基于PIDNN控制的飞行模拟器人感系统

针对飞行模拟器人感系统的高度非线性和易受干扰性,提出一种基于PIDNN(Proportional Integral Differential Neural Network)的控制方案.首先对飞行模拟器人感系统的模型进行分析研究,对它所受到的外界干扰作理论分析,整理出系统的数学模型,再利用PIDNN控制器优良的在线训练、学习和调整功能对该模型进行仿真控制.与传统PID(Propor-tional Integral Differential)控制器相比,PIDNN结构简单、自适应性强、收敛速度快、不会陷入局部极小.仿真结果表明:PIDNN控制系统响应速度快、稳态精度高、具有良好的动静态特性和鲁棒性,满足实时控制的要求.

数字人感系统的研究

随着飞机模拟器技术的发展,电机伺服系统在人感系统中也得到了广泛的应用。本文着重讨论 了以DSP芯片为核心的数字人感系统组成和工作原理,并分析了系统的特点及功能。

可变人感系统设计及应用研究

飞行模拟器人感系统的主要功能是模拟飞机的操纵特性,满足飞行员模拟试验的操纵需求。根据工程实际需要,设计了一种可变人感系统。阐述了可变人感系统的结构原理与组成、功能设计,对人感系统各功能元素建模方法进行了详细描述,并对其功能的有效性和实用性进行了验证试验。目前,该可变人感系统已经成功应用于某飞机试飞模拟器和战斗机飞行品质评价软件中,在试飞员的培训和训练中取得了很好的效果。

电动人感系统俯仰通道参数整定研究

人感系统是飞行模拟器中的一个关键部分,也是属于人在回路中的半实物仿真试验设备,它实现真实的飞行控制环境。当需要控制人感系统的作动器,通常按照相关的机构(控制杆)把控制器放入电机驱动器做一个模型,然后整定控制参数。然而,开发人感系统时,有时并不知道机械机构的参数。这意味着建立操纵负荷系统的模型是困难的,因此需要有效的方法解决操纵负荷系统的系统控制参数整定问题。在这篇论文中,描述了一个基于波德图的有效的飞行模拟机人感系统的参数整定技术。

飞机人感系统浅析

本文主要对飞机人感系统做一简要分析。在无回力助力操纵系统中,驾驶员无法直接感受舵面上的铰链力矩和依据它来操纵飞机,尤其对于俯仰操纵,杆力对于飞行安全具有重要意义,针对这一情况引入人感系统设计,为驾驶员提供操纵力感觉。提高飞行安全。

基于电动式力伺服的纵向操纵人感仿真系统

依据飞机纵向操纵负载力的数学模型,采用电动式力伺服加载的方式设计了飞机纵向操纵人感仿真系统。仿真结果和实际应用表明,该系统具有仿真精度高、快速性好等特点,能广泛地应用于飞行模拟器的操纵力负荷仿真系统中。

电动式人感仿真系统原理样机设计与实现

为提高某型直升机飞行模拟器人感仿真系统操纵力感逼真度,研制了人感仿真系统原理样机,建立了电动式力伺服加载系统模型,将模型应用于人感仿真系统原理样机并进行力感试验,试验结果表明,人感仿真系统原理样机设计合理,能够通过模型力时域跟踪和杆力-位移轨迹跟踪等来研究系统的力感跟踪性能;同时控制算法研究也表明:常规PID控制方式难以满足系统模型力的实时精确跟踪,为提高系统的跟踪速度和精度,应采用前馈补偿加PI控制和反馈-前馈迭代学习控制等控制策略。

嵌入式人感系统的设计与实现

随着经济的发展,监控设备在日常生活中被广泛使用。本文介绍的嵌入式人感系统就是基于嵌入式操作系统之上,对监控设备功能作了部分改良和拓展后,在安防领域的运用。本文从操作系统选择、硬件结构介绍和图像处理、图像识别算法的实现等方面,分别对嵌入式人感系统的设计与实现进行了全面描述。在实际环境中的实验表明:嵌入式人感系统对监控现场出现的异常状况实时、高效、精确地实现了判断、报警功能。

天花机空调感人装置研究

近年来,人们对健康环保的绿色电器和舒适的环境要求使得节能性和舒适性变得尤为重要,通过对天花机空调感人装置进行试验研究,开发出高精度房间热源定位并且带人体识别功能的人感模拟神经系统模块。

Multi-sensor systems and information processing of mobile robot in uncertain environments

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

A sensor-based motion planner: Situated-Bug

Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.

