Performance analysis on improved PDA AI for moving target tracking

Aim at the problem that the EO imaging tracking system is inconsistent with the model of probabilistic data association with amplitude information (PDA AI), which supposes that the greater the amplitude value is, the greater the probability of being the tracked target will be, a modified PDA AI (MPDA AI) is presented . Based on the fact that the amplitude and the motion of the interested target are consistent in a short period, the MPDA AI models the amplitude information and the motion information of the target as well as their consistency with Markov stationary signal to analyze the association procedure of motion and amplitude. The lower bounds of Cramer Rao estimation error for PDA AI and MPDA AI are calculated and discussed in detail. The theoretical analysis and experimental results show that estimating the target motion with the MPDA AI will be more accurate and more reliable than estimating with the original PDA AI.     

家禽连续性状遗传分析模型误差方差估计

利用线性模型对家禽连续性状遗传分析的误差方差进行了估计,并得到估计的矩完全收敛的精确渐近性质。     

差分生长模型预测误差的分析

差分模型是一种特殊随机参数模型,仅有一个参数为随机参数。对于未参与抽样建模的林分,差分模型首先对应变量在林龄Aij0时的期望函数求解关于随机参数的表达式,然后用非随机参数的估计值和应变量在Aij0时的观测值Yij0分别取代对应参数和数学期望E(Yij0)来估计随机参数。显而易见,Yij0相当于E(Yij0)的估计值。由于这种特有的统计特征,经典非线性回归模型不能准确地估计差分模型预测误差的方差。针对这一不足,依据非线性回归模型预测误差的方差估计量的推导过程,导出了一个适用于差分模型的预测误差的方差估计量,并给出一个应用示例。所提出的估计量充分地考虑了重复观测数据的自相关性和Yij0对预测的影响作用。结果表明,该估计量能够描述未抽样林分预测误差的方差及其构成分量的变化趋势,而对于抽样建模的林分应该使用非线性回归模型的估计量进行预测误差分析。      

Evaluation of the waxy endosperm trait in proso millet (Panicum miliaceum)*

The entire USDA‐ARS maintained collection of 650 accessions of proso millet (Panicum miliaceum L.) was evaluated for the presence of accessions with waxy (amylose‐free) endosperm starch. Six accessions, five of which derived from mainland China, were identified. Segregation ratios for waxy endosperm were evaluated in F₂ and F₃ populations derived from crosses between two waxy accessions, PI 436625 (Lung Shu 16) and PI 436626 (Lung Shu 18), and several wild‐type accessions. The waxy trait was found to be under the control of duplicate recessive alleles at two loci, herein designated wx‐1 and wx‐2. Wild‐type alleles at these loci were designated Wx‐1 and Wx‐2. Iodine‐binding revealed a mean grain‐starch amylose concentration of 3.5% in waxy lines and 25.3% in wild‐type proso. Expression of the granule‐bound starch synthase (waxy protein) in waxy lines was reduced to approximately one‐tenth that of wild‐type accessions. The waxy accessions identified now are available for the introgression of this trait into breeding lines adapted to the Great Plains of North America.     

Leaf transmittance measurements can improve predictions of the nitrogen status for winter wheat crop

Dynamic crop models can be used to predict the occurrence of nitrogen deficiency during crop growth and optimize nitrogen fertilisation. However, prediction errors can be large and may lead to wrong recommendations. The objective of our work is to study the value of correcting the dynamic model Azodyn using transmittance measurements made with the N-Tester^® (Yara) to predict the nitrogen status of a winter wheat crop. Our approach is to use a Bayesian method called the “interacting particle filter” to fit the model's state variables to measurements obtained over the course of the season. This approach was assessed on 44 experimental plots. Predictions of crop biomass, nitrogen uptake and nitrogen nutrition index were first performed for each plot by using the model without any correction. A second series of predictions was then performed for the same variables by correcting the model with N-Tester measurements at GS 7 on Feekes’ scale. The results showed that the second series of predictions were more accurate. Depending on the prediction dates, model corrections reduced the root mean squared error by 18.1–53.2% for nitrogen nutrition index, by 9.1–10.1% for biomass, and by 17.1–45.0% for nitrogen uptake. The predictions were improved up to 52 days after the measurement but the degree of improvement was higher when the prediction date was close to the measurement date. The results also showed that, when corrected, model predictions were very sensitive to values of N-Tester measurements. It is therefore necessary to use N-Tester measurements which are as precise as possible.     

