移动机器人网络运动协调的控制与仿真

研究移动机器人网络运动协调的仿真框架与分散控制律的设计。建立了传感范围有限、差速驱动移动机器人网络的数学模型:单个机器人的运动由运动学与动力学方程描述,且驱动力矩和速度有限;有向图和proximity图分别描述机器人间的通信网络和互感网络。设计了基于MATLAB/SIMULINK的运动协调仿真框架,并在此基础上设计了带速度约束的平行运动与自组织编队生成协调控制律。仿真结果证明控制器设计的有效性和仿真框架对不同分散控制律的适用性。     

移动机器人路径识别与跟踪的计算机仿真

该文介绍了利用面向对象的可视化编程技术设计移动机器人路径识别与跟踪动画仿真系统的方法,该仿真系统包括移动机器人运动学实现、真实化处理、决策系统等,该系统能够非常真实地反映移动机器人进行路径识别和跟踪的过程,利用该系统可以很好地对移动机器人路径识别和跟踪的控制方案进行研究和优化.     

利用模型算法控制提高模拟器运动性能的仿真研究

本文讨论了旨在提高三自由度模拟器运动系统的响应性能问题。通过对系统进行数字仿真分析,确认采用模型算法控制可提高系统的响应性能及整个系统的鲁棒性。文中绘出了仿真运算的结果。     

多自主移动机器人计算机仿真系统的设计与实现

提出了一种多移动机器人计算机仿真系统的设计方案，开发并实现了在局域网上以服务器-客户端模式工作的基于二维平面模型的多移动机器人仿真系统，该系统提供的环境建模及实时修正功能，参数可调的传感器模型，通讯协议，算法设计相对独立的特点极大地方便了多移动机器人系统的研究工作。     

双臂移动机器人的图形化编程与仿真控制系统

介绍一种双臂移动机器人的图形化编程与仿真控制系统。用户通过图形编程界面对机器人编程和任务规划，在三维仿真环境中预宽和分析规划结果，最后将优化程序下载到真实机器人中进行控制。采用Java3D和VRML实现三维仿真；基于RT-Linux平台保证仿真控制的实时性；实现了多机器人机制以支持机器人的流水线协作。该系统现在支持日本安川电机株式会社的双臂移动机器人产品。     

移动机器人路径发现与规划的免疫算法

分析了车式移动机器人的运动特性，设计了一种适用于该机器人的路径发现与规划免疫算法。通过仿真实验表明，该算法能够快速地发现与规划运动路径，有较好的柔性，能适用于不同的任务，所以该算法具有较高的智能。     

基于COM技术的多移动机器人仿真系统

提出了一种基于COM(ComponentObjectModel,组件对象模型)技术的多移动机器人仿真系统的模型,并通过该模型初步实现了一个将移动机器人控制器组件化的仿真平台。COM规范定义的组件模型所具有的进程透明特性和可重用性很好地对应了多移动机器人系统的分布式特点。采用COM技术的多移动机器人仿真系统,具有良好的分布式运行能力和方便的实时交互能力,极大地方便了多移动机器人系统的研究工作。     

多自由度机械臂系统的虚拟样机开发

结合典型产品医用心血管造影系统,利用虚拟样机技术,对多自由度机械臂系统的运动防碰进行了仿真分析和预测,确定了PLC运动控制的算法。以上工作首先基于对系统运动防碰存在问题的分析,并借助距离检测方法,在Pro/mechanic软件系统上进行实现。随后,为了解决控制系统和机械系统动态特性匹配问题,基于ADAMS/MatLab进行了机械系统和控制系统的集成仿真,对整个系统的运行工况的动态特性进行了分析,从而,从工程实现的角度解决了某类医疗装备的运动防碰问题,为产品的定型提供了准确而有效的方案。     

运动平台捕获跟踪瞄准系统建模与仿真研究

运动平台捕获跟踪瞄准系统在航空航天、武器控制以及科学研究等领域被广泛应用,并获得了迅速的发展.针对运动平台捕获跟踪瞄准系统的工作过程和工作特点,分析了系统组成和基本功能,并给出了系统所需要的主要模型.最后,利用MATLAB7.0和STK6.1设计实现了一套运动平台捕获跟踪瞄准仿真系统,可对系统的整个工作过程进行系统、全面的分析研究.     

