Optimal sensor selection strategy for discrete-time stateestimators

A novel sensor selection strategy is introduced, which can be implemented on-line in time-varying discrete-time system. We consider a case in which several measurement subsystem are available, each of which may be used to drive a state estimation algorithm. However, due to practical implementation constraints (such as the ability of the on-board computer to process the acquired data), only one of these subsystems can actually by utilized at a measurement update. An algorithm is needed, by which the optimal measurement subsystem to be used is selected at each sensor selection epoch. The approach described is based on using the square root V-Lambda information filter as the underlying state estimation algorithm. This algorithm continuously provides its user with the spectral factors of the estimation error covariance matrix, which are used in this work as the basis for an on-line decision procedure by which the optimal measurement strategy is derived. At each sensor selection epoch, a measurement subsystem is selected, which contributes the largest amount of information along the principal state space direction associated with the largest current estimation error. A numerical example is presented, which demonstrates the performance of the new algorithm. The state estimation problem is solved for a third-order time-varying system equipped with three measurement subsystem, only one of which can be used at a measurement update. It is shown that the optimal measurement strategy algorithm enhances the estimator by substantially reducing the maximal estimation error     

基于遗传算法的多机器人系统集中协调式路径规划

根据多机器人系统无碰撞运动的需要,对其工作空间进行了分解,确定了机器人运行路线上的各个可能路径点,从而得到了规划空间的多路径点链接图描述。基于这种对规划空间的链接图建模描述,开发了一种混合遗传算法用于寻找多个机器人的无碰撞协调运动路线。仿真结果表明,这种方法可有效地解决复杂规划空间下的多机器人路径规划问题。     

Microphysics of Quasi-parallel Shocks in Collisionless Plasmas

Shocks in collisionless plasmas require dissipation mechanisms which couple fields and particles at scales much less than the conventional collisional mean free path. For quasi-parallel geometries, where the upstream magnetic field makes a small angle to the shock normal direction, wave-particle coupling produces a broad transition zone with large amplitude, nonlinear magnetic pulsations playing an important role. At high Mach numbers, ion reflection and acceleration are dominant processes which control the structure and dissipation at the shock. Accelerated particles produce a precursor, or foreshock, characterized by low frequency magnetic waves which are convected by the plasma flow into the shock transition zone. The interplay between energetic particles, waves, ion reflection and acceleration leads to a complicated interdependent system. This review discusses the spacecraft observations which have motivated the current view of the high Mach number quasi-parallel shock, and the theories and simulation studies which have led to a better understanding of the microphysics on which the quasi-parallel shock depends.     

Selected Problems in Collisionless-Shock Physics

The physics of collisionless shocks is a very broad topic, which has been well studied for many decades. However, there are a number of important issues which remain unresolved. Moreover, there have been new findings, which cast doubt on well-established ideas. The purpose of this review is to address a subset of unresolved problems in collisionless shock physics from a theoretical and/or numerical modeling point of view. The topics which are addressed are: the nonstationarity of the shock front, the heating and dynamics of electrons through the shock layer, particle diffusion in turbulent electric and magnetic fields, particle acceleration, and the interaction of pickup ions with collisionless shocks.     

Ambiguity resolution of multiple targets using pulse-Dopplerwaveforms

To cancel clutter, both medium-PRF waveforms which are ambiguous in both range and Doppler and high-PRF waveforms which are ambiguous in range but unambiguous in ambiguities, a previous paper has shown that superior results for a single target can be achieved by using a clustering algorithm. Here, the problem of multiple targets is considered. A maximum likelihood (ML) technique which incorporates the clustering algorithm is developed for the multiple target problem. Simulation results show that four targets which have the same speed but are at different ranges can be resolved by using a medium-PRF waveform and employing the ML resolution technique     

Optimum and mismatched detection against K-distributed plusGaussian clutter

We derive the optimum radar receiver to detect fluctuating and non-fluctuating targets against a disturbance which is modeled as a mixture of coherent K-distributed and Gaussian-distributed clutter. In addition, thermal noise, which is always present in the radar receiver, is considered. We discuss the implementation of the optimum coherent detector, which derives from the likelihood ratio test under the assumption of perfectly known disturbance statistics, and evaluate its performance via a numerical procedure, when possible, and via Monte Carlo simulation otherwise. Moreover, we compare the performance of the optimum detector with those of two detectors which are optimum for totally Gaussian and totally K-distributed clutter respectively, when they are fed with such a mixed disturbance. We conclude that, though the optimum detector has a larger computational cost, it provides sensibly better detection performance than the mismatched detectors in a number of operational situations. Thus, there is a need to derive suboptimum target detectors against the mixture of disturbances which trade-off the detection performance and the implementation complexity     

