移动小车的有限时间轨迹跟踪控制

讨论了基于运动学模型的移动小车的轨迹跟踪控制问题.利用有限时间控制技术,提出了一种连续的状态反馈跟踪控制律,使得对角速度不为0的期望轨迹,移动小车能够在有限时间内完全跟踪上期望轨迹.而且提出的跟踪控制律不存在奇异点.仿真结果表明了该方法的有效性.     

基于PSO和人工势场的机器人路径规划

文章提出了一种变形Gaussian函数作为势场模型,它能更准确地反映势场环境;通过分析震荡现象产生的原因,以及局部极小值点的特点,将粒子群算法引入到路径规划过程中,用于绕过障碍物或逃逸局部极小值;仿真结果表明,该方法能有效消除运动路径的震荡现象,极大地降低了陷入局部极小值的概率。     

移动机器人头-眼关系的自标定算法

针对一种特殊的仿人双臂移动机器人,基于双目视觉算法,在分析其运动关系的基础上,利用移动机器人的本体手臂,采用几何法和位姿分离法相结合的算法,对仿人机器人头部相机的位姿进行了标定.该标定算法无须外部标定模板,可快速准确地建立移动机器人视线坐标系和基础坐标系的位姿转换矩阵.实验结果验证了该标定算法的有效性,算法能满足移动机...     

基于神经网络的多传感器信息融合技术在移动机器人中的应用

基于模糊神经网络的多传感器信息融合,提出了一种简单、有效的分区算法来确定障碍物的距离和方位。采用BP神经网络对障碍物环境进行分类以及模式识别,为移动机器人的导航和避障提供了一种有效的方法。     

基于SR-UKF的移动机器人主动故障检测和容错控制

提出了一种基于SR-UKF的主动状态建模方法用于移动机器人的在线故障检测和容错跟踪控制.通过对履带式机器人常见滑动故障的运动学分析,建立了带未知滑动故障参数的机器人运动学模型,并采用SR-UKF非线性滤波方法来联合估计机器人的位姿和滑动参数,在对机器人进行实时定位的同时实现了对快速变化(或突变)的滑动故障的在线跟踪和检测.在此基础上,将估计得到的自适应参数模型与基于Lyapunov分析的反馈控制律设计方法结合,获得了一致渐近稳定的轨迹跟踪控制结果,实现了针对在线故障自适应模型的容错控制重构.针对典型的阶跃式滑动故障参数变化的轨迹跟踪仿真实验表明了该方法的有效性.     

Design and implementation of an IPC-based control system for mobile robots

This paper introduces an autonomous mobile robot system applicable under dynamic environment.Every robot contains a muhi-sensor system, a differential-drive vehicle and a wireless LAN. A real-time on-board control system makes decision autonomously according to the perception from the multi-sensor system. Under the Windows operation system (OS), inter-process communication (IPC) mechanism of Linux OS is introduced into control system design. A distributed software architecture based on IPC,which can be used for multiple mobile robots system, is proposed. The architecture can make the system more flexible and scalable. The expansion of robot‘ s function and cooperation between robots can be. easily realized. The experiments and robot soccer game show the validity of the architectnre.     

Localization and navigation using a novel artificial landmark for indoor mobile robots

This paper presents a practical topological navigation system for indoor mobile robots,making use of a novel artificial landmark which is called MR code.This new kind of paper-made landmarks can be easi- ly attached on the ceilings or on the walls.Localization algorithms for the two cases are given respective- ly.A docking control algorithm is also described,which a robot employs to approach its current goal .A simple topological navigation algorithm is proposed.Experiment results show the effectiveness of ...     

基于激光雷达的室外移动机器人三维定位和建图

针对室外复杂地形环境下移动机器人基于激光扫描数据的辅助三维定位和建图方法进行了深入研究,首先通过惯导(IMU)里程计方法高频率但是低保真度地输出位姿预估值,然后采用正态分布变换匹配定位方法以较低频率对预估位姿进行迭代校正,从而得到移动机器人精确的三维位姿估计.在此基础上构建了室外环境的准确三维点云地图.以配备三维激光数据采集装置的履带式移动机器人作为实验平台,在室外大范围校园环境中对本文所论述的方法进行了实验验证,其结果证明本文所采用方法的可行性和有效性.     

