Hierarchical control of intelligent machines applied to spacestation telerobots

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task decomposition hierarchy are divided both spatially and temporarily into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored in the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarchy and how it can be applied to space telerobot applications is described     

应用BP-ART混合神经网络的推进系统状态监控实时系统

应用ＢＰ－ＡＲＴ混合神经网络提出了一种供推进系统状态监控实时使用的系统,其拓扑结构为： 第一层处理单元由ＢＰ神经网络组成, 每个ＢＰ网络代表一个相应的推进系统组件; 第二层处理单元为一个ＡＲＴ神经网络, 网络的每一个输出代表推进系统的一种“健康状态”, 据此可对其故障进行“诊断”。该混合结构充分发挥了两类网络的优点, 给出的具体应用实例也显示出在推进系统实时状态监控与故障诊断应用中的有效性     

基于GSM技术的AICPS故障管理与容错机制的研究

给出了机载综合核心处理系统AICPS的软件结构和组成,采用基于TLS三层栈的先进的航电系统结构,其通用系统管理GSM分为健康监控、故障管理和配置管理三个软件功能模块,以及飞机级、综合区级、资源元素级共三级.基于GSM和运行蓝图,论述了AlCPS的故障管理技术和容错重构机制,重对故障处理的过程如故障检测、故障诊断、故障处理和配置管理进行了讨论.由于航空电子系统高安全、高可靠性等特点,作为提高可靠性的手段之一,研究故障管理与容错重构非常必要.     

通用飞行器气动优化设计数字化集成平台——DIPasda

未来航空工业的发展,需要解决多学科综合设计的关键问题,为新型高性能飞行器的设计提供有力的设计方法和设计工具。DIPasda作为复杂外形设计的通用飞行器多学科优化设计平台,研制目的主要是提供一套新型通用、鲁棒、高效的优化设计架构,应用于通用飞行器工业设计环境,改善传统设计耗时低效的状况,提高新型飞行器设计的效率和精度。DIPasda平台系统包含了优化设计过程中所需用到的各类方法,主要包括数值优化算法、几何模型参数化方法、代理模型方法、高精度的学科分析工具等。通过详细介绍平台的系统架构、主要的功能模块、伴随优化设计和多目标优化设计流程,展现了DIPasda平台系统架构设计的灵活性和功能模块的完备性。最后通过优化算例展示了系统的综合优化设计能力。     

机载嵌入式可重构信号处理系统设计

为使机载嵌入式信号处理系统性能更加均衡,更好地适应机载嵌入式环境,在比较三种传统的机栽信号处理系统架构的基础上,提出了一种系统可伸缩、功能可重构的信号处理系统架构,并分析了其系统特性和关键技术。从可编程能力、处理性能、通用性以及可扩展性等方面比较了三种信号处理系统架构,结果表明:可重构信号处理系统架构具有较强的综合性能,能更好地满足机载嵌入式应用的需求。     

Hybrid discriminative/class-specific classifiers for narrowband signals

The class-specific (CS) method of signal classification operates by computing low-dimensional feature sets defined for each signal class of interest. By computing separate feature sets tailored to each class, i.e., CS features, the CS method avoids estimating probability distributions in a high-dimension feature space common to all classes. Building a CS classifier amounts to designing feature extraction modules for each class of interest. In this paper we present the design of three CS modules used to form a CS classifier for narrowband signals of finite duration. A general module for narrowband signals based on a narrowband tracker is described. The only assumptions this module makes regarding the time evolution of the signal spectrum are: (1) one or more narrowband lines are present, and (2) the lines wandered either not at all, e.g., CW signal, or with a purpose, e.g., swept FM signal. The other two modules are suited for specific classes of waveforms and assume some a priori knowledge of the signal is available from training data. For in situ training, the tracker-based module can be used to detect as yet unobserved waveforms and classify them into general categories, for example short CW, long CW, fast FM, slow FM, etc. Waveform-specific class-models can then be designed using these waveforms for training. Classification results are presented comparing the performance of a probabilistic conventional classifier with that of a CS classifier built from general modules and a CS classifier built from waveform-specific modules. Results are also presented for hybrid discriminative/generative versions of the classifiers to illustrate the performance gains attainable in using a hybrid over a generative classifier alone.     

