基于弹载IMU/GPS组合导航系统的动基座对准研究与仿真

对基于弹载IMU／GPS组合导航系统的动基座对准问题进行了研究与仿真；首先，分析了弹载IMU与GPS的系统误差，建市获得了其系统误差模型；然后，利用卡尔曼滤波技术，设计了弹载IMU／GPS组合导航系统的动基座对准算法；仿真结果表明，在初始误差较大的情况下，经过360秒的动基座对准，IMU的姿态角误差可降至10个角秒，同时位置和速度误差也得到了有效修正，从而证明该动基座对准算法是行之有效的。     

基于神经网络的组合导航系统状态估计

在干扰大的外界环境中，传统滤波法对组合导航系统进行状态估计的精度难以满足要求，文中提出了引入Elman神经网络，具体讲解了它的状态估计的设计方法，对如何获取训练样本及网络的训练算法给予了详细的介绍，并把优化后的算法与原有方法进行仿真对比，最后以INS／GPS组合导航系统为例，分别用传统滤波法与Elman神经网络法进行状态估计，仿真结果证明了该法是有效的，实用的。     

神经网络在MEMS-IMU/GPS组合导航中的应用研究

针对基于MEMS传感器组成的INS/GPS组合中GPS信号缺失的情况下,系统误差瞬时增大,滤波迅速退化无法继续工作的问题,本文提出利用神经网络辅助INS/GPS导航系统以解决这一问题的方法.该方法首先建立系统模型,用组合导航的输入作为网络模型的输入,通过网络训练得到输出需要参数,结合卡尔曼滤波用于组合导航以继续使导航系统工作,仿真结果表明该方法可行和有效性的.     

基于MEMS技术的车载组合导航系统研究

针对当前车载GPS导航仪实时性和可靠性差的问题,设计出一种基于MEMS技术的低成本车载GPS/MIMU/GIS组合导航系统,建立了GPS/MIMU组合系统的误差模型,对该模型进行了计算机仿真研究,并运用地图匹配算法对GPS/MIMU/GIS导航信息误差进行修正;跑车试验表明,该组合导航系统成本低、精度高,可靠性强,特别适合于军用和民用车辆的导航定位。     

机载北斗/GPS/SINS组合导航系统软硬件设计

针对单一导航导航系统在导航精度、稳定性、设备成本以及导航信息完备性等方面的局限性,设计了卫星导航/惯性导航组合导航系统;针对GPS导航系统受制于人及北斗导航系统发展尚不完善的特点,提出了基于北斗/GPS/SINS的军用机载组合导航系统软硬件设计;搭建了北斗/GPS/SINS组合导航系统硬件平台,采用基于不确定度的加权平均数据融合算法提高组合导航系统的导航可靠性和准确性;仿真结果表明,该组合导航系统稳定性好,可靠性高,定位准确。     

自适应联邦卡尔曼滤波在机器人组合导航系统中的应用研究

利用里程计(OD)与全球定位系统(GPS)辅助捷联惯性导航系统(SINS)构成一种高可靠性的组合导航系统.推导并建立了局部滤波器的数学模型,并针对联邦滤波器在载体发生异常扰动时滤波精度较低的问题,设计了基于SINS/GPS/OD组合导航系统的自适应联邦滤波器,有效补偿了系统异常扰动或动力学模型误差.仿真模拟了机器人的全航线运行轨迹进行验证,仿真结果表明,SINS/GPS/OD组合导航系统的自适应联邦卡尔曼滤波算法与相同组合导航系统的非自适应联邦卡尔曼滤波算法相比,在保障机器人导航定位可靠性及容错能力的前提下,能有效抑制异常扰动的影响,导航精度得到进一步改善.     

