NONLINEAR PREDICTIVE CONTROL FOR TERRAIN FOLLOWING

ＮＯＮＬＩＮＥＡＲＰＲＥＤＩＣＴＩＶＥＣＯＮＴＲＯＬＦＯＲＴＥＲＲＡＩＮＦＯＬＬＯＷＩＮＧＣｕｉＨｕｔａｏ（崔祜涛），ＧｅｎｇＹｕｎｈａｉ（耿云海），ＹａｎｇＤｉ（杨涤）（ＨａｒｂｉｎＩｎｓｔｉｔｕｔｅｏｆＴｅｃｈｎｏｌｏｇｙ，Ｐ．Ｏ．Ｂｏｘ１３７，...     

Period selection for integrated controller tasks in cyber-physical systems

Performance optimization of cyber-physical systems(CPS)calls for co-design strategies that handle the issues in both computing domain and physical domain.Periods of controller tasks integrated into a uniprocessor system are related to both control performance and real-time schedulability analysis simultaneously.System performance improvement can be achieved by optimizing the periods of controller tasks.This paper extends an existing model to select task periods in real-time for CPS with fixed priority controller tasks scheduled by rate-monotonic algorithm.When all the tasks can be integrated,the analytic solution of the problem is derived by using the method of Lagrange multipliers and gradient descent method is evaluated to be suitable online.To further deal with the condition that the system is overloaded,an integrated method is proposed to select periods of tasks online by selecting a subset of tasks first and then optimizing the periods for them.Experimental results demonstrate that our method yields near-optimal result with a short running time.     

Robustness of multiple-limb manipulation systems

Ｄｕｒｉｎｇｒｅｃｅｎｔｙｅａｒｓ，ｃｏｎｓｉｄｅｒａｂｌｅｒｅｓｅａｒｃｈｅｆｏｒｔｈａｓｂｅｅｎｄｅｖｏｔｅｄｔｏｔｈｅｓｔｕｄｙｏｆｔｈｅｍｕｌｔｉ－ｐｌｅ－ｌｉｍｂｍａｎｉｐｕｌａｔｉｏｎｓｙｓｔｅｍｓｗｉｔｈｔｈｅａｂｉｌｉｔｙｔｏｕｓｅａ...     

CFDP协议中延迟NAK文件传输时间分析与仿真

未来的深空通信需要一个鲁棒的、有效与可靠的文件传输协议,在研究CCSDS提出的CFDP协议基础上,针对延迟NAK模式提出了一种新的分析方法。在保证吞吐量的前提下,对ARQ定时器优化设置,导出了平均文件传输时间的理论表达式。在单跳直连链路中,对不同条件下的平均文件传输时间进行了仿真与数值分析。仿真结果表明平均文件传输时间与PDU错误概率、PDU数目及单向传播时间等有密切关系。随机仿真与理论分析具有很好的一致性。     

Use of human wastes oxidized to different degrees in cultivation of higher plants on the soil-like substrate intended for closed ecosystems

To close mass exchange loops in bioregenerative life support systems more efficiently, researchers of the Institute of Biophysics SB RAS (Krasnoyarsk, Russia) have developed a procedure of wet combustion of human wastes and inedible parts of plants using H₂O₂ in alternating electromagnetic field. Human wastes pretreated in this way can be used as nutrient solutions to grow plants in the phototrophic unit of the LSS. The purpose of this study was to explore the possibilities of using human wastes oxidized to different degrees to grow plants cultivated on the soil-like substrate (SLS). The treated human wastes were analyzed to test their sterility. Then we investigated the effects produced by human wastes oxidized to different degrees on growth and development of wheat plants and on the composition of microflora in the SLS. The irrigation solution contained water, substances extracted from the substrate, and certain amounts of the mineralized human wastes. The experiments showed that the human wastes oxidized using reduced amounts of 30% H₂O₂: 1 ml/g of feces and 0.25 ml/ml of urine were still sterile. The experiments with wheat plants grown on the SLS and irrigated by the solution containing treated human wastes in the amount simulating 1/6 of the daily diet of a human showed that the degree of oxidation of human wastes did not significantly affect plant productivity. On the other hand, the composition of the microbiota of irrigation solutions was affected by the oxidation level of the added metabolites. In the solutions supplemented with partially oxidized metabolites yeast-like microscopic fungi were 20 times more abundant than in the solutions containing fully oxidized metabolites. Moreover, in the solutions containing incompletely oxidized human wastes the amounts of phytopathogenic bacteria and denitrifying microorganisms were larger. Thus, insufficiently oxidized sterile human wastes added to the irrigation solutions significantly affect the composition of the microbiological component of these solutions, which can ultimately unbalance the system as a whole.     

空间前方交会法及其在测试技术中的应用

分析了空间前方交会法的基本原理，建立了相关的理论模型，并在实验室的条件下严格测试了这种方法的测量精度；探讨了空间前方交会法在位置检测系统的测试过程中应用，详细地给出了测试的步骤以及测试数据的分析处理结果。     

飞机数字式电子防滑系统采用新控制律的仿真研究

 讨论了从改进控制律着手提高系统性能的方法。在建立能适应系统随机扰动的基准速度产生器模型和改进控制器放电功能的基础上，设计了模糊复合控制器，通过调节系统的防滑循环频率，在减少深打滑和提高刹车效率方面收到了良好的效果。     

基于代理的分布式入侵检测系统研究与设计

传统的入侵检测系统一般局限于单一的主机或网络架构,对异构系统及大规模网络的检测明显不足,同时不同的入侵检测系统之间不能协同工作.分布式入侵检测将会是未来的主流.本文提出了一种基于AGENT的检测系统作为在网络环境中的IDS,AGENT的灵活性保证它可以成为保障系统的安全提供混合模式的架构,重点讨论了自适应模型生成、系统的总体结构、关键部件设计、Agent管理及系统实现等问题.     

机载光电跟踪系统模糊控制的优化设计与仿真

 分析了机载光电跟踪系统的构成,并对机载光电跟踪系统的最主要组成部分——陀螺稳定平台框架系统设计了基于遗传算法的模糊控制器,通过遗传算法来优化模糊控制器的规则、参数以及量化因子和比例因子。并对系统进行了详细的仿真研究,仿真结果证明基于 GA的模糊控制器设计获得了良好的控制效果。     

THE DECOUPLING CONTROL FORAIRCRAFT IN RAPID ROLL

ＴＨＥＤＥＣＯＵＰＬＩＮＧＣＯＮＴＲＯＬＦＯＲＡＩＲＣＲＡＦＴＩＮＲＡＰＩＤＲＯＬＬＨｕＷｅｉｄｕｏ，ＺｈａｎｇＭｉｎｇｌｉａｎ，ＷｅｎＣｈｕａｎｙｕａｎ（ＤｅｐａｒｔｍｅｎｔｏｆＡｕｔｏｍａｔｉｃＣｏｎｔｒｏｌ，ＢｅｉｊｉｎｇＵｎｉｖｅｒｓｉｔｙｏ...