颗粒在泵叶轮中的运动轨迹计算

首先推导出了在低Ｒｅ下，颗粒在水泵静止的各通流部件及旋转的叶轮中的运动轨迹方程，推导出了在高Ｒｅ下，颗粒在水泵各通流部件上的运动轨迹方程，最后，计算了不同直径的颗粒在水泵叶轮中的运动轨迹。     

A Research on the Way of EMBET in the Tracking Systems'' Accuracy-analysis During Satellite Launch

In the past, the criterion for calibration has almost invariably been the stellar oriented ballistic camera,the method is a point to point comparison on the identical coordinate system. Deficiencies is follows: The request of weather is severe(cloudless night); The period is often long; the measure equipment of high precision can't be calibrated. While EMBET methods is used in calibration, it does not need criterion and it demands only that the measure elements is larger than 3,and the trajectory and many system errors of the measure elements can be simultaneously calculated with the measure data sequences. The error models of related equipments' measure elements and the EMBET of typical equipment group are given. The EMBET method is successfully used in Accuracy-analysis of Satellite Launch.     

农业机器人轨迹优化自动控制研究——基于BP神经网络与计算力矩

以农业机器人精密轨迹优化自动控制为目标,在优化算法中引入BP神经网络与计算力矩法结合的自动控制器,旨在减少作业过程中的运动误差,提高其工作效率。首先,建立农业机器人数学模型,分析其运动学和动力学原理;然后,设计了农业机器人运动控制系统,引入BP神经网络对不确定动力学因素进行判断,并提出解决该因素的自适应学习法;最后,对该系统运用Mat Lab进行了仿真。试验表明:以BP神经网络与计算力矩法结合的自动控制器可以有效优化机器人运动路径,提高机器人整体作业效率,系统运行稳定、可靠性强,且对外部环境的干扰因素具有较强的自适应学习能力。     

仿人机器人头部设计与目标跟踪运动控制

针对仿人机器人视觉目标跟踪任务需求,设计了一种高精度、灵巧型仿人机器人头部系统,构建了视觉感知模块与3自由度机械臂运动机构。利用虚拟连杆方法对仿人机器人头部进行运动学建模,将目标跟踪问题转换为机械臂的运动学逆解问题,通过计算机构可操作度与条件数,显示机器人头部对目标跟踪任务具有良好的运动学灵活性。在此基础上,基于梯度投影法建立了目标跟踪运动学逆解与规避关节极限位置的同步优化算式,并针对视觉测量系统带宽较窄、容易造成较大跟踪误差的问题,提出了在两次视觉测量间隔内用轨迹预测的方法获得目标位置的估计值,以提高跟踪精度。仿真与实验结果表明,在测量盲区内采用轨迹预测方法,可将跟踪精度提高约80%,实现高精度目标跟踪。所提出的仿人机器人头部及控制方法,对动态目标具有良好的跟踪性能。     

褐飞虱迁飞轨迹研究

借鉴现代统计－天气理论中的大气传输与扩散模型，对褐飞虱秋季回迁的轨迹进行模拟，计算了回迁昆虫在高空１０００ｍ和１５００ｍ的迁飞轨迹，通过对比分析，发现两高度的轨迹在迁飞方向、迁飞速度和迁飞距离上存在着较大的差异；通过对迁飞风场和迁温度场的分析，进一步证实了１０００ｍ高度的迁飞轨迹模拟能够更直接、更准确地反映出昆虫迁飞的实际情况，同时对导致１０００ｍ和１５００ｍ两高度轨迹差异的环流进行了归类，定性地     

海捕回迁稻纵卷叶螟轨迹分析

利用空气粒子扩散微机模型,对1979、1980年9、10月份上海到大连航海海捕稻纵卷叶螟的回迁途径和虫源地进行模拟分析。初步明确了两年89次捕蛾中的73次虫源地。虫源主要分布于28～42°N,117～128°E 的中朝两国的沿海稻区,深入内陆或远东日本的较少。秋季回迁稻纵卷叶螟的迁飞时间变异较大:在24小时内迁来的占45.21%,经24～48小时,48～72小时迁来的蛾子分别占28.77%和24.66%,只有1.37%的虫源需72小时以上才能完成到达海捕区域的迁飞。     

