基于web的遥操作系统时延分析

采用预测控制算法给出了一种带有时延补偿器的新的控制结构,分别在前向通道和反馈通道设计补偿器对网络时延进行补偿.实验结果表明:带有预测器及补偿器的新的控制结构可以改善系统的动态性能,并且能够保证系统在具有时延和数据丢失的环境下的稳定性.

基于谓词不变性的状态反馈控制在机器人遥操作中的应用

传统的基于事件遥操作系统虽然巧妙地避开了变化时延问题[8] ,但是它具有“走走停停”的特点 ,即机器人将当前状态发送出去之后直到操作者的下一个指令到来之前机器人必须保证状态没有变化。对此本文首次提出了利用基于谓词不变性的状态反馈控制来对原有的方法进行改进 ,使机器人能够对动态环境具有适应性

基于Internet的机器人控制中网络时延测试及分析

本文针对基于 Internet的机器人控制 ,首先分析了 Internet网络时间延迟的主要组成及其基本特性 ,然后介绍了网络时延测试实验的结果及其结论 ,最后研究了网络时延预估算法及其有效性.

AUV定位信号检测延时的蒙特卡洛模拟分析

在简要介绍AUV声学定位声纳接收机原理基础上,分析了CW脉冲信号在极性相关检测电路中的传输过程,建立了极性相关积分检测延时仿真分析模型。提出采用蒙特卡洛模拟方法获取检测延时的分布特征和统计参数的观点。实验结果表明蒙特卡洛模拟实验与硬件电路实验结果一致,对于解决随机性检测延时问题具有很强的能力。获得的结果可为AUV定位声纳检测门限的设定、声学测距和定位精度分析以及水声通信延时分析提供参考。

一类时滞不确定非线性系统的鲁棒控制器设计

针对一类具有单输入滞后不确定非线性系统 ,采用精确反馈线性化方法和 Lyapunov方法设计出一种使系统终极有界 ( UUB)的无记忆光滑状态反馈鲁棒控制器 .仿真算例表明了本文所采用方法的有效性 .

海洋机器人变参数大时延控制系统补偿方法的研究

本文提出一种变参数大时延系统的补偿方法，具有传输滞后系统的幅相频率特性和时域特性，流体动力学变参数的修正方法和具有传输滞后和零阶保持器滞后的补偿仿真。

计算机辅助带时延多变量系统的离散控制设计

本文将Smith预估技术与逆 Nyquist 阵列法结合对多时延多变量对象进行离散控制系统设计,采用这种方法设计出的控制器易用计算机实现,系统仿真结果也是令人满意的。