数据融合体系结构的设计

在进行数据融合系统设计时,选择适当的融合体系结构是首要工作。本文首先分析了单传感器系统的不完善性;接着,分析了数据融合的功能模块及其相互之间的关系,指出了集中式/分布式/混合式融合处理结构的优劣,最后,讨论并分析了几种典型的数据融合体系结构。     

一种小型化高性能综合处理系统的设计与实现

针对直升机、无人机等中小型航空飞行器控制成本以数量取胜的要求以及重量、环境散热的限制,设计了一种用于中小型航空飞行器航空电子系统的小型化高性能综合处理系统。分析了中小航电系统处理需求,讨论了综合处理机系统硬件组成和软件配置,介绍了功能模块标准化设计、高密度低功耗设计以及多级容错设计等关键技术,实现了原型系统并获得了其性能测试结果。     

面向机载应用的领域专用加速器研究

机载环境下数据处理规模的剧增以及人机混合智能的应用使得传统的以CPU 为核心计算单元的架构 已不能满足计算需求。在满足延时、精度等指标的情况下,选用高能效的处理器或处理器组合来快速准确地处 理这些数据成为机载计算领域面临的重要问题。按照常规处理器、领域专用加速器两大类型对各自主要代表性 处理器的架构特点进行了分析和总结,得出了各类处理器在机载情况下的主要适用场景和应用情况。根据领域 专用的设计思想开发了面向数据关联应用的专用加速器,对数据关联算法中的统计距离计算和分簇处理这两个 计算瓶颈进行了定制化的加速设计,并在基于FPGA 的平台上进行了测试验证,结果表明,加速器对于统计距 离计算的加速效果约为FT2000/4 单核性能的10 倍,对于分簇处理的加速效果约为FT2000/4 单核性能的3 倍, 整体运算速度相比FT2000/4 处理器的单核提升了5 倍。     

High-performance payload data handling system for Gaia

Gaia is the most ambitious space astrometry mission currently envisaged and is a technological challenge in all its aspects. We describe a proposal for the payload data handling system of Gaia, as an example of a high-performance, real-time, concurrent, and pipelined data system. This proposal includes the front-end systems for the instrumentation, the data acquisition and management modules, the star data processing modules, and the payload data handling unit. We also review other payload and service module elements and we illustrate a data flux proposal.     

某三余度计算机及其接口模块工作模式设计

对于大型无人机系统来说,三余度电传飞控系统具有最合理的性价比。介绍某大型无人机三余度飞控计算机系统的总体设计和实现方案。系统采用相似三余度容错结构,通过高速交叉通道数据链和同步技术保证不同余度之间控制输出的时间和空间一致性。为增强系统处理能力,采用智能接口模块分担主CPU的工作,智能接口模块具有独立的BIT功能,采用双口存储器实现与处理器模块信息交互,硬件接口支持软件动态可配置。     

Multidisciplinary Design and Optimization of Multistage Ground-launched Boost Phase Interceptor Using Hybrid Search Algorithm

This article proposes a multidisciplinary design and optimization (MDO) strategy for the conceptual design of a multistage ground-based interceptor (GBI) using hybrid optimization algorithm, which associates genetic algorithm (GA) as a global optimizer with sequential quadratic programming (SQP) as a local optimizer. The interceptor is comprised of a three-stage solid propulsion system for an exoatmospheric boost phase intercept (BPI). The interceptor's duty is to deliver a kinetic kill vehicle (KKV) to the optimal position in space to accomplish the mission of intercept. The modules for propulsion, aerodynamics, mass properties and flight dynamics are integrated to produce a high fidelity model of the entire vehicle. The propulsion module comprises of solid rocket motor (SRM) grain design, nozzle geometry design and performance prediction analysis. Internal ballistics and performance prediction parameters are calculated by using lumped parameter method. The design objective is to minimize the gross lift off mass (GLOM) of the interceptor under the mission constraints and performance objectives. The proposed design and optimization methodology provide designers with an efficient and powerful approach in computation during designing interceptor systems.     

