针对无人水下机器人(unmanned underwater vehicle,UUV)工作中存在的执行器故障,在系统不确定性与外界干扰下,提出一种基于有限时间扰动观测器(finite time disturbance observer,FTDO),并结合改进模型的自适应鲁棒容错控制方法。一方面...针对无人水下机器人(unmanned underwater vehicle,UUV)工作中存在的执行器故障,在系统不确定性与外界干扰下,提出一种基于有限时间扰动观测器(finite time disturbance observer,FTDO),并结合改进模型的自适应鲁棒容错控制方法。一方面,FTDO能在有限时间内对外界环境干扰进行估计;另一方面利用滑模控制加上径向基神经网络(radial basis function neyral network,RBF)的万能逼近特性,建立带有执行器故障的输入补偿;其中改进模型的引入解决了系统不确定性导致的输入饱和,提高了稳定性与鲁棒性;其次采用一种新型的双幂趋近律使滑模量在更短时间收敛到稳态误差界内;仿真与水池实验结果表明了所提方法相对于滑模控制有着更好的容错效果。展开更多
The requirement of the fast three-dimensional radiation field calculation is raised during the decommissioning of large-scale nuclear installations. The most often used methods, such as the Monte Carlo and the discret...The requirement of the fast three-dimensional radiation field calculation is raised during the decommissioning of large-scale nuclear installations. The most often used methods, such as the Monte Carlo and the discrete ordinates methods, have shortcomings in their simulations of such problems. The coupled Monte Carlo–point kernel computational scheme is developed to meet the requirement. The facility is separated into the source region and the bulk shielding region, with a common interface. The transport within the source region is simulated using the Monte Carlo method, which is by nature good at treating complex geometries. The radiation field in the bulk shielding region is treated by the point kernel approach to avoid the extremely expensive computation for deep penetration problems. The flow rate through the interface,which is given by the Monte Carlo simulation, is considered as the equivalent surface source for the point kernel calculation. Test calculations from simplified typical waste storage facilities have been performed to validate the coupled scheme by comparing them with the results conducted by the Monte Carlo method directly. The good agreement of the results, as well as the significant saving in computing time, indicates that the coupled method is suitable for the fast three-dimensional radiation field calculation.展开更多
局部标准差图像(Local Standard Deviation image,LSD)在卫星图像的空间一致性检测中有着重要的作用,然而利用传统的滑动窗技术计算局部标准差图像时,由于大量的循环过程使运算速度较慢,特别是当卫星图像较大而滑动窗较小时,这种运算更...局部标准差图像(Local Standard Deviation image,LSD)在卫星图像的空间一致性检测中有着重要的作用,然而利用传统的滑动窗技术计算局部标准差图像时,由于大量的循环过程使运算速度较慢,特别是当卫星图像较大而滑动窗较小时,这种运算更为耗时。采用了矩阵运算的思路,提出了根据滑动窗大小将卫星图像数组按一定方向和偏移量进行整体平移,然后对经过平移后的图像数组进行数学运算来获取标准差图像的快速算法。通过计算2005年1月1日的NOAA-16/AVHRR通道4亮温局部标准差图像实例表明,采用快速算法的计算效率相对于传统滑动窗算法计算效率提高明显。展开更多
文摘针对无人水下机器人(unmanned underwater vehicle,UUV)工作中存在的执行器故障,在系统不确定性与外界干扰下,提出一种基于有限时间扰动观测器(finite time disturbance observer,FTDO),并结合改进模型的自适应鲁棒容错控制方法。一方面,FTDO能在有限时间内对外界环境干扰进行估计;另一方面利用滑模控制加上径向基神经网络(radial basis function neyral network,RBF)的万能逼近特性,建立带有执行器故障的输入补偿;其中改进模型的引入解决了系统不确定性导致的输入饱和,提高了稳定性与鲁棒性;其次采用一种新型的双幂趋近律使滑模量在更短时间收敛到稳态误差界内;仿真与水池实验结果表明了所提方法相对于滑模控制有着更好的容错效果。
基金supported by the National Natural Science Foundation of China(No.11405277)
文摘The requirement of the fast three-dimensional radiation field calculation is raised during the decommissioning of large-scale nuclear installations. The most often used methods, such as the Monte Carlo and the discrete ordinates methods, have shortcomings in their simulations of such problems. The coupled Monte Carlo–point kernel computational scheme is developed to meet the requirement. The facility is separated into the source region and the bulk shielding region, with a common interface. The transport within the source region is simulated using the Monte Carlo method, which is by nature good at treating complex geometries. The radiation field in the bulk shielding region is treated by the point kernel approach to avoid the extremely expensive computation for deep penetration problems. The flow rate through the interface,which is given by the Monte Carlo simulation, is considered as the equivalent surface source for the point kernel calculation. Test calculations from simplified typical waste storage facilities have been performed to validate the coupled scheme by comparing them with the results conducted by the Monte Carlo method directly. The good agreement of the results, as well as the significant saving in computing time, indicates that the coupled method is suitable for the fast three-dimensional radiation field calculation.
文摘局部标准差图像(Local Standard Deviation image,LSD)在卫星图像的空间一致性检测中有着重要的作用,然而利用传统的滑动窗技术计算局部标准差图像时,由于大量的循环过程使运算速度较慢,特别是当卫星图像较大而滑动窗较小时,这种运算更为耗时。采用了矩阵运算的思路,提出了根据滑动窗大小将卫星图像数组按一定方向和偏移量进行整体平移,然后对经过平移后的图像数组进行数学运算来获取标准差图像的快速算法。通过计算2005年1月1日的NOAA-16/AVHRR通道4亮温局部标准差图像实例表明,采用快速算法的计算效率相对于传统滑动窗算法计算效率提高明显。
