不确定多包传输网络控制系统的分析与设计

针对短时延的多包传输网络控制系统,研究了数据包传输次序不确定情况下系统的建模及控制问题.引入了补偿器来补偿多包传输过程中部分数据丢失对系统的影响,同时考虑不确定短时延的影响,将其建模成一类具有参数不确定的离散随机切换系统,并对系统的稳定性进行了分析.仿真结果证明了该方法的有效性.     

Online Delay—Evaluation Control for Networked Control Systems

This paper presented an evaluation approach of time delays for networked control systems (NCS). An improved scheme based on optimal LQG control was designed to achieve desired performance despite the uncertain delays in the system. The experimental results illustrate the effectiveness of the proposed control design and satisfactory performance of the closed-loop system.     

网络控制系统的时延估计和自适应预测控制

提出了基于最小二乘支持向量机（LS-SVM）的网络时延预估网络控制系统（NCS）的自适应预测控制方法．先将网络时延转化为非线性时间序列，再用径向基函数（RBF）作为LS-SVM的核函数，建立NCS的时延预测模型．用通过该模型预测的时延设计自适应控预测制器，补偿和控制NCS的时延．仿真结果表明，该时延预测方法对NCS的随机时变时延有较高的预测精度，根据预测的时延设计的控制器能使系统的输出很好地跟踪期望的输出．     

Research on Object Model-Based Architecture for Service Robot System

An object model-based software architecture for service robot system is presented,which addresses both software engineering issues such as reuse,extensibility,and management of complexity as well as system engineering issues like scalability,reactivity,and robustness.A novel approach to the service robot system architecture is discussed.Cognitive psychology is considered in designing the software system,i.e.,a human‘s way of vision and planning is applied.The planner can incorporate the user‘s request into its task selection mechanism and generate plans biased toward picking the most reliable task execution in a given situation,and the planner can alter task selection based on changes that occur in dynamic and uncertain environments.     

Robust ergodic rate transmission for time division duplex beamforming systems

In time division duplex(TDD)beamforming systems,the base station estimates the channel state information(CSI)at transmitter based on uplink pilots and then uses it to generate the beamforming vector in the downlink transmission.Because of the constraints of the TDD frame structure and the uplink pilot overhead,there inevitably exists CSI delay and channel estimation error between CSI estimation and downlink transmission channel,which would degrade system ergodic rate.In this paper,we propose a robust ergodic rate transmission scheme,in which the uplink pilot time interval(UPTI)of an active user is adaptively adjusted according to the changing channel conditions such as Doppler frequency shift,uplink pilot signal to noise ratio(SNR),to minimize the impact of CSI delay and channel estimation error on the ergodic rate of TDD beamforming systems.In order to get the optimal UPTI,we first derive the average post-processing SNR for TDD beamforming systems with channel estimation error and CSI delay.We then obtain the optimal UPTI,which maximizes the average post-processing SNR,given the normalized pilot overhead(the number of pilot symbols per data symbol).The numerical simulation results validate that the the proposed robust ergodic rate transmission scheme not only maximizes the average post-processing SNR but also maximizes the system ergodic rate.Moreover,the scheme can adapt well to the changing channel environments compared with the current fixed UPTI scheme.Especially our research is valuable for the uplink sounding reference signal design in long term evolution advanced(LTEAdvanced)system.     

ROBUST CONTROL WITH COVARIANCE CONSTRAINT FOR UNCERTAIN SAMPLED-DATA FEEDBACK CONTROL SYSTEMS

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Fault detection of networked control systems with uncertain time-varying delay and quantization error

Problems related to fault detection of networked control systems (NCSs) with both uncertain timevarying delay and quantization error are studied in this paper. A novel model with the form of polytopic uncertainty is given to represent the influences of both the time-varying delay and the quantization error, and then the reference model based method is used to design the residual generator that is robust to both unknown network-induced delay and unknown inputs. A numerical example is also given to illustrate the merits of the presented method. The proposed method can be regarded as an extension of the authors’ former work, which can only deal with time-varying delay.     

基于MSTP的高速公路联网视频监控研究

本文时基于MSTP系统的高速公路数字视频监控联网系统进行了讨论。新一代的MSTP支持以太共享环,可提高数据的传输效率．本文首先就基于SDH的数字视频传榆系统和基于MSTP的数字视频传榆系统各自的传输效率进行了时比,其次,文章分析了基于MSTP的数字视频传输延时,文章最后还讨论了各种视频传输设备的MSTP接入方法。结果表明MSTP有着带宽利用效率高、延时小的特点,十分适合高速公路联网监控这种场合。     

并列瓶颈路网下个人与家庭混合通勤行为研究

通勤者的出行行为对早高峰期间拥挤政策的制定有着至关重要的作用。本文基于瓶颈模型构建并列瓶颈路网下个人与家庭混合出行的均衡出行模型，分析两类通勤者的出行需求情况、 两个瓶颈处的通行能力以及学校-工作开始时间差这3个因素对用户均衡、用户出行成本和系统性能的影响。结果表明：在并列瓶颈路网下，混合出行的用户均衡状态并不唯一；无论两个瓶颈的通行能力大小如何变化，增加学校-工作开始时间差对个人通勤者都是有利的；受瓶颈通行能力的影响，增加学校-工作开始时间差对家庭通勤者的影响是否有利是不确定的；并不是在任何情况下调节学校-工作开始时间差对交通系统都是有效的，而是只有在特定情况下对其进行调节 才能提高系统运行效率，降低系统总出行成本。     

高速公路动态可拓展收费系统与开发

为提高出口车道通行效率,开发出满足货车计重收费、电子支付等要求,能实现数据实时无线传输、无线网络安全控制、栏杆控制、票据打印等功能的动态可拓展收费系统。该系统可在单车道实现多点动态收费,为今后的高速公路收费模式开辟了全新的思路。     

