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An Initial Perturbation Method for the Multiscale Singular Vector in Global Ensemble Prediction 被引量:1
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作者 Xin LIU Jing CHEN +6 位作者 Yongzhu LIU Zhenhua HUO Zhizhen XU Fajing CHEN Jing WANG Yanan MA Yumeng HAN 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2024年第3期545-563,共19页
Ensemble prediction is widely used to represent the uncertainty of single deterministic Numerical Weather Prediction(NWP) caused by errors in initial conditions(ICs). The traditional Singular Vector(SV) initial pertur... Ensemble prediction is widely used to represent the uncertainty of single deterministic Numerical Weather Prediction(NWP) caused by errors in initial conditions(ICs). The traditional Singular Vector(SV) initial perturbation method tends only to capture synoptic scale initial uncertainty rather than mesoscale uncertainty in global ensemble prediction. To address this issue, a multiscale SV initial perturbation method based on the China Meteorological Administration Global Ensemble Prediction System(CMA-GEPS) is proposed to quantify multiscale initial uncertainty. The multiscale SV initial perturbation approach entails calculating multiscale SVs at different resolutions with multiple linearized physical processes to capture fast-growing perturbations from mesoscale to synoptic scale in target areas and combining these SVs by using a Gaussian sampling method with amplitude coefficients to generate initial perturbations. Following that, the energy norm,energy spectrum, and structure of multiscale SVs and their impact on GEPS are analyzed based on a batch experiment in different seasons. The results show that the multiscale SV initial perturbations can possess more energy and capture more mesoscale uncertainties than the traditional single-SV method. Meanwhile, multiscale SV initial perturbations can reflect the strongest dynamical instability in target areas. Their performances in global ensemble prediction when compared to single-scale SVs are shown to(i) improve the relationship between the ensemble spread and the root-mean-square error and(ii) provide a better probability forecast skill for atmospheric circulation during the late forecast period and for short-to medium-range precipitation. This study provides scientific evidence and application foundations for the design and development of a multiscale SV initial perturbation method for the GEPS. 展开更多
关键词 multiscale uncertainty singular vector initial perturbation global ensemble prediction system
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Application and Characteristic Analysis of the Moist Singular Vector in GRAPES-GEPS 被引量:3
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作者 Jing WANG Bin WANG +3 位作者 Juanjuan LIU Yongzhu LIU Jing CHEN Zhenhua HUO 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2020年第11期1164-1178,共15页
The singular vector(SV)initial perturbation method can capture the fastest-growing initial perturbation in a tangent linear model(TLM).Based on the global tangent linear and adjoint model of GRAPES-GEPS(Global/Regiona... The singular vector(SV)initial perturbation method can capture the fastest-growing initial perturbation in a tangent linear model(TLM).Based on the global tangent linear and adjoint model of GRAPES-GEPS(Global/Regional Assimilation and Prediction System-Global Ensemble Prediction System),some experiments were carried out to analyze the structure of the moist SVs from the perspectives of the energy norm,energy spectrum,and vertical structure.The conclusions are as follows:The evolution of the SVs is synchronous with that of the atmospheric circulation,which is flowdependent.The moist and dry SVs are located in unstable regions at mid-to-high latitudes,but the moist SVs are wider,can contain more small-and medium-scale information,and have more energy than the dry SVs.From the energy spectrum analysis,the energy growth caused by the moist SVs is reflected in the relatively small-scale weather system.In addition,moist SVs can generate perturbations associated with large-scale condensation and precipitation,which is not true for dry SVs.For the ensemble forecasts,the average anomaly correlation coefficient of large-scale circulation is better for the forecast based on moist SVs in the Northern Hemisphere,and the low-level variables forecasted by the moist SVs are also improved,especially in the first 72 h.In addition,the moist SVs respond better to short-term precipitation according to statistical precipitation scores based on 10 cases.The inclusion of the large-scale condensation process in the calculation of SVs can improve the short-term weather prediction effectively. 展开更多
关键词 moist singular vector GRAPES-GEPS adjoint model ensemble prediction