高温合金过滤中的界面问题研究

  过滤器吸附固态夹杂须满足两个条件:一是控制熔体的流动状态,使固态夹杂与过滤器相接触;二是熔体、过滤器及固态夹杂之间满足一定的界面能条件,使固态夹杂被过滤器吸附捕获,然后在高温下依靠热能将固态夹杂与过滤器烧结在一起。因此过滤器去除固态夹杂存在着三种机制;机械拦截机制、流体动力学机制及热力学机制。     

Optimum detection and location estimation of target lines in the range-time space of a search radar

The average likelihood ratio detector is derived as the optimum detector for detecting a target line with unknown normal parameters in the range-time data space of a search radar, which is corrupted by Gaussian noise. The receiver operation characteristics of this optimum detector is derived to evaluate its performance improvement in comparison with the Hough detector, which uses the return signal of several successive scans to achieve a non-coherent integration improvement and get a better performance than the conventional detector. This comparison, which is done through analytic derivations and also through simulation results, shows that the average likelihood ratio detector has a better performance for different SNR values. This result is justified by showing the disadvantages of the Hough method, which are eliminated by the optimum detector. To have an estimate for the location of the detected target line in the optimum detection method as the Hough method, which detects and localizes the target lines simultaneously, we present the maximum a posteriori probability estimator. The estimation performance of the two methods is then compared and it is shown that the maximum a posteriori probability estimator localizes the detected target lines with a better performance in comparison with the Hough method.     

Relationships Among Classes of Self-Oscillating Transistor Parallel Inverters

It recently has been shown in the literature that many dc-to-squarewave parallel inverters which are widely used in power-conditioning applications can be grouped into one of two families. Each family is characterized by an equivalent RLC network. Based on this approach, a classification procedure is presented for self-oscillating parallel inverters which makes evident natural relationships which exist between various inverter configurations. By utilizing concepts from the basic theory of negative resistance oscillators and the principle of duality as applied to nonlinear networks, a chain of relationships is established which enables a methodical transfer of knowledge gained about one family of inverters to any of the other families in the classification array.     

一种改进的GNS互连测试算法

分析了GNS(Group sequence, Net sequence and Shifted net sequence)算法存在故障混淆的可能性;对于3个网络短路的情况,论述并证明了通过适当的网络分组能够避免故障混淆的发生;进而提出了降低故障混淆发生概率的网络分组原则：使易发生短路故障的网络尽可能位于同一组内;在此基础上,提出了一种基于网络短路关系图的启发式分组方法。该分组方法首先建立了反映网络间相互短路概率的网络短路关系图,然后利用图论的相关知识对分组问题进行了描述,并引入了分组的最优目标函数。考虑到多项式复杂程度的非确定性（NP）完全问题的复杂性,提出了一种启发式的分组算法。结果表明：该分组方法能够在较短的时间内寻找到较优的分组结果,减小GNS算法发生故障混淆的概率,从而提高了它的测试性能。     

On applying the extended Kalman filter to nonlinear regressionmodels

In using an extended Kalman filter to estimate the parameters of a nonlinear regression model, the order in which the measurements are processed can be important, as the filter cannot always be expected to produce a satisfactory global fit when processing the measurements in the causal order in which they occur. To obtain a better fit, the possibility is explored of using a sequential state estimator in an offline mode to process the measurements in a random order rather than in the causal order in which they occur     

EXPERIMENTS AND ANALYSIS OF HYSTERESIS OF VORTEX BREAKDOWN OVER PITCHING-UP DELTA WINGS

Thehigh-liftgenerationonapitching-upwingisbeneficialtothesupermaneuverofafighter.Flowvisualizationhasshownthatflowpatternsofpitching-updeltawingscomprisemaincharacteristicsofdynamicstall:evolutionofseparatedshearlayer,generation,develop-mentandbreakdownofleading-edgevortex,aswellashysteresis'ofvortexbreakdown.Whenadeltawingundergoespitching-up,thestallincidenceispostponedandthernaxi-mumliftcoefficientisenhanced.Theoreticalresearch[1]indicatesthatliftcomesmainlyfromthetimerateofchangeoffirstmom…     

An Optimal Control Approach to Designing Constant Gain Filters

This paper applies optimal control theory to designing constant gain filters which minimize a weighted average of the filtered variances. Uniaxial second-order motion is studied in detail, and an example is given which indicates that a constant gain filter may be designed with performance comparable to a Kalman filter. An appendix is included which shows how the approach may be extended to higher order systems.     