基于PEM-ABC算法的小型无人直升机系统辨识

针对小型无人直升机在悬停状态下飞行动力学模型的系统辨识问题,提出了一种基于预测误差法与人工蜂群算法(PEM-ABC)结合的辨识算法。该算法将系统辨识问题转化为优化问题,用PEM算法确定搜索空间的范围;雇佣蜂搜索阶段采用改进的自适应搜索策略加快收敛速度;跟随蜂搜索阶段引入一种新的概率选择方式保证种群多样性;侦察蜂搜索阶段利用混沌算子来提高全局搜索能力。通过机载设备采集到的飞行实验数据,对辨识获得的模型进行了分析与验证。结果表明:采用该辨识方法,估计出了无人直升机动力学模型的未知参数,与PEM算法和传统人工蜂群算法相比,所提算法的辨识精度更高,具有重要的工程使用价值。     

基于MS-IMMIKF的MEMS陀螺输出信号消噪处理

陀螺用于感知稳定平台相对于惯性空间的角速率,进而得到稳定平台在惯性空间的姿态,通过反馈稳定平台伺服控制机构相应的控制量来实现对稳定平台的稳定控制。通过分析陀螺随机误差对稳定平台精度影响,提出了一种新的陀螺随机漂移处理方法。首先针对机动跟踪领域的Singer模型中人为设定机动频率α的不合理性,对机动频率α进行在线估计,提出基于Modified Singer(MS)模型直接对陀螺输出进行建模的方法;在此基础上建立基于交互式多模型(IMM)的改进卡尔曼滤波算法(MS-IMMIKF)对陀螺输出随机误差进行处理,并对交互式多模型的改进卡尔曼滤波(IKF)进行理论分析和推导;通过数值仿真分析和稳定平台中某型号陀螺试验验证和仿真计算得出,静态滤波后均方根误差达到0.022 7°/s,证明了该方法对陀螺漂移处理的有效性与可行性;最后通过稳定平台动静态稳定试验表明,MS-IMMIKF滤波算法对提高稳定平台精度有效且实用。     

基于最小平方误差的单倍体和二倍体分类方法研究

基于玉米油分的花粉直感效应,采用核磁共振鉴别单倍体,快速、准确、低成本地确定单倍体与二倍体之间的含油率阈值,是实现大批量自动鉴别的前提和关键。提出一种基于最小平方误差的单倍体和二倍体分类方法,通过少量籽粒确定含油率阈值的研究,对单倍体和二倍体进行识别。以10个玉米组合为研究对象,利用核磁共振分析仪测定各组合一定数量单倍体和二倍体籽粒的含油率,依据最小平方误差方法确定各组合油分阈值,并通过逐级递增训练集样本数量的方法,确定油分阈值所需训练集规模,获得含油率阈值,能够满足单倍体正确识别率及对二倍体正确拒识率的均值达到90%以上的要求,为核磁共振全自动单倍体鉴别系统的后期大规模分类提供参数指导,提高分选效率。同时因单倍体生产效率低,运用最小平方误差的方法,通过少量的单倍体及二倍体籽粒来构建油分鉴别单倍体模型,以较小的投入获得更优的分类效果在玉米单倍体自动化分选中具有非常重要的现实意义,将该分类方法应用到全自动核磁分选单倍体系统中,可以达到较好的效果,为加快单倍体工程化育种提供保障。     

基于改进蚁群算法的风洞试验俯仰机构运动误差优化

为提高风洞试验俯仰机构的运动精度,减少初始误差,提出了基于改进蚁群算法的俯仰机构运动误差优化分析方法。针对影响俯仰机构运动精度的3个误差源——弧形导轨半径R、连杆长度L、直线导轨安装位置yOa,建立俯仰机构运动误差分析数学模型;推导了可用于分析误差的改进蚁群算法模型,将俯仰机构3个误差源的求解转换为对目标函数优化问题的求解,采用改进算法进行误差优化。对比传统数值方法,改进后的蚁群算法对误差求解精度达到10~(-5)mm级,有效地避免了结构自身产生的初始误差源对计算结果的影响。     

基于微分变化构造法的数控机床几何误差补偿方法

为了使得机床误差建模与补偿过程紧密联系,同时避免雅可比矩阵繁琐的计算,提出一种基于微分变化构造法的机床几何误差补偿方法。根据坐标系微分变化矩阵建立机床几何误差模型。基于机床正向运动链顺序建立各个运动轴微分变化矩阵,结合各个运动轴几何误差对应的微分运动矢量计算得到运动轴几何误差对刀具精度影响,相加得到刀具坐标下的综合微分变化矩阵,通过机床正向运动学模型将刀具综合误差转换到工作台坐标系下得到机床刀具位置误差。采用微分变化构造法提取各个运动轴微分变化矩阵相应子矩阵构造得到机床雅可比矩阵,计算刀具坐标系综合误差对应运动轴补偿量得到机床补偿加工代码,微分变化构造法无需额外计算,且重新使用建模过程建立的矩阵。在北京精雕Carver800T加工中心进行实验,补偿后工件总误差降低了30%左右,验证了基于微分变化构造法的几何误差补偿方法的有效性。