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Characteristics and Nonlinear Growth of the Singular Vector Related to a Heavy Rainfall Case over the Korean Peninsula 被引量:2
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作者 Yonghan CHOI Joowan KIM Dong-Kyou LEE 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2012年第1期10-28,共19页
In this study, singular vectors related to a heavy rainfall case over the Korean Peninsula were calculated using the fifth-generation Pennsylvania State University-National Center for Atmospheric Research Mesoscale Mo... In this study, singular vectors related to a heavy rainfall case over the Korean Peninsula were calculated using the fifth-generation Pennsylvania State University-National Center for Atmospheric Research Mesoscale Model (MM5) adjoint modeling system. Tangent linear and adjoint models include moist physical processes, and a moist basic state and a moist total energy norm were used for the singular-vector calculations. The characteristics and nonlinear growth of the first singular vector were analyzed, focusing on the relationship between the basic state and the singular vector. The horizontal distribution of the initial singular vector was closely related to the baroclinicity index and the moisture availability of the basic state. The temperature-component energy at a lower level was dominant at the initial time, and the kinetic energy at upper levels became dominant at the final time in the energy profile of the singular vector. The nonlinear growth of the singular vector appropriately reflects the temporal variations in the basic state. The moisture-component energy at lower levels was dominant at earlier times, indicating continuous moisture transport in the basic state. There were a large amount of precipitation and corresponding latent heat release after that period because the continuous moisture transport created favorable conditions for both convective and nonconvective precipitation. The vertical propagation of the singular-vector energy was caused by precipitation and the corresponding latent heating in the basic state. 展开更多
关键词 singular vector nonlinear growth heavy rainfall MM5 adjoint modeling system
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Differential Equations and Singular Vectors in Verma Modules over sl(n,C) 被引量:1
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作者 Wei XIAO 《Acta Mathematica Sinica,English Series》 SCIE CSCD 2015年第7期1057-1066,共10页
Xu introduced a system of partial differential equations to investigate singular vectors in the Verma module of highest weight λ, over sl(n,C). He gave a differential-operator representation of the symmetric group ... Xu introduced a system of partial differential equations to investigate singular vectors in the Verma module of highest weight λ, over sl(n,C). He gave a differential-operator representation of the symmetric group Sn on the corresponding space of truncated power series and proved that the solution space of the system is spanned by {σ(1)| σ ∈ Sn}. It is known that Sn is also the Weyl group of sl(n, C) and generated by all reflections sα with positive roots α. We present an explicit formula of the solution sα(1) for every positive root α and show directly that sα(1) is a polynomial if and only if (λ+p, α) is a nonnegative integer. From this, we can recover a formula of singular vectors given by Malikov et al.. 展开更多
关键词 Verma modules singular vector differential equation truncated power series
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Nondegeneracy of eigenvectors and singular vector tuples of tensors
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作者 Shenglong Hu 《Science China Mathematics》 SCIE CSCD 2022年第12期2483-2492,共10页
In this article, nondegeneracy of singular vector tuples, Z-eigenvectors and eigenvectors of tensors is studied, which have found many applications in diverse areas. The main results are:(ⅰ)each(Z-)eigenvector/singul... In this article, nondegeneracy of singular vector tuples, Z-eigenvectors and eigenvectors of tensors is studied, which have found many applications in diverse areas. The main results are:(ⅰ)each(Z-)eigenvector/singular vector tuple of a generic tensor is nondegenerate, and(ⅱ) each nonzero Zeigenvector/singular vector tuple of an orthogonally decomposable tensor is nondegenerate. 展开更多
关键词 tensor singular vector tuple EIGENvector Z-eigenvector NONDEGENERACY generic
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The Optimized Short-Range Ensemble Forecast Based on Singular Vector Calculations
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作者 钟科 王业桂 +3 位作者 马环宇 董佩明 蔡其发 康建伟 《Acta meteorologica Sinica》 SCIE 2010年第3期307-317,共11页
