基于惯性/偏振光/光流的六足步行机器人自主导航方法研究

针对惯性/卫星组合导航系统易受干扰或自主性不足等问题，引入偏振光传感器和光流传感器，分别建立航向角和速度量测方程，以辅助惯性导航系统，提出了一种基于惯性/偏振光/光流的自主导航方法。同时，为实现惯性传感器、偏振光传感器和光流传感器等多传感器的融合，设计了无迹Kalman滤波器。为验证该方法的有效性，以六足步行机器人为对象开展仿真和实验验证。结果表明，在没有卫星信号源的情况下，仅依靠机器人自身感知，可实现较高精度的机器人位姿估计，实现了不依赖于卫星导航信号的自主导航，提升了导航系统的自主性。     

基于改进快速距离转化的移动机器人路径规划方法

在分析快速距离转化法不足的基础上，提出了一种利用空间数据结构及编码方案的特性进行距离和安全转化，使用约束参量控制路径搜索过程的三维空间机器人路径规划方法。这种方法使用八叉树建立空间模型，通过构建树节点的拓扑关系使路径搜索转化为图搜索算法。根据拓扑关系按照波动传播的方法依次对各个节点进行距离和安全转化，保证了可行路径的产生。约束参量的使用能够有效地避免传统方法在搜索过程中的随机性，协调路径规划中的最短距离和最大安全需要，搜索给定参数下的最优路径空间。理论分析和仿真实验验证了该算法的可行性和正确性。     

产生伪随机序列的一种方法

由于混沌是一种动态的、类随机的非线性系统,且具有对初始条件敏感、连续的功率谱、各态遍历等特性,因此可产生伪随机序列.本文就是将混沌连续的功率谱进行反褶、平移、相加、缩放等变换构造出了一种新的伪随机序列,通过理论分析和仿真试验,初步验证了该序列的各项特性是满足了Golomb的3个公设.此序列产生方法简单,基本可以广泛应用于保密通信等领域.     

基于导重法的自重载荷下悬臂梁结构拓扑优化

针对自重载荷悬臂梁结构拓扑优化末端区域材料分布不收敛的问题，提出了一种拓扑优化方法。根据虚功相等原理，利用四节点矩形单元的形函数、单元体积密度和质量的关系建立了载荷等效方法。根据优化模型的Kuhn-Tucker条件推导出了导重准则，以及目标函数的灵敏度公式和考虑自重载荷拓扑优化的迭代算法。针对自重载荷作用下悬臂梁结构拓扑优化存在的末端区域材料分布模糊问题，研究了变密度法和非结构质量相结合的求解策略，揭示了典型因素对拓扑结构的影响规律。结果表明:所提方法能够解决自重载荷下悬臂梁末端区域材料分布模糊问题。      

Numerical validation and parametric investigation on the cold flow field of a typical cavity-based scramjet combustor

The three-dimensional coupled implicit Reynolds Averaged Navier–Stokes (RANS) equations and the two equation standard k–ε turbulence model has been employed to numerically simulate the cold flow field in a typical cavity-based scramjet combustor. The numerical results show reasonable agreement with the schlieren photograph and the pressure distribution available in the open literature. The pressure distribution after the first pressure rise is under-predicted. There are five shock waves existing in the cold flow field of the referenced combustor. The first and second pressure rises on the upper wall of the combustor are predicted accurately with the medium grid. The other three shock waves occur in the core flow of the combustor. The location of the pressure rise due to these three shock waves could not be predicted accurately due to the presence of recirculation zone downstream of the small step. Further, the effect of length-to-depth ratio of the cavity and the back pressure on the wave structure in the combustor has been investigated. The obtained results show that there is an optimal length-to-depth ratio for the cavity to restrict the movement of the shock wave train in the flow field of the scramjet combustor. The low velocity region in the cavity affects the downstream flow field for low back pressure. The intensity of the shock wave generated at the exit of the isolator depends on the back pressure at the exit of the combustor and this in turn affects the pressure distribution on the upper wall of the combustor.     

搭建计算机网络平台辅助高校体育教学模式的研究

高校体育教学是高等学校给学生传授体育技能的重要过程,多年来,教学改革的脚步一直没有停歇,传统的体育教学模式已经渐渐的不能适应时代的发展,现代化科学技术引入体育教学中势在必行,搭建合适的网络平台来辅助体育教学,是提高教学效率,培养学生终身体育意识的重要途径。     

惯性平台中星敏感器安装误差标定方法研究

提出了一种基于星光/惯性平台系统中星敏感器安装误差的地面标定方法,利用高精度的星模拟器,模拟远处恒星,将星敏感器主光轴对准星光,通过测量恒星与平台台体六面体的位置坐标,经过坐标转换后,对比得到星敏感器在惯性平台中的安装误差.实验数据表明,该方法可准确测量出星敏感器在星光/惯性平台中的安装误差角,实现误差的精确标定.     

A hybrid genetic approach for airborne sensor vehicle routing in real-time reconnaissance missions

Past initiatives to address surveillance and reconnaissance mission planning mainly focused on low-level control aspects such as real-time path planning and collision avoidance algorithms in limited environment. However, few efforts have been spent on high-level real-time task allocation. It is believed that automated decision capabilities supporting real-time resource allocation for sensor control and interactions might significantly reduce user workload, focusing attention on alternate tasks and objectives while assigning hard computational tasks to artificial agents. In this paper, we propose a new hybrid genetic algorithm to solve the dynamic vehicle routing problem with time windows, in which a group of airborne sensors are engaged in a reconnaissance mission evolving in a dynamic uncertain environment involving known and unknown targets/threats. In that context, visiting a target may consist in carrying out a collection of subtasks such as search, detect, recognize and confirm suspected targets, discover and confirm new ones. The approach consists in concurrently evolving two populations of solutions to minimize total travel time and temporal constraint violation using genetic operators combining variations of key concepts inspired from routing techniques and search strategies. A least commitment principle in servicing scheduled customers is also exploited to potentially improve solution quality.     

基于TMS320C5402的温度监测及调节系统

本文详细介绍了一种利用TI公司生产的16位定点DSP芯片TMS320C5402以及数字式温度传感器DS1820实现的温度监测及调节系统的硬件和软件实现方法。该系统以TMS320C5402为核心，配以检测电路、显示电路、报警电路、控制电路，从而实现智能温度监测及控制服务。由于系统硬件开销小，实时处理能力强，因此具有较高的应用价值。     

Design of a high performance suspension for lunar rover based on evolution

In this paper, we propose a new suspension for lunar rover called obverse and reverse four-linkage suspension (ORF-L suspension for short). Its two components are designed based on the evolutions of bogie and rocker. Firstly, we analyze the character of bogie and research the approach to improve its performance. Based on that research, an evolved mechanism of bogie is proposed, named obverse four-linkage. It has better capacity than bogie. In addition an evolved mechanism of rocker is also proposed, named reverse four-linkage. The bogie, rocker and their evolved mechanisms can compose four available suspensions including the interested ORF-L suspension. Because ORF-L suspension is composed of two evolved mechanisms, it has the highest performance. In order to check that, the performance comparison between ORF-L suspension and rocker-bogie suspension are carried out based on simulation. Finally, a prototype rover with ORF-L suspension is designed and manufactured. It shows excellent performance as expected.