南水北调工程仿真系统

南水北调工程仿真系统是一大型仿真系统，本文对该系统进行了系统的描述和分析，同时对系统的设计思想，理论和方法等也进行了说明和介绍，该仿真系统支持目前决策部门对南水北调工程中重点问题的分析，为南水北调工程决策提供方便实用的科学分析工具和仿真平台。     

A calculus for services innovation

Innovation in the services area - especially in the electronic services （e-services） domain - can be systematically developed by first considering the strategic drivers and foci, then the tactical principles and enablers, and finally the operational decision attributes, all of which constitute a process or calculus of services innovation. More specifically, there are four customer drivers （i.e., collaboration, customization, integration and adaptation）, three business foci （i.e., creation-focused, solution-focused and competition-focused）, six business principles （i.e., reconstruct market boundaries, focus on the big picture not numbers, reach beyond existing demand, get strategic sequence right, overcome organizational hurdles and build execution into strategy）, eight technical enablers （i.e., software algorithms, automation, telecommunication, collaboration, standardization, customization, organization, and globalization）, and six attributes of decision informatics （i.e., decision-driven, information-based, real-time, continuously-adaptive, customer-centric and computationally-intensive）. It should be noted that the four customer drivers are all directed at empowering the individual - that is, at recognizing that the individual can, respectively, contribute in a collaborative situation, receive customized or personalized attention, access an integrated system or process, and obtain adaptive real-time or just-in-time input. The developed process or calculus serves to identify the potential white spaces or blue oceans for innovation. In addition to expanding on current innovations in services and related experiences, white spaces are identified for possible future innovations; they include those that can mitigate the unforeseen consequences or abuses of earlier innovations, safeguard our rights to privacy, protect us from the always-on, interconnected world, provide us with an authoritative search engine, and generate a GDP metric that can adequately measure the growing knowledge economy,     

论科技一社会控制系统的建构

当今，科技的发展给人类的生活带来了极大的便利，但也给社会造成了一定的危害，为了遏止科技的一些负面效应，需要我们对科技进行社会控制，即构建一个行之有效的科技～社会控制系统。该系统由政策和法律控制、组织控制、市场控制和道德控制四个部分组成，这四个组成部分相对于整个系统来说是子系统，它们各有自己的特点、结构和功能，并且整个系统的运行还呈现出目的性、非线性和线性统一和可控性的原则。     

战争CAWSOM模型

经典战争仿真模型建立在战争系统的“均衡性”公设之上,这与现代战争的非线性、混沌、远离平衡等非均衡的复杂本质相矛盾。针对这一问题,论文从战争复杂性视角,分析了战争系统的自相似、自递归性,提出了基于组织规约的复杂适应主体O_Agent建模方法,建立了具有自相似、自递归结构的O_Agent模型框架,进而,通过实例化建立完成战争CAWSOM模型。最后,探讨了基于SWARM平台实现CAWSOM模型的可行性,介绍了目前正在进行的研究工作。     

基于虚拟现实技术的地球太空环境仿真

描述了一种地球太空环境的仿真,采用几何计算构建地球形状模型,将地球划分为128块（经线方向16块和纬线方向8块）,计算得到每块区域顶点坐标,法向量,纹理坐标;使用MipMap技术根据视点与每块区域距离变化选择不同精度纹理粘贴;实时判断该区域的可见性,剔除不可见区域减少绘制开销;并采用cg和NormalMap技术将normal图与地球纹理图进行处理,实现地球表面的轮廓凹凸效果,同时添加云层纹理,得到了由地球纹理,云层纹理及NormalMap的多层混合纹理,达到比较逼真的效果;另外采用Billboard技术和纹理融合技术实现地球大气层光晕效果,使用了LensFlare技术实现太阳照射效果,最后采用skybox技术实现星空背景效果。

Abstract：

A simulation of earth and space environment was describedr.The whole earth was cut into 128 parts,16 in longitude,8 in latitude,and the position of vertices,normal vectors,texture coordinate were computed by geometry.Different resolutions of texture were chosen according to the distance from the eye to the area presented by the technique MipMap.The unvisible parts were eliminated by judging the parts’ visibility in realtime.Using the techniques of Cg,NormalMap and the mixture of the textures of the earth,the clouds and the multi-layered clouds,the relatively vivid result for representing the surface of the earth was achieved.Moreover,the technique of Billboard,Lensflare,SkyBox and texture blending were used to show the shine of atmosphere,sunshine,and the background of space.     

SDG标准测试图及推理引擎论证

应用SDG技术对复杂系统进行安全分析推理，其引擎的性能测试至关重要。我们提出了采用系统标准的SDG测试图，对引擎进行测试。论述了测试所需的规模和指标，并针对应用领域特点，通过改变节点与支路规模、状态、关联关系、排列等因素，提出了一整套针对安全问题的SDG标准测试图。在此基础上，我们提出了极端与平均的性能测试方法。并运用SDG测试图对我们开发的SDG引擎进行完备性和运算能力的测试，效果达到实用水平。最后，我们对测试过程中暴露的问题，提出改进措施。     

