含储能型虚拟同步发电机的直驱风机并网系统自适应协调阻尼控制策略

储能型虚拟同步发电机(VSG)的灵活控制特性能够为风电并网系统提供有效的频率和电压支撑,然而系统振荡特性会受到一定程度的影响,同时风电时变出力特性导致的运行点变化也将使得定参数阻尼控制表现出适应性不足的问题.为此,提出了适应风电出力时变特性的自适应协调阻尼控制策略.首先,在风电并网系统状态空间模型的基础上推导线性变参数模型,以直驱风机的有功功率为调度变量,根据稳定域确定运行空间范围;然后,利用间隙度量对运行空间进行划分,确定各子运行空间的典型运行点并将其作为多胞形顶点,建立调度增益与系统运行工况以及控制器的映射关系;最后,针对不同频率振荡模式协调设计自适应控制器.测试系统的仿真结果表明,所设计的自适应协调阻尼控制器不仅能够同时阻尼含储能型VSG并网系统中的次同步振荡和低频振荡,也能在风电出力大范围时变工况下保持良好的阻尼水平.     

基于CAE的虚拟注射成型系统的研究和开发

研究了虚拟制造技术在注射成型过程中的应用 ,通过建立模架装配模型和模架的运动描述 ,开发出了基于CAE的虚拟注射成型原型系统 ,并将其与注射成型CAE系统HsCAE3D集成 ,取得了良好的效果。     

虚拟PLC实验软件的设计与实现

分析目前PLC实验教学的不足,提出将计算机技术应用到PLC实验教学中,利用虚拟的PLC进行虚拟实验的构想。对系统基本功能要求进行分析的基础上将系统划分为四大模块,然后讲述这几个模块的实现思路和方法,最后对本文设计工作进行了总结。     

基于I-DEAS的注塑模虚拟装配及运动仿真

在分析虚拟装配理论的基础上，利用三维设计软件I—DEAS进行了注塑模的虚拟装配和运动过程仿真，并利用二次开发语言(.prg文件)实现整体装配动态显示，对注塑模进行预装配及干涉检测，并获得了具有真实动画感的装配模型。     

Measuring individual corrective reaction time using the intermittent illumination model

The corrective reaction time (t_cr) is an essential motor property when modelling hand control movements. Many studies designed experiments to estimate t_cr, but reported only group means with inconsistent definitions. This study proposes an alternative methodology using Drury's (1994) intermittent illumination model. A total of 24 participants performed circular tracking movements under five levels of visual information delay using a modified monitor in a darkened room. Measured movement speeds and the manipulated delays were used with the model to estimate t_cr of individuals and test effects of gender and path width. The results showed excellent model fits and demonstrated individual differences of t_cr, which was 273 ms on average and ranged from 87 to 441 ms. The wide range of t_cr values was due to significant effects of gender and path width. Male participants required shorter t_cr compared to female participants, especially for narrow path widths.     

用于虚拟现实的360度视频编码技术新进展*

随着虚拟现实技术不断发展,360度视频编码开始成为研究热点。应用于虚拟现实的360度视频与传统的视频相比分辨率更高,编码数据量更大,在实际应用中面临传输带宽有限的瓶颈,编码效率问题有待解决。归纳分析了国际标准组织联合视频研究组（joint video exploration team, JVET）正在制定的360度视频编码投影变换技术及其编码优化方法,综合对比了各变换技术的编码性能。根据当前最新研究成果,对下一步研究需要解决的问题进行了探讨总结,给出未来的研究方向和思路。     

基于RFID的虚拟标签算法研究与改进

针对室内定位算法VIRE的定位精度,特别是邻近边界目标的定位精度较低的问题,以RFID标签定位为研究基础,从改变VIRE算法中虚拟标签的插值方式和在边界上加入虚拟标签两个方面进行研究和改进。使用拉格朗日插值代替VIRE算法中的线性插值方式,使虚拟标签的数据更加接近实际环境值;在边界上加入虚拟参考标签能增加已知标签数,防止在计算待定位标签坐标时引入误差标签。实验结果表明,标签定位精度有了明显提高,整体能提高了35%,邻近边界标签定位精度提高较大,可达到50%以上。     

面向水环境的传感网虚拟距离覆盖算法

针对水面传感器随机部署时网络覆盖率较低的问题,采用了一种面向水环境的无线传感网虚拟距离覆盖算法,在保证连通性的前提下提高网络的覆盖率。在虚拟距离算法中,每个传感器节点的运动受到3个虚拟距离的影响:节点之间的虚拟距离、未被覆盖区域格点与节点的虚拟距离以及边界与节点间的虚拟距离。仿真结果表明:该算法可以有效地提高网络覆盖率。可以得出以下结论:虚拟距离算法通过对节点位置的控制更新有效提高了网络覆盖率,使节点得到优化部署。     

Grasping objects localized from uncertain point cloud data

Robotic grasping is very sensitive to how accurate is the pose estimation of the object to grasp. Even a small error in the estimated pose may cause the planned grasp to fail. Several methods for robust grasp planning exploit the object geometry or tactile sensor feedback. However, object pose range estimation introduces specific uncertainties that can also be exploited to choose more robust grasps. We present a grasp planning method that explicitly considers the uncertainties on the visually-estimated object pose. We assume a known shape (e.g. primitive shape or triangle mesh), observed as a–possibly sparse–point cloud. The measured points are usually not uniformly distributed over the surface as the object is seen from a particular viewpoint; additionally this non-uniformity can be the result of heterogeneous textures over the object surface, when using stereo-vision algorithms based on robust feature-point matching. Consequently the pose estimation may be more accurate in some directions and contain unavoidable ambiguities.The proposed grasp planner is based on a particle filter to estimate the object probability distribution as a discrete set. We show that, for grasping, some ambiguities are less unfavorable so the distribution can be used to select robust grasps. Some experiments are presented with the humanoid robot iCub and its stereo cameras.