港口物流与城市经济协同度模型

运用协同理论,构建港口物流与城市经济协同度测度模型.基于构建模型对大连市港口物流与城市经济协同发展程度进行评价,结果验证了该模型的有效性.     

鹰嘴豆抗氧化肽与其他抗氧化剂的协同效应

分析了鹰嘴豆多肽与其他抗氧化剂(VE、VC、BHT)的协同效应.VE和VC对鹰嘴豆抗氧化多肽的还原能力有显著的增效作用,且VC与鹰嘴豆抗氧化多肽协同作用较VE与之更强.BHT与鹰嘴豆抗氧化多肽未表现出协同作用.研究多肽在DPPH体系中协同效应,鹰嘴豆抗氧化多肽与BHT及VC均未显示协同效应.用邻苯三酚自氧化法测鹰嘴豆抗氧化多肽对超氧阴离子抑制的协同效应,VC及VE与多肽未显示出显著抑制超氧阴离子的协同效应,而鹰嘴豆抗氧化多肽与BHT表现出明显的抑制超氧阴离子的协同效应.     

Measurement of associations between mobile calls and mobile-internet surfing

Measuring mobile calls data is an increasingly import issue,which will benefit to the understanding of the behavior of mobile users and assist telecom operators to optimize their business strategies.The existing researches on cell phone data measurement only focus on mobile calls or on mobile-internet surfing and little researches focus on the interactions of behaviors between them.In this paper,some basic factors of the association between mobile calls and mobile-internet surfing are measured.Then first their distributions are compared and the preference of users is quantified.After that experiments on the curve fitting of both the whole and parts of these distributions are done.Through the comparison of the correlation coefficients and Fourier fitting parameters,different behaviors is found between workdays and weekends,as well as Saturdays and Sundays in mobile-call distributions.Besides,the results of our observation show that the mobile-internet traffic does not always monotone increase with the increase of online time,significant changes are observed after 8hours of mobile-internet surfing.     

Early steps of lymphocyte activation bypassed by synergy between calcium ionophores and phorbol ester

Although it has been proposed that the activation of T lymphocytes is mediated by an early rise in cytosolic calcium concentration, it has not been possible to mimic antigen- or mitogen-induced mouse lymphocyte activation by calcium ionophores that bypass receptor-mediated processes. There is now evidence from other systems that the rise in cytosolic calcium which follows receptor triggering is preceded by the breakdown of phosphatidylinositol bisphosphate into 1,2-diacylglycerol and inositol trisphosphate. The latter is known to cause release of calcium from intracellular stores. The cellular target for the former is now widely accepted to be protein kinase C. Therefore, ligand-induced cellular response follows a rise in cytosolic calcium concentration and protein kinase C activation. Here we confirm that the calcium ionophores A23187 and ionomycin do not activate mouse T lymphocytes. However, either one in combination with the phorbol ester 12-O-tetradecanoylphorbol 13-acetate (TPA), which is structurally related to 1,2-diacylglycerol, induces in lymphoid cell populations the expression of receptors for interleukin-2 (IL-2), the secretion of IL-2 and cell proliferation as measured by 3H-thymidine uptake. The growth-promoting effect of IL-2 on an exogenous IL-2-dependent clone could not be substituted for by ionomycin either alone or with TPA. Thus, the combination of calcium ionophores and TPA bypasses the requirement for antigen- or lectin-induced signal at the onset of lymphocyte activation.     

安全认识与行为关系研究

旨在分析个人安全认识与其具体行为表现的关系.试验时雇佣行为观察员对样本员工工作期间的行为连续观测和记录,用安全行为指数SI(safety index)反映观察结果;采用所设计的安全认识测量量表SCSS(safety cliunate survey SCalle)调查样本员工的安全认识,用个人安全认识指数GSCI(General Safety climate Index)反映调查结果.通过在某矿山企业135个样本的安全认识调查和行为观察试验,结果表明:个人的安全认识与行为在不同阶段有不同程度的联系,当安全认识较低;通过提高安全认识可明显改善其行为,但对安全文化建设已经较好的企业,建议考虑更直接的行为纠正方法来预防员工的不安全行为.研究也发现安全认识与安全行为的联系并不是直接的决定关系,两者之间还存在工作压力、安全知识等中间因素,但中间因素的构成与作用尚需进一步研究明确.图2,表3,参16.     