神经网络辅助的GPS/INS组合导航滤波算法研究

在高空高速条件下,GPS信号失锁致使常规的卡尔曼滤波器发散,从而导致组合导航系统精度严重下降。以BP神经网络辅助技术手段对GPS/INS组合导航滤波算法实施精度补偿,即在GPS信号锁定时,对神经网络进行实时在线训练,而当在GPS信号失锁时,利用之前训练好的神经网络进行组合导航滤波,以解决精度严重下降问题。算法采用多神经网络并行结构,以减少神经网络在训练过程中的交叉耦合,提高训练速度。通过MATLAB仿真,验证了算法的可靠性与可行性,并证明其在GPS信号丢失时,精度较纯惯性导航系统有较大提高。     

一种改进的高精度组合导航滤波算法仿真

在INS/GPS组合导航系统的研究中,为了解决非线性滤波算法在系统模型不确定情况下出现的滤波精度低、鲁棒性差的问题,提出了一种将强跟踪滤波算法与容积卡尔曼滤波算法(CKF)相结合的组合导航滤波算法(SMFCKF).SMCKF算法将强跟踪滤波算法中的多重次优渐消因子引入到CKF算法的状态预测协方差矩阵中,对不同的状态通道进行相应的渐消.通过建立INS/GPS组合导航系统的非线性模型,对改进的滤波算法进行仿真,结果表明改进的滤波算法提高了滤波精度和鲁棒性,滤波效果优于CKF算法,适合应用于INS/GPS组合导航系统中,为飞行器组合导航优化提供了参考.     

一种SINS／GPS组合导航系统的数字仿真方法

组合导航系统的数字仿具对于系统、方案论证有着重要的意义，目前国内各种期刊当中关于SINS／GPS组合导航方面的文章都较少涉及数字仿真的算法，针对这种情况，在查阅有关文献、上机实验的基础上，文中总结出了一种SINS／GPS组合导航系统的数字仿真方法。SINS和GPS采用位置、速度综合模式，使用卡尔曼滤波技术，给出了数字仿真结果，并对结果进行了分析。     

自适应卡尔曼滤波在组合导航中的应用研究

对惯性导航系统（INS）与全球导航系统（GPS）分别进行了具体探讨,对比了两者的优缺点,针对INS／GPS组合导航系统中由于模型不准或因量测噪声的复杂多变造成的发散问题,引入了一种基于输出相关法的自适应卡尔曼滤波技术。通过在自适应滤波算法中推算最优稳态增益来调整量测噪声,抑制滤波器的发散,为GPS／INS组合导航系统实现高精度导航提供了有效的途径。仿真结果表明该算法能很好地对系统状态进行最优估计并适应系统噪声的变化,具有比常规卡尔曼滤波更高的导航精度。     

基于神经网络的故障诊断专家系统研究

针对传统专家系统和神经网络的各自特点,将两者有机结合,构造了一种基于神经网络的混合型故障诊断专家系统。提出了神经网络子模块NNM的概念并分析了NNM的具体实现方法。应用该故障诊断模型对某内燃机组供油系统故障进行了模拟验证,试验结果表明神经网络与专家系统结合是一种有效的诊断方法。     

Continuous-time System Identification with Nuclear Norm Minimization and GPMF-based Subspace Method

To improve the accuracy and effectiveness of continuous-time (CT) system identification, this paper introduces a novel method that incorporates the nuclear norm minimization (NNM) with the generalized Poisson moment functional (GPMF) based subspace method. The GPMF algorithm provides a simple linear mapping for subspace identification without the timederivatives of the input and output measurements to avoid amplification of measurement noise, and the NNM is a heuristic convex relaxation of the rank minimization. The Hankel matrix with minimized nuclear norm is used to determine the model order and to avoid the over-parameterization in subspace identification method (SIM). Furthermore, the algorithm to solve the NNM problem in CT case is also deduced with alternating direction methods of multipliers (ADMM). Lastly, two numerical examples are presented to evaluate the performance of the proposed method and to show the advantages of the proposed method over the existing methods.      

