Divisional and hierarchical innervations of G. gecko’s toes to motion and reception

As a member of robot families, climbing robots have become one of the research hot-spots in the robotic field recently and Gekko gecko （G. gecko） has been broadly seen as an ideal model for climbing robot development. But for gecko-mimic robots, one of the key problems is how to design the robot＇s foot. In this paper, （1） high-speed camera recording and electrophysiological method are used to observe motion patterns of G. gecko＇s foot when it climbs on different oriented surfaces; （2） nerve innervations of gecko＇s toes to motion and reception are studied. It is found that the five toes of the G. gecko can be divided into two motion and reception divisions, and also its motion and reception are modulated and controlled hierarchically. The results provide important information and exclusive ideas for the foot design and control algorithm of gecko-mimic robots.     

New computing method of weighted coefficients for tracking a maneuvering target using PDAF in the presence of clutter

To avoid or reduce the influence of unpredictable motion mode on data association, a new computing method of weighted coefficients of measurements for PDAF is presented in which it is assumed that the current turn rate of a maneuvering target changes within a limited range and its turn may be in arbitrary direction during data association. Thus, the predicted center for computing the weighted coefficients is a curved surface in 3-D space, which differs from the predicted center for setting up a validation gate, namely, a point in 3-D space. The distance between a measurement and the curved surface is used to compute its weighted coefficient. To reduce the computational complexity of weighted coefficients, the formulas for computing the maneuvering direction angle and turn rate corresponding to a measurement are presented. Simulation results show the proposed method reduces the percentage of lost tracks and improves the state estimation accuracy in tracking a maneuvering target using PDAF in the presence of clutter.     

Vertical handoff algorithm in heterogeneous networks to maximize system benefit

A new vertical handoff decision algorithm is proposed to maximize the system benefit in heterogeneous wireless networks which comprise cellular networks and wireless local area networks (WLANs). Firstly the block probability, the drop probability and the number of users in the heterogeneous networks are calculated in the channel-guard call admission method, and a function of the system benefit which is based on the new call arrival rate and the handoff call arrival rate is proposed. Then the optimal radius of WLAN is obtained by using simulation annealing (SA) method to maximize the benefit. All the nodes should handoff from cellular network to WLAN if they enter WLAN’s scope and handoff fromWLAN to cellular network if they leave the scope. Finally, the algorithm in different new call arrival rates and handoff call arrival rates is analyzed and results show that it can achieve good effects.     

江苏中部海岸互花米草盐沼底栖动物的组成特征

在江苏海岸,人工引种的互花米草正在成为盐沼植被的优势物种.为了了解互花米草引种对环境与生态的影响,调查了互花米草盐沼底栖动物的组成特征.在王港地区互花米草滩由西向东设置的4个站位上,进行了夏初和秋末两个时期的野外调查,采集了40个样方内可见的全部动物样本,记录了环境特征.在实验室鉴定了样本的种属,测量了动物介壳的长度.对所获数据的统计分析结果显示,本区互花米草盐沼中有7种大型底栖动物,夏初和秋末生物种类相同,但秋末生物量明显高于夏初.在代表性种属中,珠带拟蟹守螺(Cerithidea cingulata)的壳长从初夏到秋末有明显增大,而秋末粗糙滨螺(Littorna scabra)和赤豆螺(Bithynia fuchsiana)比初夏小且少.在互花米草盐沼的不同部位,腹足类物种分布有显著差异.现场观察数据显示,一些当地盐沼动物已经适应于在人工引种的互花米草盐沼中生存.     

加氢站风险评价研究现状与进展

伴随着世界各国氢燃料电池车示范项目的实施,与之配套的氢能基础设施--加氢站也在全球范围内迅速发展.作为一种新兴的能源基础设施,能否为公众提供足够的安全,一直是政府和公众非常关心的问题.而目前国际上关于加氢站风险评价方面存在的主要争议,即是损害限和风险接受标准确定的问题.本文通过回顾国外加氢站风险评价的研究现状和进展,从危险辨识、概率分析、后果评价以及风险度量等方面总结了加氢站风险评价的方法,对氢能设施风险评价开展的基础--氢气行为及其后果等氢能安全进行了分析,在此基础上,进一步综述了近几年国际上在该领域研究取得的进展.     

容错粗糙主成分分析的属性约简方法

在分析大肠早癌荧光数据属性约简方法的基础上,提出一种基于容错关系信息熵的粗糙主成分属性约简方法.该方法首先针对数据的不完整特性,建立容错关系粗糙集模型.然后,引入随信息量减小而单调下降的信息熵,建立基于信息熵的容错关系粗糙集模型,并进行初步数据属性处理.最后,结合主成分分析方法,形成基于容错关系信息熵的粗糙主成分分析方法,在进行数据降维处理的同时提取数据特征.以大肠早癌荧光光谱为实验数据的分析处理结果表明,该方法可以有效地降低荧光光谱数据的处理维数,提取影响医疗诊断的特征数据,减少后续数据处理的复杂度.     

基于邻域空间模式的运动相关电位特征提取方法

为解决脑-机接口(BCI)研究中所采集的脑电图(EEG)信号数据分布复杂和训练样本不足的问题,文中提出了一种新的特征提取方法--邻域空间模式(NSP)算法,用于提取BCI想象肢体运动分类算法中使用的重要分类特征--运动相关电位(MRPs).NSP算法不需要对样本的数据分布进行假设,主要利用样本的邻域关系和类别信息寻找最佳投影方向,使得映射后邻域内异类样本距离之和与同类样本距离之和的比值最大化.采用BCI竞赛2003和2001的其中两组数据进行实验,结果表明NSP算法能更有效地提取MRPs特征.     

有机醇介质中盐酸对马铃薯淀粉性质的影响

以无水甲醇、无水乙醇、异丙醇及正丁醇作溶剂,用盐酸对马铃薯淀粉进行改性.研究了马铃薯淀粉在有机醇溶液中酸改性前后的物化性质.结果表明:经酸处理的马铃薯淀粉随有机醇介质(从甲醇到正丁醇)碳原子数量的增加,颗粒表面逐步出现裂纹直到产生碎片,冻融稳定性依次减弱,透明度依次增强,黏度依次减小,溶解度逐渐增加,膨胀度逐渐降低.以上结果表明酸在不同有机醇介质中对淀粉的作用程度从甲醇到丁醇依次增强.     

具有两类修复设备可修系统解的最优控制问题

用Banach空间理论,以泛数指标函数作为衡量系统可控的标准,讨论了可修复系统最优控制问题．     

Superconductivity in Ba1−xSmxFFeAs and Eu1−xSmxFFeAs systems

We synthesized the samples Ba1-xSmxFFeAs and Eu1-xSmxFFeAs with ZrCuSiAs-type structure. These samples were characterized by resistivity and susceptibility. It is found that the substitution of rare earth metal for alkaline earth metal in the two systems suppresses the anomaly in resistivity and induces superconductivity. Superconductivity at 54 K in nominal composition Ba0.5Sm0.5FFeAs and at 51 K for Eu0.5Sm0.5FFeAs is realized, indicating that the superconducting transition temperatures in the iron arsenide fluorides is the same as that in oxypnictides with the same structure.