Automatic Veri cation of Real-Time Communicating Systems By Constraint-Solving

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AUV实时任务协调方法研究

AUV实时任务协调方法研究常宗虎;边信黔;严浙平;汪玉【期刊名称】《哈尔滨工程大学学报》【年(卷),期】2004(025)004【摘要】自主地形勘察是AUV的一项重要使命,其使命控制过程是使命规划模块依据使命文本进行全局路径和任务规划,得到执行使命的任务序列.任务协调模块在预规划任务序列基础上,监控系统状态并触发事件,任务调度器根据事件消息对任务进行实时调度,发送行为控制指令驱动AUV动作来完成使命.给出了AUV任务协调模块Petri网模型,用来描述任务层离散事件间逻辑关系.在此基础上提出了基于改进RW理论的AUV实时任务协调方法进行任务间协调,实现AUV任务的实时调度.最后在虚拟仿真平台上结合地形勘察案例验证了任务调度算法,结果证明AUV能够在无人干预下自主地完成整个使命.【总页数】5页(P472-476)【作者】常宗虎;边信黔;严浙平;汪玉【作者单位】哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001;哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001【正文语种】中文【中图分类】TP391.9【相关文献】1.基于MILP的AUV实时优化行为方法研究 [J], 程大军;刘开周2.基于MAS智能分布实时监测系统任务协调与调度 [J], 胡晓辉;周兴社;党建武3.基于粒子群优化的无人战斗机编队任务协调方法研究 [J], 张雷;王道波;高宇辉;段海滨4.面向AUV水下移动对接的实时路径规划方法 [J], 时常鸣; 刘开周; 赵洋; 赵宝德5.AUV实时避障算法研究进展 [J], 郭银景;鲍建康;刘琦;屈衍玺;吕文红因版权原因，仅展示原文概要，查看原文内容请购买。

2014年中科院SCI分区

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基于改进ＤｅｅｐＬａｂＶ３＋的引导式道路提取方法及在震源点位优化中的应用

２０２４年３月第３９卷第２期西安石油大学学报（自然科学版）ＪｏｕｒｎａｌｏｆＸｉ’ａｎＳｈｉｙｏｕＵｎｉｖｅｒｓｉｔｙ（ＮａｔｕｒａｌＳｃｉｅｎｃｅＥｄｉｔｉｏｎ）Ｍａｒ．２０２４Ｖｏｌ．３９Ｎｏ．２收稿日期：２０２３０６０３基金项目：国家自然科学基金面上项目“基于频变信息的流体识别及流体可动性预测”（４１７７４１４２）；四川省重点研发项目“工业互联网安全与智能管理平台关键技术研究与应用”（２０２３ＹＦＧ０１１２）；四川省自然科学基金资助项目“基于超分辨感知方法的密集神经图像分割”（２０２２ＮＳＦＳＣ０９６４）第一作者：曹凯奇（１９９８），男，硕士，研究方向：遥感图像标注。

Ｅｍａｉｌ：８１９０８８３３８＠ｑｑ．ｃｏｍ通讯作者：文武（１９７９），男，博士，研究方向：人工智能在地球科学的应用、高性能计算。

Ｅｍａｉｌ：ｗｅｎｗｕ＠ｃｕｉｔ．ｅｄｕ．ｃｎＤＯＩ：１０．３９６９／ｊ．ｉｓｓｎ．１６７３０６４Ｘ．２０２４．０２．０１６中图分类号：ＴＥ１９文章编号：１６７３０６４Ｘ（２０２４）０２０１２８１５文献标识码：Ａ基于改进ＤｅｅｐＬａｂＶ３＋的引导式道路提取方法及在震源点位优化中的应用曹凯奇１，张凌浩２，徐虹１，吴蔚３，文武１，周航１（１．成都信息工程大学计算机学院，四川成都６１０２２５；２．国网四川省电力公司电力科学研究院，四川成都６１００９４；３．中国石油集团东方地球物理勘探有限责任公司采集技术中心，河北涿州０７２７５０）摘要：为解决自动识别方法在道路提取时存在漏提、错提现象，提出一种引导式道路提取方法提高修正效率。

