GNSS/SINS/视觉导航鲁棒算法

全球导航卫星系统(Global Navigation Satellite System,GNSS)、捷联惯性导航系统(Strapdown Inertial Navigation System,SINS)和视觉传感器优势互补,3者信息融合可获得高精度、无漂移的导航定位信息.针对GNSS／SINS／视觉融合导航易受运动速度、光照变化、遮挡等影响导致定位精度和鲁棒性降低问题,本文在图优化框架的代价函数中加入SoftLOne鲁棒核函数,设置量测值粗差检验程序,降低离群点带来的负面影响.进一步,对量测值计算残差进行卡方检验,对超限残差降权处理,提高系统精度和鲁棒性.实验结果表明,本文算法较不施加鲁棒核函数、不采用异常值剔除策略和卡方检验的传统算法,以及加入其他鲁棒核函数的算法精度更高、鲁棒性更好,能够较大程度提升GNSS／SINS／视觉导航定位精度和鲁棒性,在大尺度环境下,未出现较大漂移误差,绝对位姿均方根误差0.735 m,绝对位姿误差标准差0.336 m.     

应用改进的稳健设计法分析深梁抗剪强度

为深梁的试验、设计和施工提供基本依据,应用改进的稳健设计法,并引入新的信噪比,考虑剪跨比、混凝土强度、水平箍筋屈服强度和竖向箍筋屈服强度等因素.用软化桁架模型分析钢筋混凝土深梁抗剪强度,并应用改进的稳健设计法对影响深梁抗剪强度的因素进行分析,得出了各种影响因素的重要程度.深梁的抗剪强度对混凝土强度这个因素最为敏感,剪跨比次之,水平钢筋屈服强度、竖向钢筋屈服强度影响最小.与田口方法相比改进的稳健设计法的分析结果与试验结果吻合较好,应用更加准确、方便.     

模糊鲁棒控制方法在核反应堆功率控制中的应用

为了对核反应堆功率进行实时控制,以适应电网负荷的变化需求,基于T-S模糊模型设计了核反应堆功率模糊鲁棒控制器。首先使用状态反馈设计了局部控制器,然后应用并行补偿方法设计全局控制器。线性矩阵不等式的求解证明所设计的控制器是稳定的。仿真结果表明,对于3种典型工况变化,所设计的控制器对反应堆的功率变化能进行很好的控制。     

Inorganic/Organic Double‐Network Gels Containing Ionic Liquids

Highly robust ion gels, termed double‐network (DN) ion gels, composed of inorganic/organic interpenetrating networks and a large amount of ionic liquids (ILs), are fabricated. The DN ion gels with an 80 wt% IL content show extraordinarily high mechanical strength: more than 28 MPa of compressive fracture stress. In the DN ion gel preparation, a brittle inorganic network of physically bonded silica nanoparticles and a ductile organic network of polydimethylacrylamide (PDMAAm) are formed in the IL. Because of the different reaction mechanisms of the inorganic/organic networks, the DN ion gels can be formed by an easy and free‐shapeable one‐pot synthesis. They can be prepared in a controllable manner by manipulating the formation order of the inorganic and organic networks via not only multistep but also single‐step processes. When silica particles form a network prior to the PDMAAm network formation, DN ion gels can be prepared. The brittle silica particle network in the DN ion gel, serving as sacrificial bonds, easily ruptures under loading to dissipate energy, while the ductile PDMAAm network maintains the shape of the material by the rubber elasticity. Given the reversible physical bonding between the silica particles, the DN ion gels exhibit a significant degree of self‐recovery by annealing.     

Bad-scenario-set robust scheduling for a job shop to hedge against processing time uncertainty

This paper proposed two robust scheduling formulations in real manufacturing systems based on the concept of bad scenario set to hedge against processing time uncertainty, which is described by discrete scenarios. Two proposed robust scheduling formulations are applied to an uncertain job-shop scheduling problem with the makespan as the performance criterion. The united-scenario neighbourhood (UN) structure is constructed based on bad scenario set for the scenario job-shop scheduling problem. A tabu search (TS) algorithm with the UN structure is developed to solve the proposed robust scheduling problem. An extensive experiment was conducted. The computational results show that the first robust scheduling formulation could be preferred to the second one for the discussed problem. It is also verified that the obtained robust solutions could hedge against the processing time uncertainty through decreasing the number of bad scenarios and the degree of performance degradation on bad scenarios. Moreover, the computational results demonstrate that the developed TS algorithm is competitive for the proposed robust scheduling formulations.     

小波域无失真扩频鲁棒水印设计

本文提出了一种无失真扩频鲁棒水印方案,该方案通过量化函数对受版权保护的图像的小波域进行量化,用所产生的二值序列直接作为水印,即特征水印.由于该方案是基于图像内容的,并没有向图像中嵌入任何信息,并不需要真正执行IDWT,水印图像没有任何失真,因而本文的扩频水印方案是无失真"水印嵌入"方案.水印的鲁棒性主要由量化参数决定,而不是像传统的水印方案那样一般由嵌入的水印信息量所决定.     

鲁棒的高阶双边滤波去噪算法

提出了一种统一的局部高阶双边滤波算法.与传统的双边滤波去噪算法不同,该算法通过引入鲁棒统计理论获得模型表面较为准确的几何属性;进而在曲率空间中对包含主曲率和Frenet标架的表面几何属性进行各向异性的滤波,既有利于保持模型的细节,又能保证曲面的光滑性;与此同时,优化各个顶点的法向;最后在优化后的几何属性引导下,在几何空间中进行高阶双边滤波去噪.实验结果表明,即使在大噪声的情况下,该算法仍然能够有效地保持模型细节,避免模型的收缩和顶点漂移.     

一类非线性系统最大可控不变集求解

针对非线性系统线性化在状态约束下最优鲁棒控制求解问题,提出了一种基于混合系统的非线性系统最大鲁棒控制不变集的方法.对于一类非线性系统通过平衡点线性化的方法转化为多模态的混合系统,并进行了混合逻辑动态模型(MLD)的建模,在不变集基本理论的基础上,通过多参数规划的混合整数规划(MIQP)的方法迭代求解最大可控不变集,并求得不变集内的最优控制器,解决系统的状态约束问题.通过一个非线性系统的实例进行建模、仿真,证明了本方法的可行性.     

An adaptive robustizing approach to kalman filtering

The performance of a linear Kalman filter will degrade when the dynamic noise is not Gaussian. A robust Kalman filter based on the m-interval polynomial approximation (MIPA) method for unknown non-Gaussian noise is proposed. Two situations are considered: (a) the state is Gaussian and the observation noise is non-Gaussian; (b) the state is non-Gaussian and the observation noise is Gaussian. It is shown, as compared with other non-Gaussian filters, the MIPA Kalman filter is computationally feasible, unbiased, more efficient and robust. For the scalar model, Monte Carlo simulations are given to demonstrate the ideas involved.     

自适应Kalman滤波器在水下被动目标跟踪中的应用

在水下被动目标跟踪系统中，直角坐标系下的扩展卡尔曼滤波器容易发散而导致滤波精度很差，提出了一种修正极坐标系下的自适应卡尔曼滤波算法，对虚拟噪声进行估计，动态补偿模型线性化误差，消减系统的观测误差．对其滤波理论及算法进行了研究和仿真。仿真结果表明，该算法提高了滤波的稳定性、快速性和精确性，优于一般的扩展卡尔曼滤波算法。