In ensemble forecast,by summing up ensemble members,filtering the uncertainty,and retaining the common component,the ensemble mean with a better result can be achieved.However,the filtering works only when the initial... In ensemble forecast,by summing up ensemble members,filtering the uncertainty,and retaining the common component,the ensemble mean with a better result can be achieved.However,the filtering works only when the initial perturbation develops nonlinearly.If the initial perturbation propagates in a linear space,the positive and negative members will counteract,leading to little difference between ensemble mean and control forecast and finally insignificant ensemble result.In 1-2-day ensemble forecast,based on singular vector(SV) calculations,to avoid this insignificance,the counteracting members originated from the same SV are advised not to put into the ensemble system together;the only candidate should be the one with the better forecast.Based on the ingredient analysis of initial perturbation development,a method to select ensemble members is presented in this paper,which can fulfill the above requirement.The regional model MM5V1 of NCAR/PSU(National Center for Atmosphere Research/Pennsylvania State University) and its corresponding tangent adjoint model are used.The ensemble spread and forecast errors are calculated with dry energy norm.Two mesoscale lows on the Meiyu front along the Yangtze River are examined.According to the analysis of the perturbation ingredient,among couples of counteracting members from different SVs, those members performing better always have smaller or greater spread compared with other members. Following this thinking,an optimized ensemble and an inferior ensemble are identified.The ensemble mean of the optimized ensemble is more accurate than that of the inferior ensemble,and the former also performs better than the traditional ensemble with positive and negative members simultaneously.As for growth of the initial perturbation,those initial perturbations originated from the summed SVs grow more quickly than those from the single SV,and they enlarge the range of spread of the ensemble effectively,thus leading to better performance of ensemble members. 展开更多
关键词 ensemble forecast ensemble spread singular vector(SV)
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Differential-operator representations of Weyl group and singular vectors in Verma modules
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作者 Wei Xiao 《Science China Mathematics》 SCIE CSCD 2018年第6期1013-1038,共26页
Given a suitable ordering of the positive root system associated with a semisimple Lie algebra,there exists a natural correspondence between Verma modules and related polynomial algebras. With this, the Lie algebra ac... Given a suitable ordering of the positive root system associated with a semisimple Lie algebra,there exists a natural correspondence between Verma modules and related polynomial algebras. With this, the Lie algebra action on a Verma module can be interpreted as a differential operator action on polynomials, and thus on the corresponding truncated formal power series. We prove that the space of truncated formal power series gives a differential-operator representation of the Weyl group W. We also introduce a system of partial differential equations to investigate singular vectors in the Verma module. It is shown that the solution space of the system in the space of truncated formal power series is the span of {w(1) | w ∈ W }. Those w(1) that are polynomials correspond to singular vectors in the Verma module. This elementary approach by partial differential equations also gives a new proof of the well-known BGG-Verma theorem. 展开更多
关键词 Verma module singular vector differential equation differential operator Weyl group
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Nonlinear singular vectors and nonlinear singular values 被引量:37
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作者 穆穆 《Science China Earth Sciences》 SCIE EI CAS 2000年第4期375-385,共11页
A novel concept of nonlinear singular vector and nonlinear singular value is introduced, which is a natural generalization of the classical linear singular vector and linear singular value to the nonlinear category. T... A novel concept of nonlinear singular vector and nonlinear singular value is introduced, which is a natural generalization of the classical linear singular vector and linear singular value to the nonlinear category. The optimization problem related to the determination of nonlinear singular vectors and singular values is formulated. The general idea of this approach is demonstrated by a simple two-dimensional quasigeostrophic model in the atmospheric and oceanic sciences. The advantage and its applications of the new method to the predictability, ensemble forecast and finite-time nonlinear instability are discussed. This paper makes a necessary preparation for further theoretical and numerical investigations. 展开更多
关键词 singular vector singular value NONLINEAR PREDICTABILITY ENSEMBLE forecast.
