基于双目视觉的水下连接器位姿测量方法

水下连接器的对接作业是水下工程作业的重要环节,针对目前依靠摄像机传回视频进行作业过程中存在的操作难度大、依赖操作员经验的问题,设计基于双目视觉的水下连接器位姿测量方法。该方法首先根据水下连接器的颜色特征确定检测范围,之后在检测范围中以水下连接器为模板进行初步定位,然后根据水下连接器端面的成像特点检测椭圆特征,并进行双目匹配获得相关三维点坐标,最后计算得出水下连接器的位姿。实验表明,该方法位置测量平均误差1.3%,姿态测量平均误差3.5°,可以较好地为水下连接器对接作业提供参考。     

基于线阵相机的接触轨几何参数动态检测系统

基于线阵相机的接触轨几何参数动态检测系统,采用高速线阵相机,通过光切法,获取接触轨目标图像,采用双目成像检测原理,同时结合车体偏移补偿,精确测量接触轨几何参数,采用实时定位系统,对检测数据进行定位。     

新型测力轮对标定试验台研制

在分析国内外测力轮对标定技术现状及不足的基础上,提出了新型测力轮对标定试验台的设计要求和设计目标。研制的TK-LDBD型测力轮对静态标定试验台在实现垂、横、纵三向力的独立及联合精确加载的基础上大幅提升了设备适用范围及标定效率。为高精度连续测量测力轮对的研究及运用提供了技术支撑。     

间歇式沥青拌和站冷料供给系统流量的标定方法

以实例介绍间歇式沥青拌和冷料供给系统流量的标定方法和步骤，以确保冷料供给器按目标配合比准确供料，使沥青混合料的生产配比更加接近目标配比，保证拌和成品料的质量。     

Validation of an extended discrete first-order model with variable speed limits

This paper validates the prediction model embedded in a model predictive controller (MPC) of variable speed limits (VSLs). The MPC controller was designed based on an extended discrete first-order model with a triangular fundamental diagram. In our previous work, the extended discrete first-order model was designed to reproduce the capacity drop and the propagation of jam waves, and it was validated with reasonable accuracy without the presence of VSLs. As VSLs influence traffic dynamics, the dynamics including VSLs needs to be validated, before it can be applied as a prediction model in MPC. For conceptual illustrations, we use two synthetic examples to show how the model reproduces the key mechanisms of VSLs that are applied by existing VSL control approaches. Furthermore, the model is calibrated by use of real traffic data from Dutch freeway A12, where the field test of a speed limit control algorithm (SPECIALIST) was conducted. In the calibration, the original model is extended by using a quadrangular fundamental diagram which keeps the linear feature of the model and represents traffic states at the under-critical branch more accurately. The resulting model is validated using various traffic data sets. The accuracy of the model is compared with a second-order traffic flow model. The performance of two models is comparable: both models reproduce accurate results matching with real data. Flow errors of the calibration and validation are around 10%. The extended discrete first-order model-based MPC controller has been demonstrated to resolve freeway jam waves efficiently by synthetic cases. It has a higher computation speed comparing to the second-order model-based MPC.     

A methodology for evaluating the performance of model-based traffic prediction systems

Model-based traffic prediction systems (mbTPS) are a central component of the decision support and ICM (integrated corridor management) systems currently used in several large urban traffic management centers. These models are intended to generate real-time predictions of the system’s response to candidate operational interventions. They must therefore be kept calibrated and trustworthy. The methodologies currently available for tracking the validity of a mbTPS have been adapted from approaches originally designed for off-line operational planning models. These approaches are insensitive to the complexity of the network and to the amount and quality of the data available. They also require significant human intervention and are therefore not suitable for real-time monitoring. This paper outlines a set of criteria for designing tests that are appropriate for the mbTPS task. It also proposes a test that meets the criteria. The test compares the predictions of the mbTPS in question to those of a model-less alternative. A t-test is used to determine whether the predictions of the mbTPS are superior to those of the model-less predictor. The approach is applied to two different systems using data from the I-210 freeway in Southern California.     

基于双轴位置转台的捷联惯导系统级标定技术

本文研究一种基于双轴位置转台的激光陀螺捷联惯导系统的系统级标定方法。建立了附加约束条件的陀螺和加速度计标定模型,从捷联惯导系统的误差方程出发,建立30维Kalman滤波标定模型,以速度和位置作为观测量,并设计双轴位置旋转路径,对惯性仪表标定参数进行激励与辨识。仿真实验结果表明,该方法能够准确估计出陀螺和加速度计的15个标定误差参数,具有一定的参考价值。     

激光路面断面检测系统的功能与应用探讨

激光路面断面测试系统是先进的路面性能检测系统,它具有完善的路面性能指标采集和处理功能,能在不同行驶速度下检测各种干湿路面状况,准确、高效采集和处理路面状况性能数据.论文介绍了该激光路面断面测试系统的组成、构造及功能,并对其路用性能指标的标定和应用进行了探讨.     

基于粒子群算法的水下多元线阵阵形有源校正方法

针对存在阵元位置误差的水下多元线阵,提出一种基于粒子群优化算法的远场有源阵形校正方法.该方法选用2个辅助源分时工作方式,利用无条件最大似然方位估计算法构建目标函数,并通过粒子群算法对阵元位置进行寻优.利用该方法对均匀线阵进行性能仿真实验.结果表明:该方法稳健性好、校正精度高,具有一定的应用前景.     

设计模式在对准数据采集处理系统中的应用

对准数据采集处理系统作为丰富动态条件下舰载系统对准检测手段的一次尝试,必须具备高度可复用性和灵活性．支持基于该系统软件进行的扩充和再开发。设计模式代表了成功的可复用的优秀设计经验,在系统设计中引人设计模式将有效的提高系统的可扩展性和可维护性。文章在对准数据采集处理系统中引入了设计模式,介绍了设计模式的概念及使用,并结合该系统软件的开发流程中设计模式的应用实践,阐述了基于设计模式的对准数据采集处理系统的优点及特点。