磁层-电离层耦合现象的分析研究

The magnetosphere-ionosphere coupling is mainly manifested by the trans- porting processes of energy into the ionosphere , the energy is carried by solar wind and firstly accumulate at the magnetosphere, and the coupling processes also significantly include the interaction between the magnetosphere and ionosphere for mass and energy. At the quiet condition, energy is delivered by the large-scale convection of the geomagnetic field; the huge energy from solar wind bulk will be injected into and consumed at the near magnetosphere and ionosphere by the geomagnetic storm and substorm activities. Aurorae and FACs (Field-aligned currents) are the important phenomena in the coupling processes. In the present work, firstly, we analyze the activity characteristics of auroral precipitating particle, secondly, we study the distribution characters of large-scale field aligned currents (LS FACs) at storm-time using the observations from different satellites at different altitudes. Finally, we investigate the evolution of the geomagnetic field configuration at the nightside sector on the onset of the expansion phase in a substorm event, the substorm event happened at 0430UT to 0630UT on 8th Nov. 2004. The main results as follows： At the first, the data of the estimated power input (EPI) of auroral particles from NOAA/POES (Polar orbiting environmental satellite) for some 30 years have been analyzed. The variation tendencies of the EPI generally coincide with aa, AE and Dst indices. The annual variation of EPI shows equinox peaks and an asymmetric-activity with a higher peak in the winter-hemisphere than in the summer-hemisphere. The diurnal UT variations are different from north and south hemisphere: for north hemisphere, the peak appears at 1200UT, and the relative deviation is 22% to the daily average of the north hemisphere. For south hemisphere, the maximal deviation is 22% at 2000UT. So the diurnal variation of EPI is more dominant than the annual variation which maximal deviation is 3% to 12% for different seasons. Studies on correlations of the hourly average of EPI, Pa, with AE and Dst indices show a correlation coefficient r=0.74 of Pa and AE, and r=-0.55 of Pa and Dst. The hourly EPIs for north and south polar regions, NPa and SPa, show a north-south asymmetry with a higher correlation of SPa and AE (or Dst). Time delays of EPI with respect to magnetic indices are examined, the maximum correlation coefficient of Pa with AE (r=0.78) occurs when the time delay =0, suggesting a synchronous activity of auroral electrojet and auroral precipitating particles, while =1-2h, the correlation coefficient of Pa with Dst is maximum (r=0.57), suggesting that the activity of auroral particle precipitating may influence the ring current on some extent. Sencondly, we use the high-resolution magnetic field vector data of the CHAMP satellite to investigate the distribution of large-scale FACs during the great magnetic storm on 7th to 8th Nov. 2004. The results show that, whether in the northern or southern hemisphere, the number and density of large-scale FACs during the main-phase are more and bigger than these during the recover-phase, and the number of large-scale FACs in morning sector obviously is more than that in afternoon sector. In terms of the magnetic indices, we find that large-scale FACs in morning sector significantly affected by the substorm activities, while in afternoon sector the large-scale FACs mainly indicate the fluctuations of the ring-current in storm time. Accordingly to the former studies, similarly, we find that in the morning sector, the scale of the large-scale FACs move to the high-latitude region, and in the afternoon sector, large-scale FACs distinctly expand to the low-latitude region. During the time periods that the NOAA/POES auroral precipitating particle power data temporally correspond to the large-scale FACs, the more the power of auroral particle is, the more and bigger the number and density of FACs are. At the same time, we use the magnetic field vector data of POLAR obtain a good form of region 1, region 2, and three pieces of cusp FACs during a single transit at 1930UT-2006UT on 07th. And the characteristics of simultaneous electric field and energy particles observations on Polar are coincide with the five FACs pieces. Finally, by means of the observation of Cluster 4 and Goes 10、 Goes 12, we analyze the evolution process of the change of the magnetic field configuration at night sector at the expansion phase of a substorm event which happened during 0430UT to 0630UT on 8th Nov. 2004, we find that the times of the beginning of the polarizations of magnetic field are observed from Goes 10 to Goes 12 then to Cluster 4. So, at the synchronous orbit ( 6.6 RE) to 10RE distance scale of the neutral sheet, the current disruption spread tailward. Simultaneously, the strengthen of the FACs deduced from these satellites’ magnetic field observations are almost consistent with the times of polarizations, as well as the high energy particles injection and the electric field dominant variation. The onset times determined by the magnetic field polarizations from these satellites are all ahead of the onset time that confirmed from the auroral electrojet indices. So, these characters of different observations can be used as the criterions to determine the onset time for the substorms of such type as we studied.

中低纬电离层暴的统计分析与经验建模

As a key issue of ionospheric weather study, systemic studies on ionospheric storms can not only further improve our understanding of the response of the ionosphere to solar and geomagnetic disturbances, but also help us to reveal the chemical, dynamic and electro-dynamic mechanisms during storms. Empirical modelling for regional ionospheric storm is also very useful, because it can provide us with tools and references for the forecasting and further practical application of ionospheric activity. In this thesis, we focus on describing and forecasting of ionospheric storms at middle and low latitudes. The main points of my investigations are listed as follows. (1) By using magnetic storms during the period over 50 years, the dependence of the type, onset time and time delay of the ionospheric storms on magnetic latitude, season and local time at middle and low latitudes in the East-Asian sector are studied. The results show that the occurrences of the types of ionospheric disturbances differ in latitude and season. The onset of the ionospheric storms depends on local time. At middle latitudes, most negative phase onsets are within the local time interval from night to early morning, and they rarely occurred in the local noon and afternoon sectors. At low latitudes, positive phases commence most frequently in the daytime sector as well as pre-midnight sector. The average time delays for both the positive and negative ionospheric storms increase with descending latitudes. The time delay has significant dependence on the local time of main phase onset (MPO). The time delay of positive response is shorter for daytime MPO and longer for night-time MPO, whereas the opposite applies for negative response. (2) Based on some previous researches, a primary empirical model for mid-latitude ionospheric disturbance is set up. By fitting to the observed data, we get a high accuracy with a mean RMSE of only 12-14% in summer and equinox. The model output has been compared with the output of STORM model, and the results show that, our model is much better than STORM in summer and a little better for some mid-latitude stations at equinox. Especially, for the type of two-step geomagnetic storm, our model can present twice descending of foF2 very well. In addition, our model can forecast positive ionospheric storms.

