智能无人潜水器半实物仿真平台设计

为了验证无人潜水器系统的软件逻辑及智能控制系统的硬件体系、数据接口和可靠性,通过对其体系结构中的决策层进行实物仿真,对感知层和行为层进行功能性虚拟仿真来构建半实物仿真平台。详细阐述了该平台的硬件和软件体系结构,对虚拟仿真中的运动仿真、传感器仿真以及实物仿真中智能控制系统的设计做出了说明,进行了自主避障仿真试验和远距离航行仿真试验,该半实物仿真平台对实际海试具有重要的参考价值。

Abstract：

To verify the system software logic of a newly designed autonomous underwater vehicle and the hardware architecture,data interface and reliability of the intelligent control system,the semi physical simulation platform was established by combining physical simulation of decision layer with virtual simulation of perception and behavior layer.The hardware and software architecture of the simulation platform were explained in detail.The virtual simulations of motion,sensors and physical simulation of intelligent control system were described.Finally,the obstacle avoidance simulation and long voyage simulation tests were conducted,and the platform is important for the success of sea experiments.     

翼伞系统纵向动力学建模研究

动力翼伞是一种具有广泛应用价值的独特飞行器,其低速飞行和较大的载荷重量的特点可以使得它成为航空拍摄或军事侦察监视等应用的平台。通过建立简单适用的纵向动力学模型,可以对其速度、姿态等方面的稳定性进行相应的分析。通过推力来控制飞行器的爬升、下降或平飞,起到调整高度的作用。仿真结果表明通过合理的设计载荷与翼伞的质量比、连接绳的长度、翼伞质心与压心的相对位置等影响参数,可以得到较为理想的效果。

Abstract：

Powered parafoils represent a very unique class of aircraft which has broad applied value. Their slow flight and large payload characteristics make them a practical platform for applications such as aerial screen and military surveillance. The stability of speed and attitude was analyzed by designing a simple and applied longitudinal dynamic model. The climbing, descending or flying straight-and-level of the aircraft were controlled by thrust, which had an effect to adjust the altitude. The simulation results show an ideal purpose can be gained by designing the parameters such as the mass ratio of the payload and parafoil, the length of the link, and the relative position between the center of mass and center of pressure rationally.     

基于SimMechanics的两轮机器人建模与仿真

介绍了基于SimMechanics的两轮机器人机电控制系统建模与仿真研究的方法,建立了仿真模型并进行了运动控制仿真分析。利用MATLAB/Simulink强大的运算功能和SimMechanics提供的模块集,可以省略建立运动机构数学模型的推导过程,具有系统建模直观和仿真功能强大的特点,为机电控制系统的建模仿真提供一个方便的工具。

Abstract：

A method of modeling and simulation of Two Wheel Robot based on SimMechanics was discussed. The method takes advantage of the powerful computing function of MATLAB/Simulink and SimMechanics modeling block, It is a convenient and visual modeling tool in mechanical control system analysis and simulation.     

基于SPW的多元域LDPC码建模与仿真

SPW是进行通信系统建模与仿真的开发平台,具有非常强大的用户接口功能。多元域LDPC码是通信界研究的热点课题,较二进制LDPC码有更优的纠错性能。在研究多元域LDPC码编译码理论的基础上,介绍了SPW封装模块的步骤,开发了多元域LDPC码编译码模块,并将其嵌入SPW通信库。搭建了基于SPW的性能测试平台,在此基础上进行了计算机仿真。

Abstract：

SPW is a platform for modelling and simulation communication systems, and it has very strong function for user interface. Q-LDPC code is a hot point of channel coding technology which error-correcting performance exceeds B-LDPC code. Based on research of Q-LDPC code theory, the processes of model exploration based on SPW were introduced. Here the models of Q-LDPC encoding and decoding were designed, which was added to the communication library of SPW. A performance simulating platform of SPW was established. A simulation based on this model was proposed.     

