Two Innovative Coalition Formation Models for Dynamic Task Allocation in Disaster Rescues

This paper addresses the problem of multi-objective coalition formation for task allocation. In disaster rescue, due to the dynamics of environments, heterogeneity and complexity of tasks as well as limited available agents, it is hard for the single-objective and single (task)-to-single (agent) task allocation approaches to handle task allocation in such circumstances. To this end, two multi-objective coalition formation for task allocation models are proposed for disaster rescues in this paper. First, through coalition formation, the proposed models enable agents to cooperatively perform complex tasks that cannot be completed by single agent. In addition, through adjusting the weights of multiple task allocation objectives, the proposed models can employ the linear programming to generate more adaptive task allocation plans, which can satisfy different task allocation requirements in disaster rescue. Finally, through employing the multi-stage task allocation mechanism of the dynamic programming, the proposed models can handle the dynamics of tasks and agents in disaster environments. Experimental results indicate that the proposed models have good performance on coalition formation for task allocation in disaster environments, which can generate suitable task allocation plans according to various objectives of task allocation.     

论我国监管场所的人权保障及检察监督体制的完善

监管场所非正常死亡事件产生了严重的后果,造成了不良影响。反思这些事件的背后因素,主要包括当前的相关监管法律法规的缺失,经济因素的制约,监管执法人员自身素质的不全面,律师权利的保障不到位等。本文从监管法律法规的完善、监管体制的调整与监督主体的多元化、树立现代司法理念等方面论述如何更好地完善我国的监管场所的人权保障以及检查监督体制。     

可修排队系统备件灰色生灭预测模型

可修部件的失效率和修复率在服役周期内呈现不确定性,基于确定型失效率和修复率建模的生灭过程在解决可修部件备件预测问题时存在一定局限.传统可修备件需求预测模型忽视了排队维修情况下的讨论,这与工程实际不符.以服从一般分布的区间灰数表征可修部件的失效率与修复率,构建了灰色状态转移矩阵,建立了一类排队维修系统的可修部件备件灰色生灭预测模型,研究了该过程的无记忆性和稳态解的存在条件,讨论了失效修复比、修理能力、备件数量与保障率的性质.一定程度上揭示了修理能力受限、失效修复比不确定背景下的可修系统备件需求规律.实际案例验证了模型的有效性和实用性.     

混合方法优化的自适应引力搜索算法

针对引力搜索算法存在的易早熟收敛、易陷入局部最优、搜索精度有待提高等缺陷，提出一种混合方法优化的自适应引力搜索算法（gravitational search algorithm，GSA）。首先利用Sobol序列初始化种群，增强算法全局搜索能力；其次引入Hamming贴进度计算种群成熟度，判断种群是否早熟；然后引入Logistic混沌对种群作混沌搜索，变异已陷入局部最优的粒子位置；最后基于早熟收敛判断因子改进引力系数，并为粒子位置公式添加收缩因子，促使种群加快脱离局部最优。对9个不同类型的基准测试函数做仿真实验，结果表明新算法能有效改善种群的早熟问题，具备更好的寻优性能。     

基于改进PID神经网络算法的AUV垂直面控制

针对一类小型低速自主水下航行器(AUV)的垂直面运动控制问题,设计了一种改进的PID神经网络控制器,实现对水下航行器在垂直面内深度和俯仰角的全局控制。利用REMUS水下航行器模型搭建了Simulink下AUV垂直面仿真控制系统,仿真结果表明,改进的控制方法克服了原方法中饱和区过大的问题,具有良好的动态性能同时能够适应不同的学习速率和网络初始权重,对水下航行器的工程实际应用具有一定参考价值。     

基于模型预测控制的轮式移动机器人轨迹规划

针对轮式移动机器人(Wheeled Mobile Robot-WMR)自身欠驱动的特点,并考虑到实际工作时的各种约束和限制,提出了一种基于模型预测控制(Model Predictive Control -MPC)的多约束轨迹规划方法。可以对车体自身的运动学约束、物理约束以及避障等约束进行集中有效的处理,可以生成符合车体自身模型特点并满足各种约束的可行轨迹,充分保证了轮式移动机器人自主行驶的可行性,安全性,高效性。仿真结果充分验证了该方法的有效性。     

