基于双策略协同进化的QPSO算法及其应用

为更好地提升量子粒子群优化算法（QPSO）的局部挖掘和全局搜索能力,提出了一种改进的QPSO算法（DSQPSO）。在改进算法中引入了双策略协同进化的思路调整粒子的位置更新公式。为充分体现个体粒子挖掘的优势和群体共同引导的特点,提出了两种吸引点构造的思路,做到个体和种群更好地融合以及信息的互通;分别考虑了最优平均位置与全局最优和粒子的历史最优之间的联系,对粒子搜索范围作出了重新定义;此外,在迭代过程中,借助随机扰动机制对全局最优位置进行调整,以保持种群的多样性。通过18个测试函数将DSQPSO算法与PSO、QPSO、RQPSO和LQPSO四种算法在收敛精度和鲁棒性方面进行对比;进而在两个具体的工程优化问题上,应用改进算法与八个智能算法进行了寻优结果比较。实验表明DSQPSO算法无论在基准测试中还是在工程应用上,其计算精度和收敛效果均有明显优势。     

What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

基于溶液图像时序特征的元素组分含量动态监测系统

针对稀土萃取过程中组分含量难以实时监测以及现有组分含量检测方法耗时、耗内存的现状,设计了一种基于溶液图像时序特征的元素组分含量动态监测系统。首先使用图像采集装置获取萃取槽体溶液的时序图像,考虑萃取液颜色特性和单一颜色空间的不全面性,采用主成分分析（PCA）方法在HSI和YUV融合的颜色空间提取图像的时序特征,并结合生产指标构造基于鲸鱼优化算法（WOA）的最小二乘支持向量机（LSSVM）分类器来对工况状态进行判断。然后当工况处于非最佳状态时,在HSV颜色空间对图像提取颜色直方图和颜色矩特征,并开发以溶液图像间的混合特征差值的线性加权值为相似度度量的图像检索系统,从而获取组分含量值。最后进行镨/钕萃取槽体混合溶液测试,结果表明该系统能够实现元素组分含量的动态监测。     

一种割草机无刷电机高频注入启动策略研究

针对割草机电机在启动过程中转子定位精度低,加速阶段稳定性差等问题,提出了一种手推式割草机的无感无刷电机高频方波注入启动策略;采用将割草机电机的启动分为低速和高速两个阶段的方法,在不同采样点提取αβ轴系下的高频响应电流,用于转子位置估计,该方法无需滤波器,降低了位置估计误差;文章还在正负脉冲注入的基础上,提出了一种在电机首次启动时d轴极性的判断方法;利用STM32F302芯片搭建硬件实验平台,实验结果表明:改进的脉冲注入转子极性判别方法,能够准确判断转子极性,利用优化后的综合电流处理策略能有效地进行转子位置估计,提高精准度,符合割草机电机启动的要求.     

面源污染中磷流失多重影响因素主成分分析

为全面了解对美国中部Illinois州具有浅层排水系统的轮作农业地区的面源污染问题,利用主成分分析方法及多元线性回归,对Little Vermillion River流域磷流失影响因素主成分进行分析.结果表明,磷流失的影响因素基本分为3大主成分:一是生物主成分,包括温度、植被类型、覆盖因子、生物量、散蒸量;二是水力主成分,降雨及流量;三是人为干扰主成分,施肥量及耕作内容.其中水力主成分对流失的影响最大,尤其是对浅层排水中磷流失的影响.     

结合自适应稀疏表示和全变分约束的图像重建

In view of the limitation of fixed complete orthogonal transformation, represented by two-dimensional wavelet transform and discrete cosine transform in compressed sensing high-resolution image reconstruction, this paper proposes a new method for high-resolution image reconstruction based on adaptive redundant dictionary sparse representation with the total variation constraint.The algorithm takes the intermediate image in the process of iteration as the training sample to get a redundant dictionary suitable for sample characteristics by adaptive learning. It makes full use of the correlation between dictionary atoms and the image to get an ideal complete sparse representation, thus reducing the sampling rate and improving the quality of image reconstruction. Finally, the algorithm takes the total variation as a constraint and uses the split Bregman iterative method to solve the sparse optimization problem. Simulation shows that the proposed method can reconstruct high quality images under a low sampling rate.     

采用自适应字典学习的InSAR降噪方法

We consider the phase noise filtering problem for interferometric synthetic aperture radar (InSAR) based on the dictionary learning technique. Due to the non-convexity of the optimization problem is difficult to solve. By using the splitting technique and employing the augmented Lagrangian framework, we obtain a relaxed nonlinear constraint optimization problem with l₁-norm regularization which can be solved efficiently by the alternating direction method of multipliers (ADMM). Specifically, we firstly train dictionaries from the InSAR complex phase data, and then reconstruct the desired complex phase image from the sparse representation. Simulation results based on simulated and measured data show that this new InSAR phase noise reduction method has a much better performance than several classical phase filtering methods in terms of residual count, mean square error (MSE) and preservation of the fringe completeness.     

软土地区旧桩拔除技术和新建桩基础调整方案及施工措施

结合天津南开区某地块定向经济适用房项目,介绍其在基础施工中遇到旧预制方桩时,采用全套管高压喷气、射水振动沉管施工工艺清孔拔桩,并对该工艺进行分析得出:该拔桩施工工艺适用于软土地区旧桩拔除项目;并针对旧桩孔无法回填压实、部分新建桩基础与拔除旧桩孔距离较近等原因导致钻孔倾斜、串孔等问题,提出远离旧桩位置或调整至旧桩桩心位置等方法调整桩位,并采用加大桩径、增设承台等调整方案承担因调整桩位而产生的上部偏心荷载;采用拌和白灰、分层压实、回填静置等措施提高回填土的密实度,采用保证垂直度和调节泥浆配合比等措施,以改善不良施工条件,得出适当增加混凝土充盈系数保证成桩质量等施工经验,为后续类似工程提供借鉴。     

一种基于并联机构的航天器姿态模拟装置的设计开发

航天器发射升空前进行地面测试和试验是航天器研制过程中的重要环节。文中针对一种基于并联机构的姿态模拟装置的设计开发,从位置分析、速度分析和虚拟样机的建造和仿真分析等方面对3UPS-PU并联机构进行研究,完成姿态模拟装置的设计,为航天器装配、试验和测试设备的设计提供一种新的思路。     

基于星模拟器综合误差的星点修正方法的研究

对静态星模拟器的工作原理及星点位置误差的计算方法进行了研究,提出了一种新的星点位置的修正方法。利用这种修正方法能够在现有基础上提高星模拟器的模拟精度,有效降低对静态星模拟器光学系统设计的要求,减小星模拟器综合误差对星模拟器精度的影响。通过实验证明,修正后的星点误差均优于10″,可用于高精度星敏感器的地面标定。