Case study on the first immigration of fall armyworm,Spodoptera frugiperda invading into China

The fall armyworm(FAW), Spodoptera frugiperda is one of the most damaging crop pests, and it has become major threat to the food security of many countries. In order to monitor possible invasion of this pest into China, a searchlight trap was established in March 2018 in western Yunnan Province, China, where it has served as the "first station" for many pests that have migrated from Myanmar to China. A number of suspected FAW moths were captured and identified by DNA sequencing. The results showed that the FAW moth was first captured on December 11 and formed its first immigration peak in mid-December 2018. DNA detection revealed that the early invading FAW population was the "corn-strain". The field survey indicated that the pest mainly colonized corn in Pu'er, Dehong and Baoshan areas. Migration trajectory simulation implied that the moths might have mainly come from the eastern area in the mid-latitude region of Myanmar(20–25°N, 94–100°E). This case study confirmed the first immigration of FAW into China, and will be helpful for guiding monitoring and management work to control this pest.     

Windborne migration routes of newly-emerged fall armyworm from Qinling Mountains–Huaihe River region,China

The fall armyworm(FAW, Lepidoptera: Noctuidae), Spodoptera frugiperda(J. E. Smith), invaded China in mid-December 2018; since then, it has become a great threat to Chinese agricultural production. Qinling Mountains–Huaihe River region(QM–HRR) is the transitional zone between northern and southern China, an important region for both corn and wheat production. Based on the actual occurrence of QM–HRR invaded by FAW in 2019, daily mean surface air temperature and nocturnal wind conditions at 925 hPa were examined, and migratory routes of FAW moths originated in QM–HRR were modeled by a forward-trajectory-analysis approach. The results indicated that migratory activities of FAW adults emerged in QM–HRR were initiated from late June. The moths from western QM–HRR, where has complex topographic terrain, mainly flied to Ningxia and Inner Mongolia before mid September. However, FAW moths from the eastern QM–HRR primarily engaged in high-altitude northward transport assisted by the prevailing southerly winds before mid August, and the North China Plain was identified as the main destination of FAW. Meanwhile, the migration trajectories of FAW moths had a possibility to reach the Northeast China Plain. From mid August, FAW moths in eastern QM–HRR largely migrated southward and returned to the Yangtze River Valley. This study provides detailed information on the occurrence and migration routes of FAW moths from QM–HRR and will be helpful for early warning and development of integrated pest management strategies for the control of this exotic insect pest.     

基于硬件在环仿真实现的纯跟踪轨迹控制

在传统验证平台一般都是利用Simulink+Carsim进行联合仿真,缺少在Ros中的调试,这样与实际情况不符。将在搭建Ros+Carsim+Simulink硬件在环环境中进行纯轨迹跟踪的验证。实验结果中设计轨迹与真实轨迹吻合度较高,即该仿真平台可以作为轨迹跟踪实验的实验平台。     

四轮独立驱动高地隙无人喷雾机轨迹跟踪自适应控制

针对高地隙喷雾机在自主导航作业中因侧滑影响而导致轨迹跟踪精度降低的问题,提出一种基于四轮独立驱动(4WID)高地隙无人喷雾机的自适应控制方法。首先,建立4WID高地隙喷雾机的运动学模型;然后基于运动学几何约束和速度约束,引入两个表征侧滑效应的参数构建改进位姿误差模型;最后将参数自适应与反步控制方法结合,设计自适应控制律实时估计并补偿侧滑效应。以典型的U形作业路径为例,在考虑和不考虑侧滑的情况下分别进行了仿真和试验验证。仿真结果表明：本文提出的控制算法在喷雾机出现侧滑的情况下可以保证较高的轨迹跟踪精度;水田试验表明,当喷雾机在常规作业速度3.6km/h时,与不考虑侧滑的轨迹跟踪控制算法相比,喷雾机轨迹跟踪的横向平均绝对误差减小至0.041m,标准差减小至0.059m;纵向平均绝对误差减小至0.018m,标准差减小至0.015m;航向平均绝对误差减小至2.56°,标准差减小至3.57°。