基于惯性导航/无线传感器网络组合的采煤机定位方法研究

采煤机是井下综采工作面的重要设备,采煤机精确定位技术是煤矿生产装备自动化的关键技术之一。为了实现高精度定位满足井下综采自动化作业需求,提出了基于惯性导航/无线传感器网络组合的采煤机定位方法。采用锚节点安置于液压支架上,移动节点与惯导固定安装于采煤机上的配置方案,利用位置已知的锚节点测距信息估计和修正惯导误差,同时实施对安置于推进过程中的液压支架上锚节点(未知节点)位置信息的实时校准,从而达到采煤机高精度定位、无线传感器网络节点动态自动调节的目的。通过试验对所提方法的有效性进行了验证,结果表明,所釆用方法对釆煤机轨迹具有良好跟踪性能,水平定位误差不超过1.57 cm/h。     

On-line gain-tuning IP controller using RFNN

In this study an integral-proportional (IP) controller with on-line gain-tuning using a recurrent fuzzy neural network (RFNN) is proposed to control the mover position of a permanent magnet linear synchronous motor (PMLSM) servo drive system. The structure and operating principle of the PMLSM are first described in detail. A field-oriented control PMLSM servo drive is then introduced. After that, an IP controller with on-line gain tuning using an RFNN is proposed to control the mover of the PMLSM for achieving high-precision position control with robustness. The backpropagation algorithm is used to train the RFNN on line. Moreover to guarantee the convergence of tracking error for the periodic step-command tracking, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates of the RFNN. Furthermore, the proposed control system is implemented in a PC-based computer control system, Finally, the effectiveness of the proposed PMLSM servo drive system is demonstrated by some simulated and experimental results. Accurate tracking response and superior dynamic performance can be obtained due to the powerful on-line learning capability of the RFNN. In addition, the proposed on-line gain-tuning servo drive system is robust with regard to parameter variations and external disturbances     

Doppler Compensation & Single Pulse Imaging using Adaptive Pulse Compression

The effects of target Doppler are addressed in relation to adaptive receive processing for radar pulse compression. To correct for Doppler-induced filter mismatch over a single pulse, the Doppler-compensated adaptive pulse compression (DC-APC) algorithm is presented whereby the respective Doppler shifts for large target returns are jointly estimated with the illuminated range profile and subsequently incorporated into the original APC adaptive receive filter formulation. As a result, the Doppler-mismatch-induced range sidelobes can be suppressed thereby regaining a significant portion of the sensitivity improvement that is possible when applying adaptive pulse compression (APC) without the existence of significant Doppler mismatch. In contrast, instead of compensating for Doppler mismatch, the single pulse imaging (SPI) algorithm generalizes the APC formulation for a bank of Doppler-shifted matched filters thereby producing a sidelobe-suppressed range-Doppler image from the return signal of a single radar pulse which is applicable for targets with substantial variation in Doppler. Both techniques are based on the recently proposed APC algorithm and its generalization, the multistatic adaptive pulse compression (MAPC) algorithm, which have been shown to be effective for the suppression of pulse compression range sidelobes thus dramatically increasing the sensitivity of pulse compression radar.     

Strapdown inertial navigation using dual quaternion algebra: error analysis

In a strapdown inertial navigation system (INS), the general displacement of a rigid body is traditionally separately modeled and analyzed, i.e., direction cosine matrix or quaternion for rotation analysis and vector for translation analysis. As a subsequent work of a companion paper (Wu et al., 2005), this paper adopts dual quaternion algebra, a most concise and unified mathematical tool for representing the general displacement of a rigid body, to analyze error characteristics of the strapdown INS. Two new error models in terms of quaternion algebra are developed: the additive dual quaternion error (ADQE) model and multiplicative dual quaternion error (MDQE) model. Both are expected to facilitate the future inertial navigation-based integrated navigation filter.     

Smart sensor Web: tactical battlefield visualization using sensor fusion

Smart sensor Web (SSW) is a recent DUSD (S&T) initiative inspired by extraordinary technological advances in sensors and microelectronics and by the emergence of the Internet as a real-time communication tool. The overall vision for SSW is an intelligent, Web-centric distribution and fusion of sensor information that provides greatly enhanced situational awareness, on demand, to warfighters at lower echelons. Emphasis is on multi-sensor fusion of large arrays of local sensors, joined with other assets, to provide real-time imagery, weather, targeting information, mission planning, and simulations for military operations on land, sea, and air. This paper gives an overview of this new initiative, highlights some of the technology challenges in sensor/information fusion, and presents a program approach for near-term demonstrations and long-term solutions, involving the DoD, National Labs, commercial industry, and academia.     