在ＤｅｅｐＬａｂＶ３＋原有输入通道（３通道）的基础上添加额外输入通道（第４通道），将道路的４个极点转化为二维高斯热图后作为额外通道输入网络，网络以极点作为引导信号，使网络适用于引导式道路提取任务；设计并行多分支模块，提取上下文信息，增强网络特征提取能力；融合类均衡二值交叉熵和骰子系数组成新的复合损失函数进行训练缓解正负样本不均衡问题。

空间光通信粗瞄系统的扰动估计与补偿

空间光通信粗瞄系统的扰动估计与补偿王岩;崔宁;于志亮【摘要】Affected by the influence of the attitude variation and vibration of the satellite platform in the process of tracking and pointing,free space optical communication terminal will therefore reduce the tracking precision of the system.In order to improve the system's ability for the purpose of resisting disturbance,on the basis of coarse tracking system,the cascade linear active disturbance rejection controller was put forward.The coarse tracking system used direct current brushless torque motor driving two-dimensional turntable as the actuator,and was controlled by the coarse tracking controller.Analysis of the system disturbance is required,for which the tracking differentiator is applied to extract.With azimuth axis of the two-dimensional turntable as the object,the cascade linear active disturbance rejection controller was applied to position loop and speed loop for the sack of active disturbance compensation through linear extended state observer.Therefore,double isolation of internal and external loop disturbance can be achieved,and the tracking precision shall be improved.The experimental analysis,and a comparison with the proportion integral derivation controller were also included.The research results show that there is a 50％ decrease of standard deviation referred to the tracking error,when inputting 2 Hz,5 Hz and 8 Hz sinusoidal signals with the same disturbance signal simulation.At the same time,the observer's disturbance compensation effect in the circumstance of linear expansion was verified.Ahigh tracking accuracy is still ensured when active disturbance rejection control is not sensitive to the frequency variation of inputted sinusoidal signal with changing frequency.%粗瞄系统以直流力矩电机驱动二维转台为执行机构,通过粗瞄控制器对其进行控制.对系统受到的扰动进行分析,应用了最速跟踪微分器提取速度信号;以二维转台的方位轴为控制对象,在其位置环、速度环采用级联线性自抗扰控制器,通过线性扩张状态观测器主动补偿扰动,达到内外环双重隔离扰动的目的,提高跟踪精度;之后进行了实验分析.分析结果表明:在加入同样的模拟扰动信号,输入2 Hz,5 Hz和8 Hz的正弦信号时,与比例、微分、积分控制器相比,跟踪误差的标准差约降低50％;验证了线性扩张状态观测器具有扰动补偿效果;在输入不同频率正弦信号时,自抗扰控制器对输入信号频率的变化不敏感,仍能保证较高的跟踪精度.【期刊名称】《国防科技大学学报》【年(卷),期】2017(039)005【总页数】7页(P178-184)【关键词】空间光通信;粗瞄系统;线性自抗扰;扰动补偿【作者】王岩;崔宁;于志亮【作者单位】哈尔滨工业大学航天学院,黑龙江哈尔滨150001;哈尔滨工业大学航天学院,黑龙江哈尔滨150001;哈尔滨工业大学航天学院,黑龙江哈尔滨150001【正文语种】中文【中图分类】TN929.1在空间光通信系统中，国内外普遍采用捕获、瞄准和跟踪(Acquisition, Pointing and Tracking, APT)复合控制技术[1-2]。