基于混沌变量优化的神经网络PID控制

对神经网络模型辨识器的输入量Y（k）,u（k）进行归一化处理,一种规范化PID控制方法作为控制器。采用Logistic映射构造多个不同的混沌变量,应用到神经网络PID参数域中,根据控制系统性能指标进行混沌寻优,获得近似最优解后,再通过时变因子Z（t）在近似最优解的附近继续混沌局部寻优。仿真实验表明该方案是有效的。     

Neural networks deterioration models for serviceability condition of buried stormwater pipes

Buried stormwater pipe networks play a key role in surface drainage systems for urban areas of Australia. The pipe networks are designed to convey water from rainfall and surface runoff only and do not transport sewage. The deterioration of stormwater pipes is commonly graded into structural and serviceability condition using CCTV inspection data in order to recognize two different deterioration processes and consequences. This study investigated the application of neural networks modelling (NNM) in predicting serviceability deterioration that is associated with reductions of pipe diameter until a complete blockage. The outcomes of the NNM are predictive serviceability condition for individual pipes, which is essential for planning proactive maintenance programs, and ranking of pipe factors that potentially contribute to the serviceability deterioration. In this study the Bayesian weight estimation using Markov Chain Monte Carlo simulation was used for calibrating the NNM on a case study in order to account for the uncertainty often encountered in NNM's calibration using conventional back-propagation weight estimation. The performance and the ranked factors obtained from the NNM were also compared against a classical model using multiple discrimination analysis (MDA). The results showed that the predictive performance of the NNM using Bayesian weight estimation is better than that of the NNM using conventional backpropagation and MDA model. Furthermore, among nine input factors, ‘pipe age’ and ‘location’ appeared insignificant whilst ‘pipe size’, ‘slope’, ‘the number of trees’ and ‘climatic condition’ were found consistently important over both models for serviceability deterioration process. The remaining three factors namely, ‘structure’, ‘soil’ and ‘buried depth’ might be redundant factors. A better and more consistent data collection regime may help to improve the predictive performance of the NNM and identify the significant factors.     

Binary Decision Diagrams and neural networks

This paper describes a neural network approach that gives an estimation method for the space complexity of Binary Decision Diagrams (BDDs). A model has been developed to predict the complexity of digital circuits. The formal core of the developed neural network model (NNM) is a unique matrix for the complexity estimation over a set of BDDs derived from Boolean logic expressions with a given number of variables and Sum of Products (SOP) terms. Experimental results show good correlation between the theoretical results and those predicted by the NNM, which will give insights to the complexity of Very Large Scale Integration (VLSI)/Computer Aided Design (CAD) designs. The proposed model is capable of predicting the maximum BDD complexity (MaxBC) and the number of product terms (NPT) in the Boolean function that corresponds to the minimum BDD complexity (MinBC). This model provides an alternative way to predict the complexity of digital VLSI circuits.

基于区域内容感知核范数的低剂量CT影像去噪

针对传统基于核范数最小化（NNM）的低秩约束模型在低剂量CT（LDCT）影像去噪中易造成局部纹理细节丢失的问题,提出一种具有区域内容感知能力的加权NNM的LDCT影像去噪算法。首先采用基于奇异值分解（SVD）的方法估计LDCT影像中的局部噪声强度;然后采用基于局部统计特性的方法进行目标影像块匹配;最后根据影像局部噪声强度以及不同奇异值水平自适应设置核范数权重,以实现基于加权NNM的LDCT影像去噪。仿真实验结果表明,所提算法在均方根误差（RMSE）指标上较传统NNM算法、全变分最小化算法以及变换学习算法分别降低30.11%、14.38%和8.75%,在结构相似度（SSIM）指标上较上述3种算法分别提高34.24%、23.06%和11.52%。真实临床数据实验结果表明,所提算法处理结果的放射医生评价平均分为8.94,与常规剂量CT影像的评价平均分数仅差0.21,显著高于传统NNM算法、全变分最小化算法和变换学习算法的平均分。仿真及真实临床数据的实验结果表明,所提算法能够在滤除LDCT影像伪影噪声的同时,有效保持局部纹理细节信息。     