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DIAGONALIZATION METHOD FOR A SINGULARLY PERTURBED VECTOR ROBIN PROBLEM
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作者 倪守平 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 1989年第4期329-336,共8页
In this paper the method and technique of the diagonalization are employed to transform a vector second-order nonlinear system into two first-order approximate diagonalized systems. The existence and the asymptotic be... In this paper the method and technique of the diagonalization are employed to transform a vector second-order nonlinear system into two first-order approximate diagonalized systems. The existence and the asymptotic behavior of the solutions are obtained for a vector second-order nonlinear Robin problem of singular perturbation type. 展开更多
关键词 DIAGONALIZATION METHOD FOR A singularLY PERTURBED vector ROBIN PROBLEM
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基于改进i-vector的说话人感知训练方法研究
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作者 梁玉龙 屈丹 邱泽宇 《计算机工程》 CAS CSCD 北大核心 2018年第5期262-267,共6页
基于辨识向量(i-vector)的说话人感知训练方法使用MFCC作为输入特征对i-vector进行提取,但MFCC较差的特征鲁棒性会影响该训练方法的识别性能。为此,提出一种基于改进i-vector的说话人感知训练方法。设计基于SVD的低维特征提取方法,用其... 基于辨识向量(i-vector)的说话人感知训练方法使用MFCC作为输入特征对i-vector进行提取,但MFCC较差的特征鲁棒性会影响该训练方法的识别性能。为此,提出一种基于改进i-vector的说话人感知训练方法。设计基于SVD的低维特征提取方法,用其提取的特征替代MFCC对表征能力更优的i-vector进行提取。实验结果表明,在捷克语语料库中,相对于DNN-HMM语音识别系统与原始基于i-vector的说话人感知训练方法,该方法的识别性能分别提升了1.62%与1.52%,在WSJ语料库中,该方法识别性能分别提升了3.9%和1.48%。 展开更多
关键词 说话人感知训练 辨识向量 深度神经网络 奇异值矩阵分解 瓶颈特征
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THE INTERIOR LAYER PHENOMENA FOR A CLASS OF SINGULARLY PERTURBED DELAY-DIFFERENTIAL EQUATIONS
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作者 汪娜 倪明康 《Acta Mathematica Scientia》 SCIE CSCD 2013年第2期532-542,共11页
In this article, we study a kind of vector singularly perturbed delay-amerenum equation. Using boundary layer function method and geometric analysis skill, the asymptotic expression of the system is constructed and th... In this article, we study a kind of vector singularly perturbed delay-amerenum equation. Using boundary layer function method and geometric analysis skill, the asymptotic expression of the system is constructed and the uniform validity of asymptotic solution is also proved. 展开更多
关键词 vector singular perturbation DELAY interior layer
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SVD-MPE: An SVD-Based Vector Extrapolation Method of Polynomial Type 被引量:1
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作者 Avram Sidi 《Applied Mathematics》 2016年第11期1260-1278,共20页
An important problem that arises in different areas of science and engineering is that of computing the limits of sequences of vectors , where , N being very large. Such sequences arise, for example, in the solution o... An important problem that arises in different areas of science and engineering is that of computing the limits of sequences of vectors , where , N being very large. Such sequences arise, for example, in the solution of systems of linear or nonlinear equations by fixed-point iterative methods, and are simply the required solutions. In most cases of interest, however, these sequences converge to their limits extremely slowly. One practical way to make the sequences converge more quickly is to apply to them vector extrapolation methods. Two types of methods exist in the literature: polynomial type methods and epsilon algorithms. In most applications, the polynomial type methods have proved to be superior convergence accelerators. Three polynomial type methods are known, and these are the minimal polynomial extrapolation (MPE), the reduced rank extrapolation (RRE), and the modified minimal polynomial extrapolation (MMPE). In this work, we develop yet another polynomial type method, which is based on the singular value decomposition, as well as the ideas that lead to MPE. We denote this new method by SVD-MPE. We also design a numerically stable algorithm for its implementation, whose computational cost and storage requirements are minimal. Finally, we illustrate the use of SVD-MPE with numerical examples. 展开更多
关键词 vector Extrapolation Minimal Polynomial Extrapolation singular Value Decomposition Krylov Subspace Methods
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布劳威尔关于向量分布的研究
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作者 刘丹丹 王昌 《内蒙古师范大学学报(自然科学版)》 CAS 2024年第4期350-355,361,共7页
布劳威尔通过将球面不动点定理和向量场联系起来,推动了布劳威尔不动点定理的产生,也促进了代数拓扑学的发展。基于相关原始文献,围绕布劳威尔关于向量分布的研究,分析布劳威尔对庞加莱指数工作的推广,及其对二维布劳威尔不动点定理新... 布劳威尔通过将球面不动点定理和向量场联系起来,推动了布劳威尔不动点定理的产生,也促进了代数拓扑学的发展。基于相关原始文献,围绕布劳威尔关于向量分布的研究,分析布劳威尔对庞加莱指数工作的推广,及其对二维布劳威尔不动点定理新证明方法的思想演变过程,以期厘清布劳威尔将庞加莱的指数工作应用于一般连续向量分布的过程,及二维不动点定理新证明的具体思想。 展开更多
关键词 布劳威尔 庞加莱 向量分布 球面不动点定理 向量场奇点
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加权观点下分歧问题的Σ-C^(0)-BD决定性
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作者 刘苏卉 刘恒兴 《东北师大学报(自然科学版)》 CAS 北大核心 2024年第4期26-34,共9页
利用奇点理论方法讨论了加权观点下的分歧问题,提出了带有非孤立分歧点的分歧问题的Σ-C^(0)-BD等价关系,给出了分歧问题在Σ-C^(0)-BD等价下分歧问题的Σ-C^(0)-BD有限决定的一个解析几何的非退化判别条件,推广了已有结果.