A practical self-localization scheme for mobile robots using sonar sensors

A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.

COLLABORATIVE TRACKING VIA PARTICLE FILTER IN WIRELESS SENSOR NETWORKS

Target tracking is one of the main applications of wireless sensor networks. Optimized computation and energy dissipation are critical requirements to save the limited resource of the sensor nodes. A framework and analysis for collaborative tracking via particle filter are presented in this paper. Collaborative tracking is implemented through sensor selection, and results of tracking are propagated among sensor nodes. In order to save communication resources, a new Gaussian sum particle filter, called Gaussian sum quasi particle filter, to perform the target tracking is presented, in which only mean and covariance of mixands need to be communicated. Based on the Gaussian sum quasi particle filter, a sensor selection criterion is proposed, which is computationally much simpler than other sensor selection criterions. Simulation results show that the proposed method works well for target tracking.

KNOWLEDGE DISCOVERY OF REMOTELY SENSED DATA FROM ECOLOGICAL VIEW——A Case Study of Urban Spatial-temporal Relationship in the Pearl River Delta

From the ecological viewpoint this paper discusses the urban spatial-temporal relationship. We take regional towns and cities as a complex man-land system of urban eco-community. This complex man-land system comprises two elements of ' man' and ' land' . Here, ' man' means organization with self-determined consciousness, and ' land' means the physical environment (niche) that ' man' depends on. The complex man-land system has three basic components. They are individual, population and community. Therefore there are six types of spatial relationship for the complex man-land system. They are individual, population,community,man-man, land-land and man-land spatial relationships. Taking the Pearl(Zhujiang) River Delta as a case study, the authors found some evidence of the urban spatial relationship from the remote sensing data. Firstly, the concentration and diffusion of the cities spatial relationship was found in the remote sensing imagery. Most of the cities concentrate in the core area of the Pearl River Delta, but the diffusion situation is also significant. Secondly, the growth behavior and succession behavior of the urban spatial relationship was found in the remote sensing images comparison with different temporal data. Thirdly, the inheritance, break, or meeting emergency behavior was observed from the remote sensing data. Fourthly, the authors found many cases of symbiosis and competition in the remote sensing data of the Pearl River Delta. Fifthly, the autoeciousness, stranglehold and invasion behavior of the urban spatial relationship was discovered from the remote sensing data.

Parvovirus B19 induced hepatic failure in an adult requiring liver transplantation

Parvovirus B19 induced acute hepatitis and hepatic failure have been previously reported, mainly in children. Very few cases of parvovirus induced hepatic failure have been reported in adults and fewer still have required liver transplantation. We report the case of a 55-year-old immunocompetent woman who developed fulminant hepatic failure after acute infection with Parvovirus B19 who subsequently underwent orthotopic liver transplantation. This is believed to be the first reported case in the literature in which an adult patient with fulminant hepatic failure associated with acute parvovirus B19 infection and without hematologic abnormalities has been identified prior to undergoing liver transplantation. This case suggests that Parvovirus B19 induced liver disease can affect adults, can occur in the absence of hematologic abnormalities and can be severe enough to require liver transplantation.

A Potential Weed Control Using Robotic Implement

The research was conducted to develop a robot that can navigate a paddy in between rows or hills which were transplanted by the machine transplanter with equal distance. An initial prototype robotic battery-type weeder was manufactured and tested to navigate and control weeds in rice paddy fields, but a speed was so slow, and thus second engine-type prototype was developed. A working acreage for weed control has been attained at and up to 0.8 ha/day. Small and young weed seedlings were uprooted and destroyed by passive devices in between rows as well as hills. This robot was smoothly navigated in between rows on behalf of the guidance under camera and sensor systems and control weeds with mechanical by the use of implements such as passive rotary weeders and then weeds would be cut and buried into the soils. Also muddy water was generated during operation which was none penetrated by light for weed germination to occur. The authors concluded that the robotic was an effective alternative implement to control weeds in lowland rice paddy as long as this tool was systematically introduced into the rice fields at three time intervals, viz. 15-20 days, 25-30days, and 35-40 days after transplanting of rice seedlings.