基于切换模糊化的滑模变结构AUV姿态控制

ｔｈｅｂａｓｉｓｏｆｆｕｚｚｙｓｗｉｔｃｈｉｎｇ
ＨＡＯＹａｎｇ．ＺＨＡＯＸｉｎｈｕａ
（１．Ｕｎｉｔ９１４３９ｏｆＰＬＡ，Ｄａｌｉａｎ１１６０４１，Ｃｈｉｎａ；２．ＣｏｌｌｅｇｅｏｆＡｕｔｏｍａｔｉｏｎ，ＨａｒｂｉｎＥｎｇｉｎｅｅｒｉｎｇＵｎｉｖｅｒｓｉｔｙ，Ｈａｒｂｉｎ１５０００１，Ｃｈｉｎａ）
棒性和一定的抗干扰能力．
关键词：模糊控制；滑模变结构控制；自主水下航行器；姿态控制；切换模糊化
中图分类号：ＴＰ２７３文献标志码：Ａ文章编号：１６７３ — ４７８５（２０１３）０６ — ０５３２ — ０５
中文引用格式：郝阳，赵新华．基于切换模糊化的滑模变结构ＡＵＶ姿态控制［Ｊ］．智能系统学报，２０１３。８（６）：５３２－５３６．英文引用格式：ＨＡＯＹａｎｇ，ＺＨＡＯＸｉｎｈｕａ．Ｓｌｉｄｅ — ｍｏｄｅｖａｒｉａｂｌｅ — ｓｔｒｕｃｔｕｒｅＡＵＶａｔｔｉｔｕｄｅｃｏｎｔｒｏｌｏｎｔｈｅｂａｓｉｓｏｆｆｕｚｚｙｓｗｉｔｃｈｉｎｇ［Ｊ］．
郝阳（１．中国人民解放军９１４３９部队，辽宁大连１１６０４１；，赵新华

阈值判决引导的单载波分块传输稀疏信道估计

阈值判决引导的单载波分块传输稀疏信道估计孟庆微;苏令华;苏玉泽;孟相如;黄仰超【摘要】为利用高速无线通信时信道的稀疏多径传播特性,改善传统单载波分块传输(SCBT)信道估计方法的性能,提出了一种阈值判决引导的稀疏信道估计方法.该方法通过导频进行初始最小二乘信道估计,利用获取的信道估计值设置判决阈值.然后,将幅值低于判决阈值的信道抽头强制置零,仅保留幅度值大于判决阈值的信道抽头估计值,从而有效地改善单载波分块传输系统的稀疏信道估计性能.基于COST 207典型乡村信道模型进行了仿真实验,结果表明:阈值判决引导的稀疏信道估计方法的实验结果最接近于信道参数已知时的误比特率性能;在信噪比为20 dB条件下,新方法的误比特率可达到5×10-4,而最小二乘算法只能达到3×10-2.该方法改善了SCBT系统的稀疏信道估计精度与复杂度,得到的结果验证了提出方法的有效性.【期刊名称】《光学精密工程》【年(卷),期】2016(024)009【总页数】7页(P2332-2338)【关键词】无线通信;单载波分块传输;阈值判决;稀疏信道估计【作者】孟庆微;苏令华;苏玉泽;孟相如;黄仰超【作者单位】空军工程大学信息与导航学院,陕西西安710077;空军工程大学信息与导航学院,陕西西安710077;空军工程大学信息与导航学院,陕西西安710077;空军工程大学信息与导航学院,陕西西安710077;空军工程大学信息与导航学院,陕西西安710077【正文语种】中文【中图分类】TP911近年来，数字通信系统的语音、视频和数据业务需求不断增长，无线通信传输速率显著提高，信道多径传播造成的码间串扰(ISI)越来越严重，达到几十甚至上百个码元间隔，传统单载波连续传输方法逐个符号进行时域均衡，导致接收机复杂度大幅度提高。

分块传输技术可利用快速傅里叶变换(FFT)计算频域均衡器的抽头系数，大幅度降低了接收机的复杂度，其中，单载波分块传输(Single Carrier Block Transmission， SCBT)方案可以解决正交频分复用(Orthogonal Frequency Division Multiplexing， OFDM)系统峰均比高且对频率偏移敏感的问题，但系统性能和复杂度与之相当，已成为后3G(Beyond 3G)无线通信系统的关键技术之一，目前已被3GPP LTE计划和IEEE 802.16标准确定为上行链路传输标准，并广泛应用于水声通信[1]、数字广播电视、航空通信[2]以及超宽带通信[3]等场景。

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