基于虚拟集成技术的ESP硬件在环仿真

针对汽车电子稳定性控制系统的开发,提出了集成ADAMS/Car的整车虚拟样机、MATLAB/Simulink的虚拟控制器和LabVIEW的测控平台的汽车电子稳定性控制的硬件在环仿真方法（VCHIL）,阐述了该方法的实现原理,讨论了基于虚拟集成技术的硬件在环仿真系统的组成及其相互关系,并以此为向导,研制了汽车电子稳定程序（ESP）的硬件在环仿真实验平台,并进行了实验验证。

Abstract：

Aiming at the development of ESP system,hardware-in-loop simulation method based on virtual cross technology （VCHIL）,which combined virtual modal by ADAMS/CAR,virtual controller by MATLAB/Simulink and LabVIEW platform,was addressed.The realization principle of the method was introduced.The structure and relation between parts of hardware-in-loop simulation system based on virtual cross technology were discussed,and according to these,the hardware-in-loop simulation testing platform was developed.Test on this platform was performed and the results were analyzed and compared.     

面向方面的多智能体分布仿真平台设计优化

围绕大规模多智能体分布仿真平台的软件体系结构设计问题,提出软件设计的关注点空间模型,然后基于关注点设计—实现二元关系形式化描述横切关注点问题;使用面向方面建模方法对仿真平台中交错关注点进行分离;并对具体实现系统使用面向方面编程进行体系结构与代码优化。研究结果表明,方面的使用可以在不同关注点模块化中获得对系统软件系统结构设计的改良,且将使系统具有精简的代码,更少的设计和实现组件和组件间更低的耦合。

Abstract：

To deal with the software architecture problem of designing a large-scale distributed platform for multi-agent simulation, a concerns space model for software design was proposed. Then a binary relationship mapping from design concerns to implemented component was used to formalize the cross-cutting concerns relevant problem. With aspect-oriented modeling techniques, tangling concerns in the simulation platform were separated more explicitly. Finally, architecture and code optimization work was done on the implemented platform with aspect-oriented programming. Results show that the use of aspects allows the construction of target system with a significant improvement in the software architecture. Also, the use of aspects resulted in： fewer lines of code, fewer design and implementation components, and lower coupling between the components.     

一种线结构光视觉传感器手眼标定方法及仿真

研究线结构光视觉传感器安装于多关节测量臂平台上形成复合式测量系统的手眼精确标定,提出了将传感器测量坐标建于激光测量面,通过变姿态测量固定标定点的手眼标定方法。利用机器人运动构型与标定点在传感器的坐标,推导了手眼标定模型。设计标准球为标定靶标,提起球心为标定点。建立了标定仿真模型,基于机构仿真分析平台-InteMech设计了一套仿真试验,试验验证了方法的可行性与有效性。

Abstract：

Hand-eye calibration of the compound measuring system that line structure light visual sensor was mounted on multi-joints measuring arm was researched. A calibration method was proposed,which the measuring coordinate system set on laser plane,a fixed point was measured with sensor from different poses. The hand-eye calibration equation was deduced using robot kinematical parameters and the coordinates of the calibration point in measuring coordinate system. A standard ball was designed as calibration object. And the centre of the ball was the fixed calibration point. Computer simulation modal was discussed. Simulation example was designed in the simulation platform of mechanism analysis-InteMech. The experiments show the calibration method is effective and feasible.     

基于Extend与HLA的装备保障仿真集成研究

分析了Extend应用于装备保障仿真的不足,在讨论基于HLA的装备保障仿真系统的基础上,提出了Extend与HLA/RTI的四种仿真集成方式,依据Extend模型是否需要与HLA/RTI进行时间同步分别给出了集成方法,设计了基于适配器的Extend与HLA集成框架,详细说明了适配器的组成功能及工作流程,最后利用一个装备保障仿真系统应用实例证明了仿真集成的思路是可行的和必要的。

Abstract：

Because of the shortages of Extend software applied to equipment support simulation,four integration types between Extend and HLA were proposed about the building of equipment support simulation system based on HLA.According to whether Extend simulation model was synchronous to HLA/RTI on the mechanism of advance simulation time,the methods were respectively put forward to support these types,and an integration architecture between Extend and HLA was designed based on a general adaptor.The components and functions of this adaptor,and its running mechanism were detailedly analyzed later.Finally,an application of a simulation system proves that the idea to integrate the two platforms is feasible.     