An immune-swarm intelligence based algorithm for deterministic coverage problems of wireless sensor networks

A novel immune-swarm intelligence (ISI) based algorithm for solving the deterministic coverage problems of wireless sensor networks was presented.It makes full use of information sharing and retains diversity from the principle of particle swarm optimization (PSO) and artificial immune system (AIS).The algorithm was analyzed in detail and proper swarm size,evolving generations,gene-exchange individual order,and gene-exchange proportion in molecule were obtained for better algorithm performances.According to the test results,the appropriate parameters are about 50 swarm individuals,over 3 000 evolving generations,20%-25% gene-exchange proportion in molecule with gene-exchange taking place between better fitness affinity individuals.The algorithm is practical and effective in maximizing the coverage probability with given number of sensors and minimizing sensor numbers with required coverage probability in sensor placement.It can reach a better result quickly,especially with the proper calculation parameters.

Dendritic Cells Algorithm and Its Application to Nmap Portscan Detection

Dendritic Cells Algorithm （DCA） is a new development in Artificial Immune System （AIS）. It has various parameters, and as yet has not been ex- tensively tested. The general applicability of the al- gorithm to a variety of problems is d. The aim of this work is to demonstrate the feas^ility and ro- bustness of the algorithm, and the sensitivity to the change of various parameters in a series of experi- ments for Nmap portscan detection by using DCA. Experiment results show that the algorithm per- forms well on the task of detecting a ping based Nmap portscan. Sensitivity analysis is also per- formed. True positive rate is higher for the detec- tion of anomaly processes and false positive rate is lower for the detection of normal orocesses.

Risk of Getting Nosocomial Water-Borne Infections from the Main Water Systems in Hospitals

Drinking water may be a risk factor for human infections if the water supply is contaminated with biofilm producing bacteria such as Legionella pneumophilae or Pseudomonas aeruginosa. Several situations have to be considered when water supply to new buildings is planned. The aim of this paper is to review situations that have to be considered in new buildings and give an example on a new water supply contaminated with biofilm producing water bacteria and the precautions introduced to eliminate the contamination. When new buildings are planned it should be considered where to get the water and what is the microbiological quality of the water. If the water is contaminated there will be troubles from the beginning. The material for the pipes should be considered as biofilm which is produced in greater amounts and faster in PEG pipes than in stainless steel pipes. The choice of material depends on the expected lifetime of the building, the dimensions of the pipes, and the choice of forceps, how often the taps are used and thereby the flow in the system. The higher flow the less and slower biofilm formation. It is important to reduce the number of taps to a minimum to ovoid ＂dead ends＂ if they are not or only seldom used. Alternatively all taps could be opened automatically regularly. It is important to establish precautions to ovoid contamination of the water system in the period from when it is established until the building is taken in use. The period can be several months during which the system can act as a ＂dead end＂ if no precautions, such as regularly opening of all taps, are taken. The microbiological quality of the water in the system should be controlled before the building is taken in use. In a new building, where the water supply and the water in the building was not controlled before the building was taken in use, extremely high total and Legionella germ counts were found. The water was disinfected with low concentrations of chloride with very little effect. After disinfection with high concentrations of chloride for few hours and placing a sterile filter at the water entrance both the total and Legionella germ count decreased to an acceptable level.

Optimised Pattern Recognition for Robotic Weldment Geometry Measuring

Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction of automated solutions is just at the beginning of providing economic efficiency. While weld seam tracking is well established for the described problem, geometric recognition of weldments is not yet solved satisfactorily. This paper will present an optimisation approach of a laser sensor guided and programmed robot welding system which was developed within the project ROPROF at the TU Dortmund. With this development, a working prototype of a robot weld system was built by a steel construction company as well as additional demonstration software showing the potential and transferability of adjusted geometric location of weldments for industrial applications.