分布式参数化路径计划技术初探

在讨论了现有分布式虚拟现实系统的缺点的基础上，提出了一种以参数路径计划技术为核心的虚拟现实系统。在这种虚拟现实系统中，共享及管理的对象路径是以时间为参数线性或高阶函数，各个远程分布系统用标准时钟服务器来同步。该方法可以解决广域网络虚拟现实系统的长时间延迟问题，预先进行干涉检查操作并大幅度减少此时网络上的信息量，减少甚至消除显示移动滞后，另外还具有增加捕捉用户动作的平滑度的能力。     

并行程序与状态序列--交叉语义约定的研究

许多程序模型是以数学或逻辑为基础设计并分析的,但程序模型的实现首先是个物理系统,它依物理规律,而非数学或逻辑规则活动.但人们习惯于用状态序列对并列程序模型的语义作数学处理.一旦偏序的状态空间用交叉的方法全序化,并用于论证程序性质,误导就在所难免.所谓误导,指的是与实际运行的偏差,借助于Petri网,可以将它们暴露出来.其实偏差的出现与Petri网的基本现象冲突(conflicct)、冲撞(contact)、并发(concurrency)和混惑(confusion)相关.本文用Petri网分析误导的情况.     

SERVICE VALUE NETWORKS： VALUE, PERFORMANCE AND STRATEGY FOR THE SERVICES INDUSTRY

1. Introduction The services industry provides services notgoods (Hughes and Mitchell et al., 1993). Thisindustry is moving towards globalization(Kathawala and Abdou, 2003). In 1870 theservice sector employed slightly more than 20%of the U.S.…     

Fundamentals of the analytic network process — multiple networks with benefits,costs, opportunities and risks

The general theory of the ANP enables one to deal with the benefits, opportunities, costs, and risks (the BOCR merits) of a decision, by introducing the notion of negative priorities for C and R along with the rating (not comparison) of the top priority alternative synthesized for each of the four merits in terms of strategic criteria to enable one to combine the four B, O, C, and R values of each alternative into a single outcome. Strategic criteria are very basic criteria individuals and groups use to assess whether they should make any of the many decisions they face in their daily operations. They do not depend on any particular decision for their priorities but are assessed in terms of the goals and values of the individual or organization. Synthesis is made with two formulas, one multiplicative and one additive subtractive that can give rise to negative overall priorities. This paper summarizes and illustrates basic complex decisions involving several control criteria under each of the BOCR merits. Thomas L. Saaty holds the Chair of University Professor, Katz Graduate School of Business, University of Pittsburgh, Pittsburgh, PA, and obtained his Ph.D. in mathematics from Yale University. Before that he was a professor at the Wharton School of the University of Pennsylvania for ten years. Prior to that he spent seven years at the Arms Control and Disarmament Agency in the State Department in Washington, DC, that carried out the arms reduction negotiations with the Soviets in Geneva. His current research interests include decision-making, planning, conflict resolution and synthesis in the brain. As a result of his search for an effective means to deal with weapons tradeoffs at the Disarmament Agency and, more generally, with decision-making and resource allocation, Professor Saaty developed The Analytic Hierarchy Process (AHP) and its generalization to dependence and feedback, the Analytic Network Process (ANP). He is co-developer of the software Expert Choice and of the software Super Decisions for decisions with dependence and feedback. He has authored or co-authored twelve books on the AHP/ANP. Professor Saaty has also written a number of other books that embrace a variety of topics, including Modern Nonlinear Equations, Nonlinear Mathematics, Graph Theory, The Four Color Problem, Behavioral Mathematics, Queuing Theory, Optimization in Integers, Embracing the Future and The Brain: Unraveling the Mystery of How It Works. His most recent book is Creative Thinking, Problem Solving & Decision Making. The book is a rich collection of ideas, incorporating research by a growing body of researchers and practitioners, profiles of creative people, projects and products, theory, philosophy, physics and metaphysics...all explained with a liberal dose of humor. He has published more than 300 referred articles in a wide variety of professional journals. He has been on the editorial boards of Mathematical Reviews, Operations Research, Naval Research Logistics Quarterly, Mathematical and Computer Modeling, Socio-Economic Planning Sciences, Applied Mathematics Letters, and several others. He also served as consultant to many corporations and government.     

变质性产品库存模型研究:延期支付策略或延期交货策略

对于变质性产品的销售,批发商为了减少变质带来的损失以及缩短流通时间,通常会在两种不同营销策略(给予顾客延期支付策略增加市场订购积极性或者采取延期交货策略减少变质损失)中做选择或者采取集成策略.但在实际操作中,如何在这两种营销策略中作出最佳选择是批发商需要考虑的问题.本文分别构建基于延期支付和延期交货的变质性产品库存决策模型,通过对两个库存模型进行分析,给出了最优策略.两个决策模型的最优策略对比结果发现:在其他参数给定的前提下,当产品的售价与进价比偏低时,批发商适合采取延期支付策略;反之,采取延期交货策略.最后利用数值算例分析了相关参数扰动对最优策略的影响,并提出了针对批发商合理制定运营策略的建议.