PAVE PACE: system avionics for the 21st century

The PAVE PACE Initiative has been established to validate system avionics concepts for advanced military aircraft. The author presents the rationale of why the advanced architecture established by the PAVE PILLAR program should be continued under PAVE PACE to achieve: practical and affordable airborne versions of modular parallel processing network architectures for many applications currently beyond real-time implementation, readily available avionics for use in all avionics and, greatly improved techniques to reduce the cost of software development and support. An approach to the overall design structure for future avionics is also presented that entails: the use of CAD (computer-aided design) tools to assist in the development of system, hardware and software requirements, the use of replicated hardware modules (some at the wafer level), the use of reuseable software modules and the use of CAD tools to tailor hardware/software modules for specific application requirements. Continued use of the PAVE PILLAR high-speed data bus and operating system is recommended as the means to integrate and control the data input and output of physically and functionally separate parallel networks     

临近空间飞行器信息系统一体化载荷平台

介绍了临近空间日趋受到各国的关注和研究、临近空间的概念以及临近空间飞行器的概况。从高超声速临近空间飞行器设计层面分析了临近空间飞行器信息系统多任务需求和现有设计的矛盾,指出研究临近空间飞行器一体化综合电子系统信号交链和多任务一体化协同技术是解决此矛盾的有效途径。通过对临近空间飞行器信息系统一体化载荷平台的研究,构建了采用冗余备份技术的包括信号处理模块、控制模块的统一开放的柔性系统平台架构。     

基于虚拟仪器的机载模块性能测试系统

针对传统机载设备侧重于功能测试的技术缺陷,提出了一种机载模块性能测试系统。阐述了测试系统的架构设计和基于LabVIEW的算法实现,使用虚拟仪器技术,实现了航空电子总线ARINC429模块中信号性能的自动测试和故障报告。实验结果表明,该系统能有效完成模块信号性能的自动测试与故障报告,提高了航空电子自动测试设备的通用性与可靠性,对未来两级维修体制下的航空电子设备ATE的发展具有一定的现实意义。     

一种多核实时图像处理模块设计与实现

实时图像处理能力是嵌入式系统中影响系统性能的核心因素.为充分挖掘多核DSP性能,从计算机系统结构的角度出发,开展对多核DSP实时图像处理体系结构的研究,设计了一种基于TMS320 C6678的实时图像处理模块.采用FPGA进行实时图像的采集和缓存,利用四线RapidIO高速接口完成FPGA与DSP之间的数据传输,并设计了四级图像缓冲流水处理结构,实现了图像采集、缓存、处理和发送的并行进行.设计了一套基于数据块共享的实时图像处理多核协同处理机制,可以充分利用C6678八个核的优势,实现对图像的实时处理.     

Aerial-BiSeNet: A real-time semantic segmentation network for high resolution aerial imagery

The aircraft system has recently gained its reputation as a reliable and efficient tool for sensing and parsing aerial scenes. However, accurate and fast semantic segmentation of high-resolution aerial images for remote sensing applications is still facing three challenges: the requirements for limited processing resources and low-latency operations based on aerial platforms, the balance between high accuracy and real-time efficiency for model performance, and the confusing objects with large intra-class variations and small inter-class differences in high-resolution aerial images. To address these issues, a lightweight and dual-path deep convolutional architecture, namely Aerial Bilateral Segmentation Network (Aerial-BiSeNet), is proposed to perform real-time segmentation on high-resolution aerial images with favorable accuracy. Specifically, inspired by the receptive field concept in human visual systems, Receptive Field Module (RFM) is proposed to encode rich multi-scale contextual information. Based on channel attention mechanism, two novel modules, called Feature Attention Module (FAM) and Channel Attention based Feature Fusion Module (CAFFM) respectively, are proposed to refine and combine features effectively to boost the model performance. Aerial-BiSeNet is evaluated on the Potsdam and Vaihingen datasets, where leading performance is reported compared with other state-of-the-art models, in terms of both accuracy and efficiency.     

空中交通监视电子地图平台设计

采用Java技术,从底层设计并实现了一个航空矢量电子地图平台,介绍了平台结构和设计要点。针对矢量电子地图中普遍存在的响应迟滞问题,提出了基于图层自检的多级过滤绘制方法,显著提高了地图响应速度。在处理监视数据时,采用基于混合门限的自适应刷新策略,有效地控制了平台资源负载情况,平台稳定性得以提高。     

Software radios: Survey, critical evaluation and future directions

A software radio is defined as a set of digital signal processing (DSP) primitives, a metalevel system for combining the primitives into communication system functions (transmitter, channel model, receiver, etc.), and a set of target processors on which the software radio is hosted for real-time communications. The performance of enabling hardware technologies is related to software radio requirements, portending a decade of shift from hardware radios toward software intensive approaches. Computational models and architecture are discussed, stressing the need for topological consistency of radio functions and host architectures. A layered topology-oriented design approach encapsulated in a canonical open architecture software radio model is presented. The model provides a unified mathematical framework for quantitative analysis of algorithm structures, host architectures, and system performance for CAD