Improved Computational Model of Grid Cells Based on Column Structure

To simulate the firing pattern of biological grid cells, this paper presents an improved computational model of grid cells based on column structure. In this model, the displacement along different directions is processed by modulus operation, and the obtained remainder is associated with firing rate of grid cell. Compared with the original model, the improved parts include that: the base of modulus operation is changed, and the firing rate in firing field is encoded by Gaussian-like function. Simulation validates that the firing pattern generated by the improved computational model is more consistent with biological characteristic than original model. Besides, the firing pattern is badly influenced by the cumulative positioning error, but the computational model can also generate the regularly hexagonal firing pattern when the real-time positioning results are modified.     

计算机视觉原理分析及其应用

介绍了计算机视觉的原理,分析解释了实现原理的步骤以及发展现状,并且举例说明了计算机视觉的应用,解决了在人脸检测和识别、机器人目标定位、导航等领域的应用问题,并简单论述了计算机视觉技术的发展方向.     

施工宽缝对整体式闸首底板的受力影响研究

鉴于整体式闸首底板在顺水流方向易出现裂缝,严重危害船闸的使用安全。本文提出的设置施工宽缝的施工方案可以有效改善整体式闸首底板开裂问题。首先运用ANSYS软件建立模型,对闸首结构进行有限元分析,进一步探索出施工宽缝对整体式闸首底板的应力与变形的影响,将应力计算结果转换成内力,最终研究出满足工程要求的最优合缝时间和设缝位置,从而为整体式船闸的施工提供参考。     

Hybrid Kalman and unscented Kalman filters for INS/GPS integrated system considering constant lever arm effect

In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS’s antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter’s prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter’s update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.     

水下结构物修复用先进机械手软硬件关键技术综述

机器人进行水下结构物维修时,不仅处于非结构化环境,而且存在浮游碰撞危险,作业区域可达性差,水下环境识别困难等特殊问题,所以,进一步提升机器人智能化水平非常重要。英国GRL公司用于焊缝检验的先进海底机械手ARM系统采用先进的人机接口以及工厂用机器人的某些技术,实现了机械手的控制。以ARM的开发经验为基础,目前GRL公司正在研制更为先进的机器人控制系统Polecat,该系统将用于ROV导航员的训练平台Rovsim以及一系列欧盟和商业项目之中,其适用场合不仅包括海洋工程,也包括核电和其他环境。     

激光辅助智能车障碍物探测方法研究

在智能车视觉导航系统中,为了能够快速精确地探测到智能车前方障碍物,并恢复出障碍物表面的三维信息,提出了一种基于激光辅助的主动探测方法.该方法首先用激光发射器向空间障碍物发射多线激光光条,然后用摄像机观测图像中光条的扭曲,线条断开的位置经过一定的三角几何计算就给出障碍物的尺寸信息.实验结果表明,该方法能够快速准确地探测到障碍物并恢复出其表面三维信息,具有很强的鲁棒性.     

运动副间隙对多杆锁机构动力学特性的影响

为降低因受力异常而出现飞机货舱门意外打开的概率,详细研究运动副间隙对多杆锁机构动力学特性的影响．采用无质量的等效间隙杆描述运动副的间隙,以拉格朗日动力学方程和螺旋理论为基础建立了多杆锁机构的动力学分析模型,并用MATLAB软件编程对模型进行了求解分析．结果表明: 杆的角速度、角加速度、驱动力矩和铰链约束力对运动副间隙的大小比较敏感,在奇异位型附近受到的影响最大．间隙为10 μm时,其对多杆锁机构的动力学影响较小;间隙为100 μm时,其对多杆锁机构的动力学影响明显增强．     

利用X射线脉冲星的星间差分联合定位方法简

Relative navigation traditionally using inter-satellite links demands higher inter-satellite time synchronization, and has no ability of absolute positioning and timing. In this paper, we propose a relative navigation model of X-ray pulsar-based co-localization. The main satellite receives the radiation pulse signal from X-ray pulsars, and sends the arrival time and individual pulse's feature to adjacent satellites through inter-satellite links. Then by detecting the inter-satellite time difference of X-ray pulsar signals we can establish the location equation to find the inter-satellite relative position. We deduce the error correction equation of the pulse TOA prediction model and analyze the identifiability of individual pulses of the pulsar. The method proposed in this paper is less influenced by the TOA prediction model, ephemeris error, etc. It is helpful for achieving on-line self-adaption correction of the TOA prediction model and combined orbit determination of satellite constellation.     

用于频率综合的电荷泵锁相环电路设计

在阐述了锁相环频率综合的工作原理、分析和设计方法的基础上,结合环路稳定性和相位噪声两方面因素对锁相环电路进行了建模及分析。采用安捷伦公司的ADS软件对锁相环进行了系统设计及仿真,并采用Cadence公司的Spectre-RF系列软件进行了锁相环具体电路设计和仿真。采用该方案设计的锁相环输出频率范围18.15 23 GHz,相位噪声-90 dBc/Hz,锁定时间小于5μs。     

SINS/GPS组合导航方法设计

根据SINS/GPS组合导航的基本原理,重点研究联合卡尔曼滤波方法在组合导航中的应用,基于最优化理论的数据融合技术,通过分析纯惯性导航系统的误差,建立了组合导航系统的误差模型,设计了高可靠性、易于工程实现的简化联合卡尔曼滤波器和对应的数据融合算法。并对该导航系统进行了动态实验,结果表明组合导航能有效抑制导航参数误差,提高导航精度。