基于组件的水面战视景仿真系统关键技术研究

为了更加生动逼真地体现水面战视景仿真中导弹发射、导弹命中、舰炮开火、雷达搜索、干扰弹展开等攻防对抗的细节,针对仿真系统设计、组件化建模、组件化模型驱动等关键技术进行深入研究。提出了多粒度建模与替代子模型法相结合的组件化建模方法,通过配置链表内存映射的方法对组件化模型进行动态加载。所设计的基于组件的水面战视景仿真系统作为某大型分布式水面战仿真系统一个联邦成员,通过HLA接口接收联邦中相应联邦成员如导弹、火炮、雷达、干扰系统等的数据,在三维视景中驱动组件化模型。

Abstract：

In order to reflect more vivid details of attack and defense of surface warfare scene simulation such as missile launch, missile hit, gun fire, radar search and decoy expand, several key technologies including system designing, component-based modeling, component-based model-driven were researched. A component-based modeling method was proposed which combined multi-granularity modeling and sub-model replace. This method could load component-based model dynamically by list configuring and memory mapping. The component-based surface warfare scene simulation system designed as a federate of a large distributed surface warfare simulation system federation could receive data of the corresponding federate such as missile, artillery, radar and jamming system, and then the component-based model in the 3D scene was driven.     

基于关节的虚拟场景建模及仿真方法

针对虚拟现实技术中场景生成及仿真问题提出了一种基于关节的虚拟场景建模及仿真方法。该方法将场景中实体的位置状态及其基元间的连接关系用统一的关节描述,通过建立场景连接图表述场景结构,在场景更新过程中采用关节驱动基元的方式。在此基础上,我们开发了通用的虚拟场景可视化软件平台,测试证明提出的方法可以有效地提高场景建模及仿真处理的效率。     

虚拟样机可视化仿真服务的研究与实现

为了实现虚拟样机仿真运行过程中可视化仿真资源的共享,将可视化技术与Web技术相结合,采用B/S架构和浏览器端显示技术,开发通用的可视化仿真功能模块以及相应的实时数据接口,实现了虚拟样机可视化仿真服务,使远程仿真用户能根据可视化仿真需求配置和请求可视化资源,定制二维地理信息显示/三维视景显示服务,从而在浏览器上快速创建虚拟样机二维/三维可视化仿真任务并实时运行,对可视化仿真服务的框架结构、关键技术及应用进行了相关研究和实现。     

基于MATRIXx的分布式仿真系统研究

论文主要讨论了基于MATRIXx的通用实时分布式系统的开发。系统能自动接受不同类型的数据输入，这些数据可以是来自网络或本地终端。仿真模块中的份真模型能自动地得到这些数据并进行分析，建模计算，并最终产生实时的仿真控制信息。这些信息可通过特别设计的服务器传送到视景驱动模块中。该模块可用这些控制信息来实时驱动三维真实的模型。为实现系统的功能，设计了相应的功能接口以集成整个系统。同时系统中设计了相关的数据输入，输出组件以保证数据传输的通用性。该系统的成果可用于飞机飞行作战，训练，汽车驾驭，轮船驾驭等行业中。     

基于ABMS的飞机拦截作战效能评估方法

研究了采用基于agent的建模与仿真(agent based modeling and simulation, ABMS)进行飞机拦截作战效能评估的方法。针对拦截作战的特点,提出了一种基于信息过程、以任务状态机为核心的agent模型结构。在此结构下,提出了信息域映射agent的概念以及基于此概念进行传感器探测与跟踪建模的方法,并给出了雷达探测与跟踪的通用模型。针对两类典型拦截作战情形进行了仿真和参数影响分析,验证了方法的合理性和有效性。分析结果表明,在单机作战、多机平台中心战和多机网络化作战3种不同作战模式下,飞机性能对效能的影响方式存在一定差异。     

