基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。     

室内用户语义位置预测研究

位置预测技术可以提前预知用户下一时刻的位置,在基于位置的服务（Location-based Service,LBS）领域中发挥着极其重要的作用。现有的位置预测技术大多仅使用用户的地理轨迹,仅使用地理轨迹挖掘出来的用户移动模式易受地理特性的限制缺乏深层次的语义信息。本文基于某商场群体用户的室内轨迹数据和语义信息预测用户下一个时刻语义位置。语义位置预测包括停留区域识别、停留区域语义匹配、语义位置建模。在停留区域识别阶段,为减少室内停留时间不固定对停留区域识别的影响,本研究提出了一种新型的时空凝聚层次聚类算法（Spatial-Temporal Agglomerative Nesting, ST-AGNES),该算法具有思想简单、超参数少、自动生成聚类个数等优点。在语义匹配阶段,引入了吸引度规则,充分利用停留区域所有轨迹点与室内高密度的商铺名称信息做匹配。最后,采用长短型记忆神经网络模型（Long Short-Term Memory,LSTM）挖掘群体用户的语义位置模式并预测用户未来的语义位置,实验预测正确率达到61.3%。     

A Cascade Approach for Global Trajectory Tracking Control of Underactuated AUVs

A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes.     

基于轨迹偏移算法的居民就医时空特征与空间格局分析

居民就医时空特征与空间格局反映了医疗设施的服务能力与布局合理性.本文以厦门岛为例,采用出租车轨迹数据,探讨了居民就医的时空特征和空间格局.论文提出了基于道路中心线的研究单元划分方法;提出OD轨迹偏移算法,更精细地提取出三级医院的就医OD数据,改善传统的缓冲区分析法中精确度较低的问题;对居民就医行为进行时空特征分析;基于...     

TRAJECTORY DIAGNOSIS OF AIR PARCELS IN HIGH-AND LOW-LEVEL JETS FOR A HEAVY RAINFALL CASE DURING MEIYU SEASON OF 1991

Trajectory diagnostic methods were used to analyze air parcels of high-and low-level jets during the heavy rainfall of 4-6 July 1991.It is found that air parcels above rainfall area travelled from the entrance of the high-level jet,passing through the jet center and reached the exit region.Upper tropospheric divergence over rainfall area resulted from decelerative motion of the jet flow.Warm and moist southwest flow converged and ascended ahead of the low-level jet.The decreasing of low-level pressure as a result of high-level divergence that caused the low-level jet became unexpectedly strong.     

中国沿海城市的气块后向轨迹分析

该文讨论了大连、青岛、上海、福州、厦门和广州６个沿海城市的气块长距离后向输送轨迹。输送层假设在１５００ｍ上，计算了１９８５年１、４、７、１０月份的轨迹，轨迹分析得出：（１）气块后向轨迹与天气形势和季节有关，且南北方有差异；（２）北方沿海城市的７２小时气块后向轨迹输送距离要比南方沿海城市远些。     

1991年梅雨期中冷空气活动的个例分析

通过对1991年7月4—6日江淮地区大暴雨过程中冷空气的轨迹分析表明，来自西北方向的冷空气造成了冷暖空气在长江流域的对峙和高原东侧50hPa槽的发展，后者又进而促使了梅雨锋上的气旋发展。     

A Trajectory-Oriented, Carriageway-Based Road Network Data Model, Part 2： Methodology

IntroductionIf let roadway entities be denoted by arcs and in-tersections be denoted by nodes, then a road net-work can be represented with node-arc model. Be-cause the designation of nodes can be determinedby arcs according to the definition of node-arc mod-el, howto designate arcs becomes the key of repre-senting a road network. As described in the firstpaper of the series, all four kinds of roadway enti-ties (i.e., streets, road segments, carriageways,and lanes) can be represented by arcs. …     

An approximate analytical solution for the deposition of heavy particles released from an elevated line source

This work re-examines and further develops an analytical solution for the deposition swath of heavy particles released in the atmosphere from an elevated source over uniform terrain, correcting the particle diffusivity for the crossing trajectory effect. The revised (approximate) analytical solution proves to be accurate within 20% over a wide range of micrometeorological conditions and particle size, despite its neglect of the turbulence component of the deposition flux. It compares very satisfactorily with experimental data and with the simulations of a Lagrangian stochastic model, provided the variable U(H)/w _g ≤7 (ratio of the mean horizontal wind speed at source height to the particle settling velocity). In this domain of validity, simple formulae relating the statistics of the deposition swath to U(H)/w _g are derived.     

半拉格朗日方法在全球原始方程模式中的实现

简单介绍了半拉格朗日平流方案的基本概念,并详细总结了基估全球原始方程模式,特别是在ＩＦＳ的具体实现过程,拉格朗日平流的观点是着流体质点看流体运动,基贩关键是流体轨迹的计算。轨迹中点和起始点水平坐标的示得可以利用球面三角,直接在球极坐标中进行,并采用一些较高的近似。为了充分获得半拉格朗日方案析益处,在起始点的内插能工巧匠春阶数至少应在四阶以上,为避免昂贵的三维三次内插,可以采用三维“准三次”内插 。