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。     

A method for improving extended Kalman filter performance forangle-only passive ranging

A relatively simple method is presented which eliminates previously reported (Oct. 1985) erratic estimation performance associated with Cartesian formulations of the extended Kalman filter (EKF) for the 2D angle-only emitter location problem. The technique is based on an initialization procedure which combines a priori probability density function (pdf) information with single measurement a posteriori pdf information in a manner which is more efficient than the EKF. Simulation results are presented which demonstrate the utility of the technique as compared with a previously offered modified gain EKF     

Limit Cycle in a Four Sectors On-Off Tracking Loop

A simplified model of a bidimensional on-off tracking loop is introduced. By using geometric analysis in the time domain, it is shown that there is a simple mode of limit cycle which is stable in the loop for finite disturbances and for a finite range of change of the loop parameters. The consideration of the unsymmetric general case covers a wide class of cases in which the loop is subjected to constant velocity inputs. A nonfiltering assumption is defined which is needed to establish the connection between the simplified loop and practical systems. The main results are applied to a conventional symmetric loop. The analytic approach developed here is applicable as weil to loops in which the number of sectors is different from four and also to loops containing nonlinearities more complex than simple on-off, like hysteresis.     

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。     

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.     

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.     

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.     

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。     

柱塞泵热力学建模与仿真

针对航空行业广泛应用的柱塞泵的热力学特性,提出了一种分析和建模的方法.应用能量守恒定律推导并建立了集中参数的航空柱塞泵的热力学模型,并针对柱塞泵的内部结构进行了较详细的传热分析.将此建模和分析的方法应用于包含航空柱塞泵的一个典型液压回路.通过对航空柱塞泵的热力学实验与仿真结果的比较证明了建模方法的有效性.     

Numerical simulation of rotating stall in a subsonic compressor

Rotating stall is generally the first instability met in multi-stages compressors, before surge. This 3D phenomenon is characterized by one or more cells of stalled flow which rotate at a fraction of the rotor speed ω. The present paper deals with the simulation and the analysis of the rotating stall in a stage of a subsonic compressor.The configuration used for the study is an axial single-stage low speed compressor. A numerical simulation is carried out with a quasi three dimensional in-house code which solves the Navier–Stokes equations on a stream surface. The simulation shows a rotating stall with two cells which rotate at 48% of the rotor speed. Particular emphasis is laid on the pre stall phenomena analysis. The spatial mode which is responsible for the rotating stall cells number is identified many revolutions before the stall inception thanks to a Fourier analysis. However, further investigations are needed in order to identify the destabilizing mode origin.     

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。     

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…     

加筋结构中筋条有限元模型研究

 本文提出板杆组合元模型在抗拉及板面内抗弯刚度上均达到与实际筋条相等。该模型不仅是检验各种近似解的工具,而且,可在工程上推广应用。 1.筋条抗拉刚度分析 作如下基本假设:（1）平面应力、线弹性Ⅰ型断裂问题;（2）板的中面与筋条铆钉孔所在缘条中面重合,铆钉力在这个面愉;（3）钉孔仪是一点,铆钉力是作用在该点上的一个集中力;（4）忽略筋条与板间的摩擦力。以机翼下壁板为例进行分析(图     

On the Convergence of Iterative Orthogonalization Processes

Polar decomposition of matrices is used here to investigate the convergence properties of iterative orthogonalization processes. It is shown that, applying this decomposition, the investigation of a general iterative process of a certain form can be reduced to the investigation of a scalar iterative process which is simple. Three known iterative orthogonalization processes, which are special cases of the general process, are analyzed, their convergence rate (order) is determined, and their range of convergence is established in terms of the spectral radius of the modulus of the matrix which is being orthogonalyzed.     

扇翼流动机理数值模拟研究

以扇翼的气动特性(高升力)为关注焦点,对扇翼流动的流场结构细节进行了数值模拟研究。对有推力二维Lockheed C-141超临界翼型进行数值模拟,验证和确认了扇翼流场的数值模拟方法,并数值模拟了扇翼旋转时的流场结构。结果表明,其高升力来源于固定翼部分上表面高速流动的射流,而这种射流正是由叶片旋转带动扇翼内部流体不断加速喷射得到的。扇翼内部的流动是复杂的非定常流动,存在多种尺度的旋涡、湍流边界层及二者的相互干扰等,使气动力高频振荡,进而可以预测相当的气动噪声是不可避免的。将算法应用于扇翼飞行器的外形设计优化阶段,得到了若干构型的气动性能,为下一步开展的无人机研制工作提供了指导。     

Improved sequential MUSIC

MUSIC (multiple signal classification) is one of the most frequently considered methods for source location using sensor arrays. Among the location methods based on one-dimensional search, MUSIC has excellent performance. In fact, no other one-dimensional method that may outperform MUSIC (in large samples) was known to exist. Our goal here is to introduce such a method, called improved sequential MUSIC (IES-MUSIC), which is shown to be strictly more accurate than MUSIC (in large samples). First, a class of sequential MUSIC estimates is introduced, which depend on a scalar-valued user parameter. MUSIC is shown to be a special case of estimate in that class, corresponding to a value of zero for the user parameter. Next, the optimal user parameter value, which minimizes the asymptotic variance of the estimation errors, is derived. IES-MUSIC is the method based on that optimal choice of the user parameter. Simulation results which lend support to the theoretical findings are included     

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     

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