基于SMC-CPHD的多目标跟踪算法研究

针对CPHD滤波算法在多目标跟踪中计算难处理和对于局部目标估计存在漏检的问题,提出了基于序贯蒙特卡罗方法的基数概率假设密度（SMC-CPHD）滤波算法。这种方法是将SMC和CPHD两种滤波算法的优点相结合,用一些离散的粒子去接近PHD函数,不仅解决了在滤波修正步没有闭式解的问题,而且避免了当某个目标发生漏检时,PHD权值的转移问题,在递推PHD函数的同时也递推基数分布。将此方法应用到有杂波存在复杂的多目标跟踪环境中,通过仿真实验,对CPHD滤波和SMC-CPHD滤波得出的结果进行比较,验证了本文所提出方法对多目标跟踪的可行性和精确性。     

考虑在轨运动可靠性的空间机械臂关节力矩优化方法

提出一种考虑在轨运动可靠性的冗余度空间机械臂关节力矩优化方法。首先将机械臂操作空间中点到点的转移任务从笛卡尔空间转换至关节空间,利用七次多项式插值法对各关节变量进行参数化处理,获得粒子群算法的优化控制参数;与传统路径规划方法不同,将机械臂各关节力矩的均值和最小作为粒子群算法优化求解的目标函数;依据该目标函数以及相应优化控制参数,利用粒子群算法对空间机械臂运行轨迹进行优化求解,得到机械臂关节力矩均值和最小的运行路径。仿真实验表明,相比传统路径规划方法及以关节力矩二范数为目标函数的关节力矩优化方法,在降低冗余度空间机械臂关节力矩均值方面,文中方法分别减小了33.57%和10.47%;在降低关节力矩最大值方面,分别减小了43.25%和6.19%。     

Experimental investigations of a full model with adaptive elasto-flexible membrane wings

The morphing wing concept aims to constantly adapt the aerodynamics to different flight stages. The wing is able to adapt to different flight conditions by an adjustable Aspect Ratio (AR) and sweep. A high AR configuration provides high aerodynamic efficiency, while a low AR configuration, with highly swept wings offers a good maneuverability. Additionally, the flexible membrane allows the wing surface to stretch and contract in-plane as well as the airfoil to adapt to different aerodynamic loads. In the context of this work, the aerodynamic characteristics of a full model with form-adaptive elasto-flexible membrane wings are investigated experimentally. The focus is on the high-lift regime and on the analysis of the aerodynamic coefficients as well as their sensitivities. Especially, the lateral aerodynamic derivatives at asymmetric wing positions are of interest.     

Study of the radiation fields in LEO with the Space Application of Timepix Radiation Monitor (SATRAM)

We present the analysis of data taken by the Space Application of Timepix Radiation Monitor (SATRAM). It is centred on a Timepix detector (300?$\mathrm{\mu }$m thick silicon sensor, pixel pitch 55?$\mathrm{\mu }$m, 256?×?256 pixels). It was flown on Proba-V, an Earth observing satellite of the European Space Agency (ESA) from an altitude of 820?km on a sun-synchronous orbit, launched on May 7, 2013. A Monte Carlo simulation was conducted to determine the detector response to electrons (0.5–7?MeV) and protons (10–400?MeV) in an omnidirectional field taking into account the shielding of the detector housing and the satellite. With the help of the simulation, a strategy was developed to separate electrons, protons and ions in the data. The measured dose rate and stopping power distribution are presented as well as SATRAM’s capability to measure some of the stronger events in Earth’s magnetosphere. The stopping power, the cluster height and the shape of the particle tracks in the sensor were used to separate electrons, protons and ions. The results are presented as well. Finally, the pitch angles for a short period of time were extracted from the data and corrected with the angular response determined by the simulation.     

船舶燃气轮机U型肋通道的颗粒沉积特性研究

为了探究船舶燃气轮机内部冷却通道的颗粒沉积特性,本研究从随压气机抽取的气体进入冷却涡轮内部冷却通道内的颗粒动力学特性及颗粒与壁面相互作用特性出发,基于高温壁面建立速度场影响的沉积模型,利用用户自定义函数实现沉积模型与CFD程序的嵌套。并简化船舶燃气轮机内部冷却通道,选取了在气膜孔与壁面之间夹角β=90°时,下游肋倾角α不同(α=30°,45°,60°,75°,90°),及在下游肋倾角α=60°时,气膜孔与壁面之间夹角β不同(β=30°,45°,60°,75°,90°)的八种不同内冷结构进行数值计算。研究表明,在气膜孔与壁面之间夹角β=90°不变时,随着下游肋倾角由α=90°减到α=30°时,弯头壁面换热性能和沉积率逐渐呈下降趋势,下游肋与肋之间壁面上颗粒的撞击率逐渐上升。下游肋倾角α=60°,气膜孔与壁面之间夹角β=45°的U型肋通道,在八个内冷结构中弯头壁面沉积率最少,换热性能最好,是能够有效改善船舶燃气轮机冷却涡轮的海洋环境工作适应性,减少内部冷却通道中颗粒沉积的内冷结构。     

