ID 原文 译文
39866 机器人运动仿真试验结果表明，机器人实际运动路径和仿真规划路径基本相同，该系统动态响应性和控制系统同步性较好。 The robot motion simulation results show that the actual motion path of the robot is basically the same as the simulation planning path, and the hardware-in-the-loop simulation system has good dynamic response and control system synchronization.
39867 针对智能车辆的避障跟踪控制问题，设计一种模型预测控制器。 Aiming at the obstacle avoidance and path tracking control of intelligent vehicle, a model predictive controller(MPC) is designed.
39868 该控制器采用分层结构，上层基于非线性车辆点质量模型在避障时进行局部路径规划，下层基于单轨车辆动力学模型实现路径跟踪。 A layered structure is used in the controller.The high-level layer carries out the local path planning based on non-linear vehicle point mass model and the low-level layer realizes the path tracking based on monorail vehicle dynamics model.
39869 通过Carsim和Matlab联合仿真，利用粒子群算法在线优化控制器参数，以不同的速度测试控制器性能， Through the joint simulation of Carsim and Matlab software, the controller parameters are optimized on-line by using Particle Swarm Optimization, and the performance of the controller is tested at different speeds.
39870 仿真结果表明：控制器具有良好的鲁棒性和实时性，跟踪误差较小，在单个和多个障碍物情况下，通过分层控制均实现了平稳避障并重新跟踪上原路径，表明控制器准确性高。 Simulation results show that the controller has good robustness, real-time performance and small tracking error.In the case of single and multiple obstacles, the hierarchical controller could avoid obstacles smoothly and re-track the original path in high accuracy.
39871 针对故障注入仿真的数据复杂、细节特征多，导致单一指标可信度评估和专家目测评估方法难以得到准确的评估结果和评估专家按照AHP方法给出的是区间互补判断矩阵，导致可信度指标的权重难以确定的问题。 Aiming at the complexity and large number feature details of the data of fault injection simulation which lead to the difficulty for the single indicators or expert visual assessment methods to obtain the accurate assessment results, and the evaluation expert giving the interval complementary judgment matrix on the basis of AHP method which lead to the difficulty for the weights of credibility indicators to be determined,
39872 提出了一种基于特征选择验证FSV(Feature Selection Validation)的多指标综合可信度评估模型，通过FSV方法计算可信度指标的定量或定性的可信度值； a multi-indicator comprehensive credibility assessment model based on Feature Selection Verification(FSV) is proposed.It can calculate the quantitative credibility values and the qualitative credibility values of the credibility indicators.
39873 定义了区间数的模糊度和相离度，构建了多目标优化模型计算可信度指标的权重。 In order to calculate the weights of credibility indicators, the concepts of interval ambiguity and interval deviation are defined, and a multi-objective optimization model is constructed.
39874 实例证明了方法的可行性和有效性。 The results show the feasibility and effectiveness of the method.
39875 针对标准粒子群优化算法初期收敛速度快，后期容易陷入早熟收敛，局部寻优，全局搜索能力差等缺点，提出了一种新的鱼群-粒子群优化算法(AF-PSO)。 In this paper, a novel artificial fish swarm particle swarm optimization algorithm(AF-PSO) is proposed corresponding to the shortcomings of the standard particle swarm algorithm including the fast convergence speed in the initial stage, the easiness to fall into premature convergence in the late, the local optimization and the poor ability to global search.