ROBUST FILTERS WITH SAMPLED-DATA ESTIMATION COVARANCE CONSTRAINT FOR UNCERTAIN CONTINUOUS-TIME SYSTEMS

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信号交叉口运行状况评价研究

基于信号交叉口的灰色系统特性,通过引入未确知模型,以排队长度、延误、负荷系数、受阻车辆率、效率系数作为评价指标,建立信号交叉口运行状况评价的新方法。最后以南京某信号交叉口作为实例进行分析,结果表明,未确知模型的信号交叉口评价方法效果显著,具有较强的实践性。     

基于Cognex视觉的机器人自动搬运控制

针对企业原有生产圆盘类连接轴的工艺,设计了基于Cognex视觉的机器人自动搬运系统,将S7-300 PLC、Cognex视觉系统和FANUC机器人系统集成在一起,实现了1台机器人同时为铣床和车床2个加工系统自动上下料;通过Profibus总线和Ethernet通讯将PLC技术、视觉技术与工业机器人结合起来,发挥了工业以太网传输速度快、信号稳定的优势,提高了机器人的柔性取料能力;目前已应用在企业当中,提高了企业的自动化程度及生产效率,降低了企业的用工支出。     

基于CANopen的能馈式供电系统网络控制研究

对能馈式供电变流器多模块并联拓扑进行分析,提出一种基于CANopen的多模块并联方案．通过对系统原理和CANopen协议分析,发现CANopen网络能很好满足系统安全运行及控制性能要求：根据变流器控制原理选取了系统网络控制量,并设计了基于CANopen的系统运行机制;通过建立系统的网络控制模型,分析了网络时延对系统控制性能影响,然后确定了系统采样周期的理想选取范围;最后,通过仿真和试验证明基于CANopen的多模块并联能馈式供电系统网络控制方案的可行性、稳定性和可靠性．     

自供电路侧单元能量-时延均衡分组调度策略

考虑了自供电路侧单元在分组传输过程中能量收集、车辆到达与车速的随机性, 基于受限马尔科夫决策模型建立分组调度系统模型, 研究了分组平均传输时延与能量消耗; 分析了在能量队列约束下最小分组平均传输时延的优化问题, 提出了自供电路侧单元能量-时延均衡分组调度策略, 通过仿真试验分析了最优分组调度策略性能, 并与贪婪中继方案和Q-learning算法进行对比。仿真结果表明: 该分组调度策略具有双门限结构, 系统通过自供电路侧单元的能量队列状态以及到达车辆的车速状态确定决策变量, 使系统可以在考虑能量利用效率的前提下降低监测数据分组的平均传输时延, 保证自供电路侧单元在能量存储不溢出不耗尽的同时, 最小化系统分组平均传输时延; 在单分组发送模型中, 提出的分组调度策略的平均传输时延相比贪婪中继方案降低了15.7%, 相比Q-learning算法降低了13.5%;在批量分组发送模型中, 其分组平均传输时延相比贪婪中继方案降低了20.4%, 相比Q-learning算法降低了11.5%。      

自动化码头多级作业超网络延误传导特性研究

不确定环境下自动化集装箱码头(自动化码头)多级作业延误现象频发，随着时间的推移， 延误会在多级作业间传导，形成“连锁”效应，严重影响港口的整体效益。为了提升企业应对作业延误的能力，依据超网络理论和传播动力学理论，构建自动化码头多级作业超网络。结合小世界网络理论的网络拓扑特征，从特征路径长度、聚类系数及SIS(易感-感染-易感模型)模拟3方面对延误在多级作业超网络中的传导速度、传导广度以及传导能力进行讨论与数值模拟分析。结果表明，较短的传导路径和较大的聚类系数会使不确定事件带来的延误在多级作业超网络中更快和更广地传导，聚类系数较小的故障节点传导扩散会受聚类特性抑制。多级作业超网络的传导 能力随初始故障节点数量的增加而增加，随修复概率增加而减少。本文有利于企业管理者主动应对不确定事件带来的延误，提升港口的运作效率。     

PASSIVE CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY SYSTEMS

Introduction　　 Control of time- delay systems has been an at-tractive field in control theory and applicationssince the time- delay systems are frequently en-countered in the real world.They are much differ-ent from their non- delay counterparts.For exam-ple,it is well known that the existence of delaysmay degrade the respond of the closed- loop sys-tems,or even induce instability[1] .Hence,theavailable results of non- delay sytems can notbe di-rectly applied to time- delay systems in genera…     

OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

Scheduling for Uncertain Data Broadcast in Mobile Networks

With the increasing popularity of wireless sensor network and GPS (global positioning system) , uncertain data as a new type of data brings a new challenge for the traditional data processing methods. Data broadcast is an effective means for data dissemination in mobile networks. In this paper, the definition of the mean uncertainty ratio of data is presented and a broadcasting scheme is proposed for uncertain data dissemination. Simulation results show that the scheme can reduce the uncertainty of the broadcasted uncertain data effectively at the cost of a minor increase in data access time, in the case of no transmission error and presence of transmission errors. As a result, lower uncertainty of data benefits the qualities of the query results based on the data.     

网络消息即时传输系统的研究与设计

讨论了客户机／服务器程序的设计方法，利用面向对象的编程方法，进行了整个系统的设计。设计了服务器端处理用户请求算法、服务器端的底层通讯类、客户机／服务器之间的通讯数据类，服务器端分配用户帐号的策略等。该系统实现了TCP／IP网络的即时消息传送、消息广播、实时聊天、文件传输等功能。