基于UML通用性机载雷达仿真器系统建模与仿真

采用统一建模语言(unified modeling language,UML)提出了一种模块化、易扩展和通用性的机载雷达功能级仿真器体系结构,分为系统控制、天线、信号处理机和数据处理机共4个对象进行模块化设计,具备机载脉冲多普勒雷达和相控阵雷达的仿真能力。建立和分析了机载雷达仿真器系统的工作流程、目标检测、目标跟踪、误差分析和电磁对抗模型,并采用Visual C++语言对所建模型进行了仿真实现,仿真结果充分验证了模型的可行性和有效性,为机载雷达的功能验证和作战效能评估提供了平台和依据。     

基于Creator的飞行视景三维模型数据库优化技术

根据飞行视景仿真中三维建模的特点和要求,利用Creator强大的可视化建模功能和模型数据库优化技术,从调整模型数据库层级结构、减少模型复杂度和减小模型文件尺寸等几个方面着手,创建飞行视景仿真中所必需的飞机/导弹、座舱仪表和地形等典型对象的三维模型,在模型的复杂度和逼真度之间进行平衡,通过某飞行模拟训练系统软件开发中三维模型优化前后运行性能参数的对比,表明了优化建模的必要性和该建模技术在普通PC平台上支持飞行视景实时仿真的可行性.     

基于Web的船舶操纵训练系统研究

针对目前船舶操纵训练系统费用开支大、开发周期长、训练场地固定、训练人数和训练时间受限制的弱点,引入了Web仿真训练的理念,设计并实现了基于Web的船舶操纵训练原型系统,并对系统特征、体系结构、三维模型的建立与优化、系统交互等关键问题进行了研究。该系统依托Java构建体系结构开放、兼容能力强的Web三层体系模式的仿真应用,借助VRML营造交互、沉浸表现效果的虚拟船舶操纵训练环境,允许多用户随时随地的进行船舶操纵和决策等方面的学习和训练,从而为航海教育和培训提供了一种轻便灵活的学习平台。     

基于Agent建模的机载激光武器系统作战效能影响因素分析

为了研究机载激光武器的安装对轰炸机作战效能的影响，提出了基于功能组件的模块化作战仿真框架。采用基于Agent的建模与仿真方法,基于感知、通信、决策、运动、执行的功能对Agent模块进行划分,提出了基于功能组件的模块化作战仿真体系。在此模型框架下,设计机载激光武器系统、雷达系统、导弹等模块的状态机,并建立考虑相对位置变化的详细数学模型,以分析在战斗每一时刻影响作战效能的指标参数变化情况。最后通过对典型突防作战算例的仿真,研究了在动态作战过程中激光武器的发射镜直径和发射功率与目标表面光斑大小和能量密度随相对距离的变化关系,分析了在载机为高速小雷达散射截面积(radar cross section, RCS)和低速大RCS两种情况下,机载激光武器的发射镜直径和发射功率对轰炸机突防效能的影响。分析结果表明,提高机载激光武器的发射功率和发射镜直径对作战效能提升显著,尤其是在载机为低速大RCS的情况下对效能的提升非常显著。     

低成本飞行器可视化仿真系统的设计与开发

随着计算机技术的发展,可视化仿真已经逐渐成为了飞行器仿真领域的热点。以低成本硬件平台为出发点,结合我们近年的相关工作经验,介绍了飞行器可视化仿真系统的设计思想,并对系统开发中开发工具选择、飞行器实体的三维建模、场景管理及网络通信等关键问题进行了较深入讨论。     

可重构星球探测机器人的OpenGL仿真实验平台研究

采用基于Visual C 和OpenGL的建模和运动仿真方法，对可重构星球探测机器人系统的三维运动仿真实验平台进行了研究，建立了一个多机器人系统的仿真实验平台。开发的实验平台可用于探索和验证机器人系统的工作原理、工作空间、多机器人协调算法、重构方法、系统集成技术等。在该平台上进行了机器人的运动学仿真和协调运动研究，验证了该仿真平台的有效性和机器人系统体系结构的合理性。