序列视觉信息整合的特性与机制

One of the great puzzles in the psychology of visual perception is that the visual world appears to be a coherent whole despite our viewing it through temporally discontinuous series of eye fixations. The investigators attempted to explain this puzzle from the perspective of sequential visual information integration. In recent years, investigators hypothesized that information maintained in the visual short-term memory (VSTM) could become visual mental images gradually during time delay in visual buffer and integrated with information perceived currently. Some elementary studies had been carried out to investigate the integration between VSTM and visual percepts, but further research is required to account for several questions on the spatial-temporal characteristics, information representation and mechanism of integrating sequential visual information. Based on the theory of similarity between visual mental image and visual perception, this research (including three studies) employed the temporal integration paradigm and empty cell localization task to further explore the spatial-temporal characteristics, information representation and mechanism of integrating sequential visual information (sequential arrays). The purpose of study 1 was to further explore the temporal characteristics of sequential visual information integration by examining the effects of encoding time of sequential stimuli on the integration of sequential visual information. The purpose of study 2 was to further explore the spatial characteristics of sequential visual information integration by investigating the effects of spatial characteristics change on the integration of sequential visual information. The purpose of study 3 was to explore the information representation of information maintained in the VSTM and integration mechanism in the process of integrating sequential visual information by employing the behavioral experiments and eye tracking technology. The results indicated that: (1) Sequential arrays could be integrated without strategic instruction. Increasing the duration of the first array could cause improvement in performance and increasing the duration of the second array could not improve the performance. Temporal correlation model was not fit to explain the sequential array integration under long-ISI conditions. (2) Stimuli complexity influenced not only the overall performance of sequential arrays but also the values of ISI at asymptotic level of performance. Sequential arrays still could be integrated when the spatial characteristics of sequential arrays changed. During ISI, constructing and manipulating of visual mental image of array 1 were two separate processing phases. (3) During integrating sequential arrays, people represented the pattern constituted by the objects' image maintained in the VSTM and the topological characteristics of the objects' image had some impact on fixation location. The image-perception integration hypothesis was supported when the number of dots in array 1 was less than empty cells, and the convert-and-compare hypothesis was supported when the number of the dot in array 1 was equal to or more than empty cells. These findings not only contribute to make people understand the process of sequential visual information integration better, but also have significant practical application in the design of visual interface.

Direct dynamical test for deterministic chaos and optimal embedding of a chaotic time-series

We propose here a local exponential divergence plot which is capable of providing an alternative means of characterizing a complex time series. The suggested plot defines a time-dependent exponent and a ''plus'' exponent. Based on their changes with the embedding dimension and delay time, a criterion for estimating simultaneously the minimal acceptable embedding dimension, the proper delay time, and the largest Lyapunov exponent has been obtained. When redefining the time-dependent exponent LAMBDA(k) curves on a series of shells, we have found that whether a linear envelope to the LAMBDA(k) curves exists can serve as a direct dynamical method of distinguishing chaos from noise.

Local exponential divergence plot and optimal embedding of a chaotic time-series

we propose here a local exponential divergence plot which is capable of providing a new means of characterizing chaotic time series. The suggested plot defines a time dependent exponent LAMBDA and a ''plus'' exponent LAMBDA+ which serves as a criterion for estimating simultaneously the minimal acceptable embedding dimension, the proper delay time and the largest Lyapunov exponent.

Shock tube study of JP-10 ignition delay time

JP-10 (exo-tetrahydrodicyclopentadiene, C10H16) ignition delay times were measured in a preheated shock tube. The vapor pressures of the JP-10 were measured directly by using a high-precision vacuum gauge, to remedy the difficulty in determining the gaseous concentrations of heavy hydrocarbon fuel arising from the adsorption on the wall in shock tube experiments. The whole variation of pressure and emission of the OH or CH radicals were observed in the ignition process by a pressure transducer and a photomultiplier with a monochromator. The emission of the OH or CH radicals was used to identify the time to ignition. Experiments were performed over the pressure range of 151-556 kPa, temperature range of 1000-2100 K, fuel concentrations of 0.1%-0.55% mole fraction, and stoichiometric ratios of 0.25, 0.5, 1.0 and 2.0. The experimental results show that for the lower and higher temperature ranges, there are different dependency relationships of the ignition time on the temperature and the concentrations of JP-10 and oxygen.

Determining of the delay time for a heating ventilating and air-conditioning plant using two weighted neural network approach

This paper presents an two weighted neural network approach to determine the delay time for a heating, ventilating and air-conditioning (HVAC) plan to respond to control actions. The two weighted neural network is a fully connected four-layer network. An acceleration technique was used to improve the General Delta Rule for the learning process. Experimental data for heating and cooling modes were used with both the two weighted neural network and a traditional mathematical method to determine the delay time. The results show that two weighted neural networks can be used effectively determining the delay time for AVAC systems.

Determining of the delay time for a heating ventilating and air-conditioning plant using multi-weights neurons approach

This paper presents an multi weights neurons approach to determine the delay time for a Heating ventilating and air-conditioning (HVAC) plan to respond to control actions. The multi weights neurons is a fully connected four-layer network. An acceleration technique was used to improve the general delta rule for the learning process. Experimental data for heating and cooling modes were used with both the multi weights neurons and a traditional mathematical method to determine the delay time. The results show that multi weights neurons can be used effectively determining the delay time for HVAC systems.