关键词 Σ-[C^(r)]-BD等价 加权Σ-C^(0)-BD有限决定 奇异黎曼度量 向量场
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基于GNSS监测的SSA-SVR模型边坡变形预测 被引量:2
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作者 任文辉 杨晓华 +2 位作者 冯永年 杨玲 魏静 《安全与环境工程》 CAS CSCD 北大核心 2024年第3期160-169,共10页
针对GNSS监测数据的非平稳性和其存在的噪声会影响边坡安全变形预测的问题,以吴华高速公路超深路堑边坡为例,提出了基于平滑先验分解(SPA)和奇异值分解(SVD)消噪的麻雀搜索算法(SSA)优化支持向量机回归(SVR)的边坡变形预测模型(SPA-SVD-... 针对GNSS监测数据的非平稳性和其存在的噪声会影响边坡安全变形预测的问题,以吴华高速公路超深路堑边坡为例,提出了基于平滑先验分解(SPA)和奇异值分解(SVD)消噪的麻雀搜索算法(SSA)优化支持向量机回归(SVR)的边坡变形预测模型(SPA-SVD-SSA-SVR模型),并对比分析了分解和消噪两种数据处理方式对边坡变形预测结果的影响。结果表明:该高边坡处于安全状态,整体变形较小,经SSA优化后的SVR模型(SSA-SVR模型)的预测效果较好,相较于传统SVR模型,其对监测点G1预测结果的MSE、MAE分别减小8.68%、3.82%,对监测点G2预测结果的MSE、MAE分别减小11.60%、3.26%;SPA分解和SVD消噪均可以减小GNSS监测数据的非平稳性和噪声对预测精度的影响,但单分解处理比单消噪处理的预测精度高,整合分解和消噪两种预处理的SPA-SVD-SSA-SVR模型预测效果更好,其对监测点G1预测结果的MSE、MAE分别减小31.06%、19.59%,对监测点G2预测结果的MSE、MAE分别减小28.59%、15.03%。研究结果为边坡变形监测数据的处理与边坡安全变形预测提供了新思路。 展开更多
关键词 边坡变形预测 平滑先验分解 奇异值分解 麻雀搜索算法 支持向量机回归
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基于模型预测控制的无人机对海面小型目标的隐蔽跟踪
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作者 李佳航 田景志 +2 位作者 吕跃勇 张泽旭 郑重 《海军航空大学学报》 2024年第6期737-744,共8页
针对具备对空探测防卫能力的海面小型机动目标的跟踪问题,提出了一种基于非线性模型预测控制的隐蔽跟踪方法。首先,搭建了无人机和海面小型机动目标的运动学模型,并对海面小型目标携带的无人机探测装备进行了能力分析;其次,根据海面小... 针对具备对空探测防卫能力的海面小型机动目标的跟踪问题,提出了一种基于非线性模型预测控制的隐蔽跟踪方法。首先,搭建了无人机和海面小型机动目标的运动学模型,并对海面小型目标携带的无人机探测装备进行了能力分析;其次,根据海面小型目标携带的探测装备的性能参数,设计出一条隐蔽的期望包围跟踪轨迹,并以此建立相应的无奇点导航向量场;最后,设计非线性模型预测控制器,以跟踪导航向量场给出的期望速度信号,实现单架无人机对非协同海上运动目标的隐蔽跟踪。仿真结果表明,使用非线性模型预测控制器,能在保证较好的控制精度下,显著减少无人机的能量消耗,增加控制器输出的平滑性。 展开更多
关键词 无人机隐蔽跟踪 海面小型机动目标 无奇点导航向量场 非线性模型预测控制
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基于改进广义线性组合的稳健波束形成算法 被引量:1
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作者 张远驰 胡进 +1 位作者 陈宇 何冠良 《舰船科学技术》 北大核心 2024年第18期122-127,共6页
