基于一种改进粒子滤波算法的目标跟踪研究

为了解决非线性、非高斯系统目标跟踪问题,研究了一种新的滤波方法——高斯粒子滤波算法。通过基于重要性采样和蒙特卡罗模拟方法得到一高斯分布来近似未知状态变量的后验分布。并讨论了此算法在机动目标非线性转弯运动中的跟踪应用,与粒子滤波算法相比,其优点是不需要重采样步骤。在闪烁噪声下比较了高斯粒子滤波器、粒子滤波器和扩展卡尔曼滤波器在滤波精度、运算时间等方面的差异,仿真结果表明该算法性能优于其他算法。     

非一致Riemann和定义关于分数布朗运动的随机积分

用非一致Riemann和的方法定义了关于分数布朗运动的随机积分,并给出了此积分与关于分数布朗运动的分数积分∫L 0 u(s)dBH(s)=(-1)a∫1. 0 Da0 u0 (s)D1-aL- BHL-(s)ds u(0 )BHL的等价关系.     

基于物元贝叶斯网络的舰船战损评估模型研究

分析了舰船战场损伤评估过程,从而得到舰船战场损伤评估的基本流程。分析了过去关于舰船战场损伤评估研究的缺陷和不足。在物元理论和贝叶斯网络理论分析的基础上,建立了节点物元模型和物元贝叶斯网络模型,进而提出了物元贝叶斯网络理论。根据舰船战场损伤评估的特点,分析了建立舰船战场损伤评估模型的步骤及相关工作,并以某舰艇操船系统为例,建立了操船系统损伤评估的物元贝叶斯网络模型。应用示例表明了所提理论的可行性、适用性和可操性。     

Load effects on vessel-shaped fish cage steel structures,nets and connectors considering the effects of diffraction and radiation waves under irregular waves

Vessel-shaped fish cages are mainly composed of a large floating body, aquaculture nets and a number of steel frames. Due to the large scale of vessel-shaped fish cages, the velocity field induced by the diffraction waves and radiation waves cannot be ignored in the calculation of the loads on the net and steel frames. In turn, the loads can affect the wave-induced response of the floating body and hence the radiation waves as well as the sectional forces. In this paper, a novel method is proposed to consider the coupling effect. First, considering the irregular waves in short-term periods, the global response of the floating body is calculated in the time domain by the state-space method based on potential flow theory. Meanwhile, the velocity field considering the influence of the floating body is built according to the velocity transfer function. Then, the Morison formula is used to calculate the loads on the nets and the steel frames. Finally, the coupling achieved through numerical iterations is considered in the calculation of the twine tension, load effect of connector and the global cross-section under irregular waves. It is found that the diffraction and radiation waves make a significant difference in the twine tension and connector load effect.     

Finite-time ship formation control based on extended state observer北大核心CSCD

[目的]为了解决大多数船舶编队控制算法控制周期长和时效性差的问题,提出一种基于扩张状态观测器(ESO)的有限时间控制策略。[方法]采用一种非线性终端滑模算法,通过对控制律分区域设计,克服传统终端滑模存在的奇异性问题;将非线性终端滑模与图论结合,实现有限时间的船舶编队控制;利用扩张状态观测器观测并补偿船舶模型中的不确定性及外界的干扰,以保证船舶编队控制的精确性;运用Lyapunov理论验证船舶编队控制律的稳定性。[结果]仿真结果表明,采用所提控制策略使整个编队系统误差在5 s左右趋近于0,从而实现了稳定。[结论]该控制策略能有效控制船舶编队,且控制速度快、时效性好。     

Anti-disturbance optimal coverage control of ASVs北大核心CSCD

[目的]针对固定的海洋区域,研究欠驱动水面无人船(ASV)集群的抗干扰最优覆盖控制问题。[方法]首先,在运动学层级,基于邻居ASV位置和环境密度信息进行Voronoi分配,设计欠驱动ASV运动学制导律,引导ASV运动到最优目标点;然后,考虑复杂海洋环境下ASV模型的不确定性以及风浪流引起的外部扰动,在动力学层级设计一种固定时间扩张状态观测器(FTESO),并基于FTESO设计固定时间的动力学控制律。[结果]稳定性分析结果表明了ASV集群的抗干扰最优覆盖控制闭环系统的误差是有界的,仿真结果验证了该方法的有效性。[结论]通过采用该抗干扰最优覆盖控制器,ASV集群可以在任意的初始位置实现对目标区域的最优覆盖。     

Towards a holistic digital twin solution for real-time monitoring of aquaculture net cage systems

Digital twins and relevant concepts are being applied in a wide variety of ways, and they are of most use when an actual real-world physical system or process (a physical twin) is changing over time and when measurement data correlated with this change can be captured. In this work, a digital twin model was implemented for real-time monitoring of aquaculture net cage systems, which is notoriously challenging because of several difficult-to-measure properties, such as forces on and deformation of the flexible netting structures, waves and flow field alterations around the cage and complex stiffness behaviour of the mooring elements made by fibre ropes. These properties were set to be adaptable according to the resultant outputs, such as cage responses and mooring loads that were continuously compared with the measurement data obtained from remote monitoring sensors. In this way, real-time sensor data were assimilated into the numerical simulation model for representing the actual net cage system. No dedicated sensors were used for fish monitoring, but the fish behavioural responses to current, wave and cage deformation were modelled according to relevant field observational data. A wireless sensor network has also been tested for the digital twin implementation, which was found to be suitable for practical uses in fish farms.