一种超低功耗的无线传感器网络节点机的设计

无线传感器网络综合了传感器技术、嵌入式技术、分布式信息处理技术和网络通信技术，能够协作地实施监测、感知和采集各种环境对象的信息，并将信息传递给系统用户主机进行分析、处理。其巨大应用前景引起了军事、工业、商业和学术界专家的广泛关注。无线网络中的节点，具有感知和路由的功能，在实际的应用中功耗是影响节点工作寿命的关键因素，为此，使用了nRF903和微控制器MSP430F149设计并实现了一种超低功耗的无线传感器网络节点机，提出了一种物理层通信的超低功耗能量控制的方法，并进行了测试。结果证明该模块比较适合传感器网络层的节点机的应用，具有集成度高、微型化、体积小、功耗低等特点。     

Fault diagnosis and isolation of the component and sensor for aircraft engine

Aircraft engine component and sensor fault detection and isolation approach was proposed,which included fault type detection module and component-sensor simultaneous fault isolation module. The approach can not only distinguish among sensor fault, component fault and component-sensor simultaneous fault, but also isolate and locate sensor fault and the type of engine component fault when the engine component fault and the sensor faults occur simultaneously. The double-threshold mechanism has been proposed, in which the fault diagnostic threshold changed with the sensor type and the engine condition, and it greatly improved the accuracy and robustness of sensor fault diagnosis system. Simulation results show that the approach proposed can diagnose and isolate the sensor and engine component fault with improved accuracy. It effectively improves the fault diagnosis ability of aircraft engine.      

飞机自动着陆纵向块对角控制器设计

简介了块对角控制思想,在分析飞机运动特性的基础上,把飞机纵向运动方程处理为块对角非线性系统,并设计了具有纵向控制能力的自动着陆块对角控制器,仿真结果表明该控制器能够控制飞机自动着陆。     

Multiple target angle tracking using sensor array outputs

The use of the output of an array of sensors to track multiple independently moving targets is reported. The output of each sensor in the array is the sum of signals received from each of the targets. The results of direction-of-arrival estimation by eigenvalue analysis are extended to derive a recursive procedure based on a matrix quadratic equation. The solution of this matrix quadratic equation is used to provide updated target positions. A linear approximation method for estimating the solution of the matrix equation is presented. The algorithm is demonstrated by the simulated tracking of two targets. The main advantage of the algorithm is that a closed-form solution for updating the target angle estimates has been obtained. Also, its application is straightforward, and the data association problem due to uncertainty in the origin of the measurements is avoided. However, it requires the inversion of an N×N as well as other linear operations, so that the computational burden becomes substantial as N becomes very large     

Bomb damage assessment using a dispensed sensor projectile

The problem of obtaining images of a target site after munition impact is approached by releasing a small projectile equipped with a camera from a dropped munition. A ballute is deployed from the sensor projectile shortly after release from the munition. This type of system is capable of viewing munition impact and subsequent target effects over a wide variety of conditions and offers the possibility of real-time battle damage assessment (BDA). However, fundamental limits exist on the duration that the camera is able to view the target after impact for a particular required separation distance between the sensor projectile and the target at impact and the field of regard (FOR) of the camera. Munition release altitude and velocity significantly affect these fundamental limits. Optimal performance is attained under high altitude and low speed munition drop conditions. Basic characteristics of the camera projectile also significantly influence system performance. Maximum target view time is attained with a low weight high drag configuration., To reduce the maximum acceleration experienced by the sensor projectile, a small delay time between the release of the small sensor projectile from the munition and inflation of ballute is required.     

Deployable space structure control using adaptive predictive controller with notch filter

The present study addresses the adaptive predictive controller with adaptive notch filter for the tip position control of a deployable space structure model. An adaptive notch filter is designed to estimate multiple bending mode frequencies of the deployable manipulator and to minimize the effect of bending vibration. The results show that the adaptive predictive controller with adaptive notch filter is quite effective controlling the tip position of a deployable space structure under poor modeling information.