针对传统波束形成算法在导向矢量失配和协方差矩阵估计存在误差情况下,出现波束形成性能下降的问题,提出一种基于改进广义线性组合的自适应稳健波束形成算法。该算法首先对接收信号作奇异谱分解进行降噪,然后构造与接收信号快拍数相关... 针对传统波束形成算法在导向矢量失配和协方差矩阵估计存在误差情况下,出现波束形成性能下降的问题,提出一种基于改进广义线性组合的自适应稳健波束形成算法。该算法首先对接收信号作奇异谱分解进行降噪,然后构造与接收信号快拍数相关的对角加载系数函数,结合降噪处理后的数据构造广义对角加载协方差矩阵,最后基于空域积分和子空间投影思想,估计期望信号的实际导向矢量,并结合新生成协方差矩阵进行波束形成。仿真分析结果表明,在存在期望信号角度估计失准导致导向矢量失配,以及样本数较少造成协方差矩阵估计存在误差时,所提算法能保持较好的输出信干噪比,验证了该算法的稳健性。 展开更多
关键词 稳健波束形成 广义线性组合 对角加载 奇异谱分析 导向矢量估计
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基于扰动观测器的永磁同步电机非奇异终端滑模控制 被引量:1
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作者 郭益武 于惠钧 +1 位作者 黄刚 蒋新春 《船电技术》 2024年第4期70-74,78,共6页
针对传统滑模控制中系统误差收敛速度缓慢以及系统固有抖振问题,采用一种自适应幂指数趋近律的非奇异终端滑模控制方法设计速度环控制器,在避免奇异现象的基础上实现系统误差快速收敛,提高了趋近速度并有效改善系统抖振问题。仿真结果... 针对传统滑模控制中系统误差收敛速度缓慢以及系统固有抖振问题,采用一种自适应幂指数趋近律的非奇异终端滑模控制方法设计速度环控制器,在避免奇异现象的基础上实现系统误差快速收敛,提高了趋近速度并有效改善系统抖振问题。仿真结果表明基于滑模扰动观测器下非奇异终端滑模的控制策略有效提高了永磁同步电机控制系统的动态响应能力和鲁棒性。 展开更多
关键词 永磁同步电机 非奇异终端滑模 前馈补偿 扰动观测器
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基于大数据挖掘的光通信微弱信号检测研究
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作者 董妮娅 林毅 《激光杂志》 CAS 北大核心 2024年第3期204-208,共5页
以高效、准确检测噪声淹没下光通信微弱信号为目的,设计基于大数据挖掘的光通信微弱信号检测方法。通过基于改进EMD与奇异值分解全面去除光通信信号中噪声分量,经灰狼算法寻优设置支持向量机参数后,由支持向量机模型构建信号分类超平面... 以高效、准确检测噪声淹没下光通信微弱信号为目的,设计基于大数据挖掘的光通信微弱信号检测方法。通过基于改进EMD与奇异值分解全面去除光通信信号中噪声分量,经灰狼算法寻优设置支持向量机参数后,由支持向量机模型构建信号分类超平面,分类检测样本中微弱信号。实验结果表明:光通信信号经所提方法去噪后,信号信噪比变小,最大值仅有0.01 dB;所提方法所检测的微弱信号波动幅值,与微弱信号实际幅值高度匹配,误差不超过1%,可100%检测出噪声淹没下光通信微弱信号的样本。 展开更多
关键词 大数据挖掘 光通信 微弱信号 改进EMD算法 奇异值分解 支持向量机
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新型3PRPaR并联机器人的设计与多目标优化
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作者 张发海 李丽红 朱磊 《机械设计与制造工程》 2024年第2期49-54,共6页
设计一种三平移3PRPaR并联机器人机构。根据方位特征集证明机构输出特性,采用矢量法推导出位置逆解,根据运动轨迹仿真验证运动学模型正确性,分析机构奇异存在条件,并分别对工作空间与全局灵巧度等性能进行分析,以全域性能指标、可达工... 设计一种三平移3PRPaR并联机器人机构。根据方位特征集证明机构输出特性,采用矢量法推导出位置逆解,根据运动轨迹仿真验证运动学模型正确性,分析机构奇异存在条件,并分别对工作空间与全局灵巧度等性能进行分析,以全域性能指标、可达工作空间指标、全域波动性能指标作为优化模型,采用NSGA-Ⅱ优化算法对3个目标函数进行多目标优化。研究表明,3PRPaR并联机器人具有较好的综合性能。 展开更多
关键词 并联机器人 方位特征集 矢量法 奇异性 多目标优化
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