不同粒径颗粒在涡轮流道内沿程温度及其与叶片的撞击特性研究

涡轮叶片表面的颗粒沉积会影响其气动性能和冷却效率,因此很有必要开展颗粒在流道内的运动、温度及其在涡轮叶片表面的撞击特性研究。基于离散相模型,采用CFD数值模拟了涡轮流道内的燃气流动以及不同粒径颗粒在涡轮流道内的运动轨迹与沿程温度变化,并获得了颗粒与涡轮叶片的撞击特性。模拟结果表明,随着颗粒粒径由1μm增加至200μm,颗粒在涡轮流道内的随流性变差,颗粒在流道内的撞击、反弹现象加剧,这促使颗粒在流道内的运动路程整体呈上升趋势;颗粒粒径的增大还会导致颗粒散热能力下降,促使颗粒的沿程温降逐渐降低;同时,颗粒粒径的增大会导致颗粒在导叶片表面的撞击系数上升,而动叶则与之相反。     

Advanced data acquisition system for SEVAN

Huge magnetic clouds of plasma emitted by the Sun dominate intense geomagnetic storm occurrences and simultaneously they are correlated with variations of spectra of particles and nuclei in the interplanetary space, ranging from subtermal solar wind ions till GeV energy galactic cosmic rays. For a reliable and fast forecast of Space Weather world-wide networks of particle detectors are operated at different latitudes, longitudes, and altitudes. Based on a new type of hybrid particle detector developed in the context of the International Heliophysical Year (IHY 2007) at Aragats Space Environmental Center (ASEC) we start to prepare hardware and software for the first sites of Space Environmental Viewing and Analysis Network (SEVAN). In the paper the architecture of the newly developed data acquisition system for SEVAN is presented. We plan to run the SEVAN network under one-and-the-same data acquisition system, enabling fast integration of data for on-line analysis of Solar Flare Events. An Advanced Data Acquisition System (ADAS) is designed as a distributed network of uniform components connected by Web Services. Its main component is Unified Readout and Control Server (URCS) which controls the underlying electronics by means of detector specific drivers and makes a preliminary analysis of the on-line data. The lower level components of URCS are implemented in C and a fast binary representation is used for the data exchange with electronics. However, after preprocessing, the data are converted to a self-describing hybrid XML/Binary format. To achieve better reliability all URCS are running on embedded computers without disk and fans to avoid the limited lifetime of moving mechanical parts. The data storage is carried out by means of high performance servers working in parallel to provide data security. These servers are periodically inquiring the data from all URCS and storing it in a MySQL database. The implementation of the control interface is based on high level web standards and, therefore, all properties of the system can be remotely managed and monitored by the operators using web browsers. The advanced data acquisition system at ASEC in Armenia was started in November, 2006. The reliability of the multi-client service was proven by continuously monitoring neutral and charged cosmic ray particles. Seven particle monitors are located at 2000 and 3200 m above sea level at a distance of 40 and 60 km from the main data server.     

一种新的玫瑰扫描目标跟踪边界重心法

针对自动寻的导弹玫瑰扫描目标跟踪方法中由于扫描过程非线性引起的目标采样非线性,导致求取目标重心算法的运算量和计算误差大等问题,提出了一种基于格林公式的、新的求取目标重心的边界重心法,该方法仅使用目标边界上的采样点。通过对运算量和计算误差的理论分析,与现有的权重重心法相比,本方法可以有效解决采样不均匀的问题,同时运算量减少了90%,误差仅为权重重心法的下界。另外,本方法也可用于基于图像信息的凝视目标跟踪等类似算法中来提高跟踪准确性及运算速度。     

高速高温空气横向射流条件下直射式喷嘴 燃油轨迹研究

为了优化冲压发动机燃油系统的设计,对高速高温空气来流横向射流条件下直射式喷嘴燃油轨迹进行试验研究和理论分析,试验采用PIV拍摄油雾场,经过Matlab图像处理后获取穿透边界,获得不同空气来流压力(0.17~0.28 MPa)、来流温度(400~750 K)、来流速度(43.641~109.420 m/s)、喷孔直径(0.77~1.00 mm)、燃油压力(1.2~2.7 MPa)下燃油轨迹的变化规律。结果表明:空气来流参数中的温度、压力以及喷油参数中的喷孔直径、燃油压力等对穿透深度均有影响。在试验范围内,随着空气温度或压力增加,燃油穿透深度减小;随着喷油孔径或喷油压力增加,燃油穿透深度增加。通过对燃油粒子和空气来流动量比关系的分析,获得用于预测燃油轨迹的无量纲关系式。     

非结构化环境下月球车快速即时定位与制图方法

激光雷达的实时环境扫描与已构建环境模型之间的匹配是月球车即时定位与制图(SLAM)过程中的关键步骤,其收敛速度和准确性直接决定了SLAM的成败。月球表面是一种典型非结构化环境,其环境场景特征复杂。若通过三维激光匹配方式则传感器数据量大,特征匹配的难度高,实时性差。针对于此,本文提出了一种基于ICP算法的激光点扫描匹配方法－类等高线匹配方法,将二维激光雷达的实时扫描数据与已构建的三维环境高程图相匹配,利用RBPF粒子滤波实现位姿与地图状态的估计,采用自行研制的小型激光雷达硬件平台,较好地实现了月球车原理样机的快速SLAM过程。实验表明,基于该方法的即时定位与制图过程对于月球车位姿估计的鲁棒性强,实时性好。