胜利油田IP企业网管系统的实现

针对胜利油田存在网络设备复杂、型号繁多、信息收集量大等问题，结合胜利油田企业精细化管理、统计上网数等需求，利用HP OpenView NNM网络管理软件，提出了集中控制的全管模式，经过试验和运行，成功地管理了油田的两万多的网络设备。     

Applicability of feed-forward and recurrent neural networks to Boolean function complexity modeling

In this paper, we present the feed-forward neural network (FFNN) and recurrent neural network (RNN) models for predicting Boolean function complexity (BFC). In order to acquire the training data for the neural networks (NNs), we conducted experiments for a large number of randomly generated single output Boolean functions (BFs) and derived the simulated graphs for number of min-terms against the BFC for different number of variables. For NN model (NNM) development, we looked at three data transformation techniques for pre-processing the NN-training and validation data. The trained NNMs are used for complexity estimation for the Boolean logic expressions with a given number of variables and sum of products (SOP) terms. Both FFNNs and RNNs were evaluated against the ISCAS benchmark results. Our FFNNs and RNNs were able to predict the BFC with correlations of 0.811 and 0.629 with the benchmark results, respectively.     

Proteomics reveals acute pro-inflammatory and protective responses in rat Kupffer cells and hepatocytes after chemical initiation of liver cancer and after LPS and IL-6

Inflammation is a key event in the development of liver cancer. We studied early inflammatory responses of Kupffer cells (KCs) and hepatocyte (HC) after cancer initiation. The chemical carcinogen N-nitrosomorpholine (NNM) was used in a rat model. We applied a comprehensive analytical strategy including metabolic labeling, 2-D PAGE, LC-MS/MS-based spot identification and shotgun proteomics and thus determined the rates of synthesis of individual proteins, compared whole tissue with isolated constituent cells and performed in vivo to in vitro comparisons of NNM effects. NNM increased synthesis of overall and 138 individual proteins identified in HC and/or KC, indicating reprogramming of metabolism favoring protection, repair and replacement of cell constituents in HC and KC. Secretome analysis by 2-D PAGE and shotgun proteomics of HC revealed the induction of acute phase proteins, in case of KC of proteases, cytokines and chemokines, indicating inflammatory effects. All responses were induced rapidly, independently of signals from other cells, and closely mimicked the pro-inflammatory and protective effects of inflammation modulators LPS in KC and IL-6 in HC. In conclusion, the carcinogen NNM exerts pro-inflammatory effects in the liver, partially by direct activation of KC. The acute inflammation and its protective component will enhance formation, survival and proliferation of initiated cells and may therefore act synergistically with the genotoxic action of the carcinogen.     

A new paradigm for analysis of MPEG compressed videos

The increasing use of multimedia streams nowadays necessitates the development of efficient and effective methodologies for manipulating databases storing these streams. Moreover, content-based access to multimedia databases requires in its first stage to parse the video stream into separate shots then apply a method to summarize the huge amount of data involved in each shot. This work proposes a new paradigm capable of robustly and effectively analyzing the compressed MPEG video data. First, an abstract representation of the compressed MPEG video stream is extracted and used as input to a neural network module (NNM) that performs the shot detection task. Second, we propose two adaptive algorithms to effectively select key frames from segmented video shots produced by the segmentation stage. Both algorithms apply a two-level adaptation mechanism in which the first level is based on the dimension of the input video file while the second level is performed on a shot-by-shot basis in order to account for the fact that different shots have different levels of activity. Experimental results show the efficiency and robustness of the proposed system in detecting shot boundaries and flashlights occurring within shots and in selecting the near optimal set of key frames (KFs) required to represent each shot.