ATS-6 UCSD Auroral Particles Experiment

The University of California at San Diego (UCSD) Auroral Particles Experiment on the Applications Technology Satellite-6 (ATS-6) consists of five electrostatic charged particle detectors. The features which contribute to the uniqueness of the UCSD data include a rotation capability which often allows sampling very near the direction of the magnetic field, an energy range of five orders of magnitude with a lower extreme of less than 1 eV, and a very large geometric factor which results both from a postenergy analysis electrostatic lens and from the unique ovoidal shape of the analyzing plates. A preliminary look at a subset of UCSD magnetospheric data emphasizes those phenomena which are observed as a result of the new features described. These phenomena include intense magnetic field aligned auroral particles, a persistent and very low energy dusk region enhancement, and low energy 1-10-s fluctuations tentatively identified as Alfven waves.     

PHD filters of higher order in target number

The multitarget recursive Bayes nonlinear filter is the theoretically optimal approach to multisensor-multitarget detection, tracking, and identification. For applications in which this filter is appropriate, it is likely to be tractable for only a small number of targets. In earlier papers we derived closed-form equations for an approximation of this filter based on propagation of a first-order multitarget moment called the probability hypothesis density (PHD). In a recent paper, Erdinc, Willett, and Bar-Shalom argued for the need for a PHD-type filter which remains first-order in the states of individual targets, but which is higher-order in target number. In this paper we show that this is indeed possible. We derive a closed-form cardinalized PHD (CPHD) filter, which propagates not only the PHD but also the entire probability distribution on target number.     

新型机载双通道SAR-GMTI实时算法

提出了一种用于机载双通道SAR的GMTI新算法,将自适应插值算法与多普勒频域DPCA相结合,先分析了新算法的原理,然后以一个距离误差系数不为正整数,并且有加速度存在的载机模型进行仿真.给出了使用新算法后的仿真结果,证明了算法的合理性和可靠性.     

空间谐振式MOEMS陀螺致动器研究

研究并设计了一种新型的可应用于微光机电(MOEMS)陀螺的微位移及角度控制致动器。它包括高灵敏度压电陶瓷组件和控制电路,具有对微镜进行微米级位移和角秒级角度精确定位的功能。建立并完成了该致动器的结构模型和有限元仿真,提出了基于MOEMS技术的加工方法。     

LIPS III-a solar cell test bed in space

The LIPS III satellite, which was launched into a 1100-km circular orbit of 60° inclination in the spring of 1987, is discussed. LIPS III is a member of the living-plume-shield class of spacecraft, all of which were built around a simple sheet metal plume deflector. The purpose of LIPS III was to provide a testbed for space power sources. An overview of the LIPS III system is given, and the experiments submitted for it, all but one of which were photovoltaic in nature, are described     

仿真结果检验和状态分析方法

提出了一种仿真结果检验和状态分析方法,不仅可以有效地判断仿真结果正确与否,而且当仿真结果不正确时,可以进一步对仿真结果进行状态分析,确定哪些状态的仿真结果正确,哪些状态的仿真结果错误,从而指导仿真软件系统的编制和修改.此外,还给出了仿真结果检验表和状态分析表,便于工程应用.      

Multipath Limitations on Low-Angle Radar Tracking

This paper investigates the problem of tracking targets at a low elevation angle in the presence of specular and diffuse multipath. Quantitative estimates are derived of the elevation angles, and hence, range, at which targets of specified height can be accurately tracked. A parametric approach is followed in which the long-standing uncertainty of how terrain forward-scatters at low grazing angles is recognized at the outset. Particular attention is given to the effects of target motion which permit rejection of multipath components falling outside the radar tracker's passband. The results are presented in a form which can be readily applied to a spectrum of radar trackers with differing requirements. The limited experimental ental data on the specular and diffuse scattering parameters for several generic types of terrain are applied to estimate the significance of multipath under different situations and to indicate specific areas in which additional experimental data are critically needed.