭弹受载及壳体强度计算;建立了适合于对火箭弹进行强度计算的模型;编制了相应的计算程序．程序可靠、使用方便,可以满足对火箭弹以及其它空中飞行体进行强度计算的要求．     

应用差分GPS实现小麦精播机器人定位

应用差分GPS（Global Positioning System,全球定位系统）进行小麦精播机器人的定位,结合NI公司研发的Lab—view图形化编程软件开发了小麦精播机器人定位系统。首先分析了相对定位和绝对定位各种方法的优缺点;然后介绍了小麦精播机器人定位系统具体的工作流程,详细叙述了GPS数据的接收和提取、经纬度...     

面向主体脆弱性的权限控制安全分析模型

在网络攻击过程中脆弱性存在于节点的部件主体上,针对该问题,将攻击描述细化到网络部件级,在原权限控制模型中增加对部件间权限、连接关系、属性的描述及脆弱性重写规则,构造NCVTG模型,提出复杂度为多项式时间的NCVTG模型图权限转移闭包生成算法用以评估网络的动态变化,给出当前脆弱性状态下的所有攻击路径。实验结果证明,该模型可对网络安全性进行综合分析,预测所有可能的攻击。