多铁和磁电材料的第一性原理研究（英文）

多铁材料是一类由自旋、电荷、晶格和轨道等多种自由度的相互作用引起的具有2种或者2种以上铁序的功能材料.近年来关于多铁性的报道屡见报端杂志,表明越来越多的研究人员关注着这一领域的研究进展.在这些研究成果中,第一性原理研究在解释实验观测,发现新物理机制和预测新型多铁、磁电材料方面都扮演着先锋角色.本文回顾了第一性原理在材料领域,尤其是多铁性、磁电效应和隧道结研究中的广泛应用和主要成果.结合最近发展的理论研究方法,例如选择性轨道加场法,评述了这些手段在解释多铁和磁电材料中奇异物理现象方面的有效性.由于电控磁性是多铁领域和自旋电子学领域追求的共同目标,因此总结了第一性原理研究在电控磁性方面所取得的成果.最后,本文概述了多铁和磁电材料在实际应用中亟待解决的问题,并且着重展望了若干种利于解决多铁和磁电材料领域实际问题的研究方法.本文通过深入探讨过渡金属氧化物中的铁电起源以及多铁体中铁电性和磁序的共存现象,期望能有益于新型多铁和磁电材料的探索.     

颜色协调的鲁棒式图像克隆

图像克隆一直是图像编辑中的重要组成部分,概括来说有基于透明度分量的、基于梯度域的、基于坐标的3种图像克隆方法,但图像克隆领域中存在的颜色不协调和边界失真问题一直没有得到很好的解决。为了缓解基于均值坐标克隆方法中的颜色不协调问题,提出一种基于局部亲和力传播的图像克隆方法,亲和力综合考虑了像素点与边界的坐标距离、颜色距离以及该点颜色在边界颜色分布中的概率,以此来缓解失色,达到颜色协调。亲和力还可以检测出真正感兴趣对象的边界,用它来约束边界插值,可以有效缓解边界失真,使得克隆更加鲁棒,最后的实验结果表明该方法能得到令人满意的结果。     

中华传统生态文化的时代转化

新时代中国生态文明建设的顺利推进离不开生态文化的心理软支撑。文化的延续性决定了当代生态文化的健康发展必须扎根于中华优秀传统文化,方能避免其因空心化而迷失方向。应遵循文化发展规律,深入把握中华文化的柔性思维和生态伦理意蕴,并以此形塑当代生态文化价值理念,推进生态文化理论的构建;实践中,注重将承载传统生态智慧的人文历史传承融贯于城镇化进程和美丽乡村建设,挖掘优秀传统生态文化思想资源,创作传统与现代有机对接的生态文化作品,使传统生态价值理念物化于现代人的生活场域,夯实当代生态文化培育的传统根脉。     

Flow and heat transfer behaviour of nanofluids in microchannels

Flow and heat transfer of aqueous based silica and alumina nanofluids in microchannels were experimentally investigated. The measured friction factors were higher than conventional model predictions at low Reynolds numbers particularly with high nanoparticle concentrations. A decrease in the friction factor was observed with increasing Reynolds number, possibly due to the augmentation of nanoparticle aggregate shape arising from fluid shear and alteration of local nanoparticle concentration and nanofluid viscosity. Augmentation of the silica nanoparticle morphology by fluid shear may also have affected the friction factor due to possible formation of a core/shell structure of the particles. Measured thermal conductivities of the silica nanofluids were in approximate agreement with the Maxwell-Crosser model, whereas the alumina nanofluids only showed slight enhancements. Enhanced convective heat transfer was observed for both nanofluids, relative to their base fluids (water), at low particle concentrations. Heat transfer enhancement increased with increasing Reynolds number and microchannel hydraulic diameter. However, the majority of experiments showed a larger increase in pumping power requirements relative to heat transfer enhancements, which may hinder the industrial uptake of the nanofluids, particularly in confined environments, such as Micro Electro-Mechanical Systems (MEMS).