基于前视声呐信息的AUV避碰规划研究

在复杂海洋环境中,利用前视声呐获取的障碍物信息指导自治水下机器人（AUV）进行局部避碰。主要采用强化学习的方法对AUV进行控制和决策,综合Q学习算法、BP神经网络和人工势场法对AUV进行避碰规划。强化学习的方法强调AUV在环境的影响中学习,通过环境对不同行为的评价性反馈信号来改变行为选择策略。并且在环境发生变化时,AUV通过学习来实现对新环境的适应,不断改进其自治能力,进而实现在不确定环境下的避障任务。开发了AUV运动规划的虚拟仿真软件系统,仿真实验证明了算法的合理性与可行性。     

Method of moving target detection based on sub-image cancellation for single-antenna airborne synthetic aperture radar

The method of moving target detection based on subimage cancellation for single-antenna airborne SAR is presented.First the subimage is obtained through frequency processing is pointed out.The imaging difference of a stationary objects and moving object in the subimage based on the frequency division is analyzed from the fundamental principle.Then the developed method combines the shear averaging algorithm to focus on the moving target in the subimage,after the clutter suppression and the focusing position in each subimage is obtained.Next the observation model and the relative movement of the moving targets between the subimages estimate the moving targets.The theoretical analysis and simulation results demonstrate that the method is effective and can not only detect the moving targets,but also estimate their motion parameters precisely.     

The self-organizing worm algorithm

A new multi-modal optimization algorithm called the self-organizing worm algorithm (SOWA) is presented for optimization of multi-modal functions.The main idea of this algorithm can be described as followsdisperse some worms equably in the domain;the worms exchange the information each other and creep toward the nearest high point;at last they will stop on the nearest high point.All peaks of multi-modal function can be found rapidly through studying and chasing among the worms.In contrast with the classical multi-modal optimization algorithms,SOWA is provided with a simple calculation,strong convergence,high precision,and does not need any prior knowledge.Several simulation experiments for SOWA are performed,and the complexity of SOWA is analyzed amply.The results show that SOWA is very effective in optimization of multi-modal functions.     

虚拟机在计算机课程教学中的应用

虚拟机技术是利用真实物理计算机资源,模拟出可以运行不同操作系统与应用软件的多个计算机的技术。利用虚拟的多个计算机,可以在一台计算机上组建虚拟网络,可为"网络技术"、"信息安全"等基于网络的课程提供实验操作平台。同时,虚拟机在"硬件组装与维护"教学的实践操作中也有十分明显的作用。     

On Promoting Study Initiative in English Language Teaching

English,as a kind of language,is not easy to learn and master well.The enthusiasm of learners plays an important role in English language learning.The aim of this paper is to encourage English teachers to pay more attention on promoting the initiative of students in English learning sufficiently.In this paper,firstly,the writer analyses the important factors affecting the students'initiative in English learning.Secondly,some advice on how to cultivate students' learning initiative is given.     

应用SIP构建IPv6安全移动组播系统

以RFC3740提出的安全组播架构为基础,利用会话初始化协议（Session Initiation Protocol, SIP）作为信令协议,构建IPv6下的安全移动组播系统.系统提供用户访问控制和安全通信功能.此外,由于采用分布式结构,系统不存在单一故障点,易于部署和扩展.     

福州发展乡村旅游的思考

近年来,乡村旅游以其特有的风格与魅力吸引了大批城市游客,成为旅游业中新的亮点,乡村旅游开发也继农业产业化之后成为农村经济发展新的增长点。如今,福州的乡村旅游得到了较快的发展,而在迅速发展的同时,也存在一些不足之处。本文从乡村旅游的概念入手,在分析福州发展乡村旅游的有利条件、现状及存在的问题的基础上,提出发展福州乡村旅游的建议。     

化学组成对CoAlO颗粒膜隧道磁电阻效应的影响

采用热压工艺制备-系列CoAlO的靶材，在Gatan682型PECS＋RIBE系统上，于25℃下Ar气氛中沉积到Si（100）衬底基片上，得到颗粒膜．测量了电阻和磁电阻性质，用透射电子显微镜测量样品的面内晶粒尺寸CoAlO薄膜的化学组成，用x射线光电子能谱仪测量．研究了化学组成对CoAlO颗粒膜隧道磁电阻效应的影响．结果表明，得到的颗粒膜是由2～3nm的C0氧化物分布在AlOx母相中，在室温下可显示磁性，通过ALOx阻挡层具有比较大的隧道磁电阻效应（达-6％）；随温度升高，化学组成对隧道磁电阻影响更大．     

煤炭企业人力资源管理现状及对策

人力资源是煤炭企业生存和发展的基础,是构筑企业核心竞争力的关键因素。对煤炭企业人力资源管理的现状进行了分析,针对企业人力资源管理中存在的问题,提出了具体的解决思路和对策。