Ant-like task allocation and recruitment in cooperative robots

One of the greatest challenges in robotics is to create machines that are able to interact with unpredictable environments in real time. A possible solution may be to use swarms of robots behaving in a self-organized manner, similar to workers in an ant colony. Efficient mechanisms of division of labour, in particular series-parallel operation and transfer of information among group members, are key components of the tremendous ecological success of ants. Here we show that the general principles regulating division of labour in ant colonies indeed allow the design of flexible, robust and effective robotic systems. Groups of robots using ant-inspired algorithms of decentralized control techniques foraged more efficiently and maintained higher levels of group energy than single robots. But the benefits of group living decreased in larger groups, most probably because of interference during foraging. Intriguingly, a similar relationship between group size and efficiency has been documented in social insects. Moreover, when food items were clustered, groups where robots could recruit other robots in an ant-like manner were more efficient than groups without information transfer, suggesting that group dynamics of swarms of robots may follow rules similar to those governing social insects.     

沥青与沥青混合料的流变特性比较

沥青与沥青混合料作为一种非常重要的土工材料，被广泛应用于道路路面和建筑防水，有关研究也在世界各地展开。然而关于这两种材料的流变特性之间的联系在目前来说还是个未知数。通过比较青与沥青混合料的均质性、颗粒性，粘弹性及其流变模型，来分析这两种材料在力学方面的相似性和差异性。研究表明，沥青和沥表示昆合料具有相同的粘弹性性质，它们之间的唯一区别是材料的结构组成不同。     

Tail-assisted pitch control in lizards, robots and dinosaurs

In 1969, a palaeontologist proposed that theropod dinosaurs used their tails as dynamic stabilizers during rapid or irregular movements, contributing to their depiction as active and agile predators. Since then the inertia of swinging appendages has been implicated in stabilizing human walking, aiding acrobatic manoeuvres by primates and rodents, and enabling cats to balance on branches. Recent studies on geckos suggest that active tail stabilization occurs during climbing, righting and gliding. By contrast, studies on the effect of lizard tail loss show evidence of a decrease, an increase or no change in performance. Application of a control-theoretic framework could advance our general understanding of inertial appendage use in locomotion. Here we report that lizards control the swing of their tails in a measured manner to redirect angular momentum from their bodies to their tails, stabilizing body attitude in the sagittal plane. We video-recorded Red-Headed Agama lizards (Agama agama) leaping towards a vertical surface by first vaulting onto an obstacle with variable traction to induce a range of perturbations in body angular momentum. To examine a known controlled tail response, we built a lizard-sized robot with an active tail that used sensory feedback to stabilize pitch as it drove off a ramp. Our dynamics model revealed that a body swinging its tail experienced less rotation than a body with a rigid tail, a passively compliant tail or no tail. To compare a range of tails, we calculated tail effectiveness as the amount of tailless body rotation a tail could stabilize. A model Velociraptor mongoliensis supported the initial tail stabilization hypothesis, showing as it did a greater tail effectiveness than the Agama lizards. Leaping lizards show that inertial control of body attitude can advance our understanding of appendage evolution and provide biological inspiration for the next generation of manoeuvrable search-and-rescue robots.     

中德部分城市移动基站微波辐射比较

将德国科堡、纽伦堡、维尔兹堡、法兰克福等城市的局部区域的公共微波辐射源——主要是移动基站的微波辐射数据与中国部分城市相应的测量数据进行分析对比,结果表明:德国移动基站分布密度明显小于中国,单个基站的辐射能量明显低于中国,德国基站设站方式主要借助房屋架设天线,鲜见独立铁塔安装天线的模式,人群使用手机频度明显少于中国,电磁辐射环境压力总体小于中国。     

学研教协同在传感技术及应用课程中的应用

首先简要介绍学研教协同理念以及传感技术及应用课程的教学现状,然后详细说明学研教协同理念在传感技术及应用课程的理论教学、实验教学和课外活动中的应用,最后实践证明学研教协同理念的贯彻,提高了学生的学习兴趣、创新能力和实践能力,解决了教师教学与科研之间的矛盾。