无人水面艇局部路径规划算法研究综述

  目的  针对全球定位系统拒止环境下的欠驱动无人船（USV）精准位姿镇定问题,提出一种基于单应性的欠驱动无人船单目视觉伺服镇定控制方法。  方法  借助单应性分解技术,直接从当前图像和期望图像中重构出具有未知尺度因子的位姿误差,可完全摆脱相机外部参数标定和目标物先验信息;针对欠驱动约束,在连续时变输出反馈控制器中引入基于持续激励艏摇角的周期函数,使得欠驱动无人船能够在图像深度、运动速度、模型参数均未知的情况下实现镇定控制。  结果  在李雅普诺夫理论框架下,采用芭芭拉引理严格证明了欠驱动无人船视觉伺服闭环控制系统的渐近稳定性。  结论  仅采用船载单目相机,所提出的视觉伺服策略能够确保欠驱动无人船实现精准位姿镇定,为海上接驳对接、靠离泊、动力定位等实际需求提供重要技术支撑。     

Sideslip angle estimation based on input–output linearisation with tire–road friction adaptation

An adaptive sideslip angle observer considering tire–road friction adaptation is proposed in this paper. The single-track vehicle model with nonlinear tire characteristics is adopted. The tire parameters can be easily obtained through road test data without using special test rigs. Afterwards, this model is reconstructed and a high-gain observer (HGO) based on input–output linearisation is derived. The observer stability is analysed. Experimental results have confirmed that the HGO has a better computational efficiency with the same accuracy when compared with the extended Kalman filter and the Luenberger observer. Finally, a road friction adaptive algorithm based on vehicle lateral dynamics is proposed and validated through driving simulator data. As long as the tires work in the nonlinear region, the maximal friction coefficient could be estimated. This algorithm has excellent portability and is also suitable for other observers.     

进气压力传感器输出特性及温度补偿分析

为了改善温度对汽车进气歧管绝对压力传感器输出电压特性的影响。在分析压力传感器工作原理和温度补偿原理的基础上,利用无温度补偿标准压力传感元件搭建温度补偿电路和信号放大电路的方法,保证压力传感器的输出特性符合要求,使发动机电控燃油喷射系统能获得最佳空燃比,同时降低传感器的制造成本。研究结果表明。在温度补偿电路中利用高精度热敏电阻等元件,通过试验修正补偿电阻参数的方法,能满足压力传感器的输出特性要求。     

通用数字信号处理平台的实现

简述了PCI20012卡设备驱动程序的工作过程,介绍了基于开发软件包实现高速数据采集和模拟信号输出的程序编制方法,最后,给出了在Windows平台下使用多线程技术的通用信号处理系统实例,并给出了C＋＋源代码。     

The economic impact of logistics infrastructure: the case of PLAZA – the Zaragoza Logistics Platform

Abstract

The economics literature offers many examples of studies of the economic impact of transportation infrastructure such as highways, ports, and airports; however, little attention has been paid to other types of infrastructure such as logistics platforms. This article is a first assessment of the economic effects of the largest logistics platform in Europe – PLAZA, the Zaragoza Logistics Platform – located in Spain. More precisely, this paper analyzes the economic significance of PLAZA on the economy of the Aragon region where it is located. The methodology is based on the application of input–output analysis to the final demand of logistics platform-based companies in a manner that is similar to well-established studies of the economic impacts of tourism on tourist expenditure. This makes it possible to quantify the various levels of economic effects (direct, indirect, and induced) in terms of jobs, salaries, and wages, turnover, gross operating surplus (GOS), and gross value added (GVA). The conclusions reveal the economic importance PLAZA has for the regional economy of Aragon, representing just over 2% of total GVA and 3% of turnover.     

盾构主轴承齿轮箱应用参数监测技术的可行性研究

以刀盘扭矩、刀盘转速和主驱动电流为3个变量,通过理论推导,定义参量"能量输出效率E",对盾构主轴承齿轮箱的能量传递效率进行定量评价。其可行性在延长盾构/TBM使用寿命相关研究实践中得到了验证。对主轴承齿轮箱等盾构部件工作状态进行参数监测,"E"参量具有开发应用前景。     

状态观测器参数对磁浮车辆悬浮稳定性影响的仿真研究

为研究磁浮车辆悬浮控制器的状态观测器参数对悬浮稳定性的影响,解决磁浮车辆悬浮不稳的问题,建立单电磁铁与柔性轨道梁的耦合模型。通过对悬浮系统传递函数的研究,得到速度激励信号频率与悬浮系统对轨道梁的功率输出的关系曲线,并得到状态观测器参数对系统性能的影响规律。由此得出结论,通过绘制"悬浮系统对轨道梁的振动能量输出功率"与"轨道梁主频率"间的关系曲线,即可得到不考虑轨道梁阻尼时,悬浮系统可适应轨道的临界参数。     

New applications of EXIT chart for iterative decoding systems

Applications on iterative control and multiple input multiple output （MIMO） system were developed. Two new charts derived from extrinsic information transfer （EXIT） chart were employed as the designing tools, which are called as output mutual information chart with defined iterative degree （DID） chart and near optimum output mutual information （NOMI） chart respectively. Different from the EXIT chart, they can show the iterative performance on the whole signal-to-noise ratio range with one single curve, whereas computation complexity is greatly reduced compared with conventional bit error ratio （BER） performance curve. The iterative control was implemented according to a near-optimum iterative degree vector determined by NOMI chart, the reasonability of uncertain parameters was analyzed in one MIMO system. The concepts were illustrated based on bit-interleaved coded modulation with iterative decoding （BICM-ID）.     

针摆行星传动减速器输出机构计算方法

基于摆线针轮减速器销孔式输出机构有隙啮合受力分析,在考虑均载环变形的条件下,建立增设均载环后柱销有隙啮合受力与变形的数学模型,提供具体的柱销受力与变形计算方法,用Visual Basic 6.0软件编制了计算机辅助设计计算程序,并通过实例对比增设均载环前后的计算结果,证明了增设均载环后达到均载效果,并提高了柱销的刚度和强度.     

论词块理论对大学英语口语学习的重要影响

大学英语口语教学越来越受到广泛关注,然而学生的口语表达能力却不尽人意,存在诸如话语不连贯、用词不准确、表达不顺畅,甚至是无话可说等问题。究其原因主要是语言输入量的不足。本文从词块法的角度,探讨了词块理论对大学生英语口语输出的重要影响,同时指出词块学习是提高大学生英语口语能力的重要途径。