Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.     

探究用电检查管理中营配信息集成的重要作用

随着我国经济和科学技术的不断发展,用电检查也应从传统的实地管理模式转为自动化、信息化的管理模式。详细阐述、分析了营配信息集成在用电检查工作中的作用。     

Second-order terminal sliding mode control for hypersonic vehicle in cruising flight with sliding mode disturbance observer

This paper focuses on the design of nonlinear robust controller and disturbance observer for the longitudinal dynamics of a hypersonic vehicle (HSV) in the presence of parameter uncertainties and external disturbances. First, by combining terminal sliding mode control (TSMC) and second-order sliding mode control (SOSMC) approach, the secondorder terminal sliding control (2TSMC) is proposed for the velocity and altitude tracking control of the HSV. The 2TSMC possesses the merits of both TSMC and SOSMC, which can provide fast convergence, continuous control law and hightracking precision. Then, in order to increase the robustness of the control system and improve the control performance, the sliding mode disturbance observer (SMDO) is presented. The closed-loop stability is analyzed using the Lyapunov technique. Finally, simulation results illustrate the effectiveness of the proposed method, as well as the improved overall performance over the conventional sliding mode control (SMC).     

一种改进编码器角度解算过程的方法与实现

在机械电子一直是一个热门学科,其目的是通过软件控制机械操作来代替机械的哑巴解决方案。DS-25旋转电子编码器能够很好地与机械电子应用相匹配,其输出为两路标准的sine和cosine曲线,通过分析sine和cosine数值来计算编码器所对应的绝对角度位置。通过对DS-25的工作模式分析和实际应用情况提出角度解算的改进方案,该方案利用DS-25工作于粗略模式下测试到的角度值来推算精确模式下的信号周期,结合精确模式下测试到的角度值来计算编码器所对应的绝对角度。摒弃其原有的复杂查表过程进而节省电子表格的存储空间,在降低硬件成本的同时提升了软件灵活性。实验证明,算法的改进能够节省约2KB的存储空间,角度位置误差能控制在1‰以内。     

运输车辆安全体系评价的研究

该文通过对车辆安全因数的分析、得出子危险集。在分析评价方法特征技术上应用了选用模糊推理模型(FIS)的评价方法对车辆的危险度进行评价与仿真,其结果是可信的。实现了对车辆安全进行量态和动态的评价体系。     

坦克设计新发展

本文提出“针对式坦克发展战略”主要内容,它要求“突破性新概念高新技术”,获得“减法设计方法”,因而形成“坦克发展新道路”.运用“系统总体取胜”的系统工程理论,处理好坦克全系统“综合”、全系统与分系统“配置”、分系统与分系统“匹配”、全系统与人及作战环境“适应”四大关系,以“相互同水平组合”替代“单项高水平爬坡”.通过“从系统总体着眼、由边际零部件突破”的途径,善于从各个部分或部件之间的结合部加以突破,实现坦克设计新发展.     

考虑EV充放电意愿的园区综合能源系统双层优化调度

随着电动汽车的普及度越来越高,工业园区的电动汽车用户日益增多,其充放电行为对园区综合能源系统规划和运行带来极大挑战。本文提出了考虑电动汽车充放电意愿的园区综合能源系统双层优化调度。首先基于动态实时电价、电池荷电量、电池损耗补偿、额外参与激励等因素建立充放电意愿模型,在此基础上得到改进的电动汽车充放电模型;然后,以园区综合能源系统总成本最小和电动汽车充电费用最小为目标建立双层优化调度模型,通过KKT条件将内层模型转化为外层模型的约束条件,从而快速稳定的实现单层模型的求解;最后,进行仿真求解,设置3种不同场景,对比了所提模型与一般充放电意愿模型,验证了文中所提引入EV充放电意愿模型的园区综合能源系统双层优化调度的有效性和可行性,具有一定的经济效益。     

A mathematical model for vehicle routing problem under endogenous uncertainty

In this study, a multistage stochastic programming (SP) model is presented for a variant of single-vehicle routing problem with stochastic demands from a dynamic viewpoint. It is assumed that the actual demand of a customer becomes known only when the customer is visited. This problem falls into the category of SP with endogenous uncertainty and hence, the scenario tree is decision-dependent. Therefore, nonanticipativity of decisions is ensured by conditional constraints making up a large portion of total constraints. Thus, a novel approach is proposed that considerably reduces the problem size without any effect on the solution space. Computational results on some test problems are reported.     

Precise identification of moving vehicular parameters based on improved glowworm swarm optimization algorithm

This paper proposes an indirect method for the identification of moving vehicular parameters using the dynamic responses of the vehicle. The moving vehicle is modelled as 2-DOF system with 5 parameters and 4-DOF system with 12 parameters, respectively. Finite element method is used to establish the equation of the coupled bridge–vehicle system. The dynamic responses of the system are calculated by Newmark direct integration method. The parameter identification problem is transformed into an optimization problem by minimizing errors between the calculated dynamic responses of the moving vehicle and those of the simulated measured responses. Glowworm swarm optimization algorithm (GSO) is used to solve the objective function of the optimization problem. A local search method is introduced into the movement phase of GSO to enhance the accuracy and convergence rate of the algorithm. Several test cases are carried out to verify the efficiency of the proposed method and the results show that the vehicular parameters can be identified precisely with the present method and it is not sensitive to artificial measurement noise.     

Reconstructing design parameters of a rectangular resonator via peak signal-to-noise ratio and global optimization algorithms

This article proposes an approach for reconstructing physical parameters of a sample in a rectangular resonator during microwave radiation, knowing a priori, its electric field distribution. The inverse problem was solved using two global optimization algorithms and the peak signal-to-noise ratio (PSNR) criterion. First, the Self-regulated Fretwidth Harmony Search algorithm (SFHS) identified suitable resonant frequencies for a given configuration. Next, the unified Particle Swarm Optimization (UPSO) optimized said configuration. Together, they became a maximization strategy of the PSNR through a dual optimization process. Results showed the ability of the approach for estimating the height of each sample block and the resonating frequency of the cavity. This process takes longer to finish as a higher PSNR is demanded (mainly due to the aforementioned dual optimization). Even so, it allows for more similar electric field distributions between both, the direct and inverse problems.