A new adaptive state space construction method for the mobile robot navigation

In order to solve the combinative explosion problems in a continuous and high dimensional state space, a function approximation approach is usually used to represent the state space. The normalized radial basis function （NRBF） was adopted as the local function approximator and a kind of adaptive state space construction strategy based on the NRBF （ASC-NRBF） was proposed, which enables the system to allocate appropriate number and size of the basis functions automatically. Combined with the reinforce- ment learning method, the proposed ASC-NRBF method was applied to the robot navigation problem. Simulation results illustrate the performance of the proposed method.     

Analytical determination of flow resistance characteristic for combination channel inside hydraulic manifold block

Computational fluid dynamics （CFD） was used in conjunction with BP neural network to study the flow resistance characteristic of the combination-channel inside hydraulic manifold block （HMB）. The input parameters of the combination-channel model were confirmed to have effect on the pressure-drop by the numerical method, and a BP neural network model was accordingly constructed to predict the channel pressure-drops. The flow resistance characteristic curves of various channels were achieved, and a performance parameter was given to evaluate the through-flow characteristic of the channel according to the curves. The predictions are in agreement with the numerical computation, indicating that the method can be utilized to accurately determine the flow characteristic of the combination channel with high efficiency.     

温度控制系统的无超调模糊-PID控制器设计

文章提出一种针对典型温度控制系统的模糊-PID控制策略,使得系统在无超调的情况下获得最短的调节时间,以节省设备投资。对传统模糊控制方法与PID参数整定进行了改进,以适应本文所述情况。仿真结果表明本文的控制器设计方法简单实用,并有良好的控制效果。     

以天然椰壳纤维加固的红黏土的力学性质研究

本文采用直剪试验对椰壳纤维加筋红黏土的抗剪强度进行了研究,结果表明:椰壳纤维能提高红黏土的抗剪强度,但其抗剪强度的提高主要体现在粘聚力的增加上;椰壳纤维长度小于5 cm时,随椰壳纤维长度的增加,红黏土的抗剪强度增大,椰壳纤维长度达到5 cm后,红黏土的抗剪强度反而下降;椰壳纤维掺量小于0.5%时,随椰壳纤维掺量的增加,红黏土的抗剪强度增大,而当椰壳纤维长度达到0.5%后,红黏土的抗剪强度反而下降;椰壳纤维掺量对红黏土抗剪强度的影响大于椰壳纤维长度对红黏土抗剪强度的影响.     

拦截主动防御目标的微分对策制导律

针对目标可以对攻击弹进行主动防御的交战场景,提出了 一种拦截主动防御目标的微分对策制导律.首先,建立了攻击弹、目标和防御弹的相对运动模型,并在碰撞三角形附近进行了线性化.然后,在防御弹采用某种已知的线性制导律的情形下,把该作战场景中攻击弹与目标的对抗问题,描述为一个含不等式约束的线性二次型微分对策问题.最后,基于微分对...     

湖南桃江毛竹林各器官碳含量分布特征

毛竹(Phyllostachy pubescens)是我国南方重要的森林资源,它不仅在我国竹产业发展中占有重要的地位,而且在固碳增汇中起着更为重要的作用.本研究以湖南桃江县不同年龄毛竹人工林为研究对象,探讨不同年龄毛竹林各器官碳含量分布特征.研究结果表明:毛竹林不同年龄竹林各器官碳素平均含量在389.334~534.051 g·kg-1之间,且器官不同,碳含量不同.1年生,3年生,5年生毛竹林地上部分各器官碳含量分别为:竹竿竹叶竹枝、竹枝竹竿竹叶、竹叶竹竿竹枝;地下部分各器官碳含量分别为:竹鞭侧根竹蔸须根、竹鞭竹蔸须根侧根、须根竹蔸竹鞭侧根.但各龄级器官碳含量差异不显著(P0.05),并随着毛竹年龄的增长,其器官碳含量无明显的变化规律.     

The effects of the guide field on the structures of electron density depletions in collisionless magnetic reconnection

Two-dimensional particle-in-cell simulations are performed to investigate the formation of electron density depletions in collisionless magnetic reconnection.In anti-parallel reconnection,the quadrupole structures of the out-of-plane magnetic field are formed,and four symmetric electron density depletion layers can be found along the separatrices due to the effects of magetic mirror.With the increase of the initial guide field,the symmetry of both the out-of-plane magnetic field and electron density depletion layers is distorted.When the initial guide field is sufficiently large,the electron density depletion layers along the lower left and upper right separatrices disappear.The parallel electric field in guide field reconnection is found to play an important role in forming such structures of the electron density depletion layers.The structures of the out-of-plane magnetic field By and electron depletion layers in anti-parallel and guide field reconnection are found to be related to electron flow or in-plane currents in the separatrix regions.In anti-parallel reconnection,electrons flow towards the X line along the separatrices,and are directed away from the X line along the magnetic field lines just inside the separatrices.In guide field reconnection,electrons can only flow towards the X line along the upper left and lower right separatrices due to the existence of the parallel electric field in these regions.     

区组大小为3的四重单纯支架

一个(K,λ)支架是一个区组集可分为若干个带洞平行类的可分组设计(K,λ)-GDD(X,G,B),每一个带洞平行类为XGj的一个划分,其中Gj∈G.若一个(K,λ)支架的区组集中任意两个区组是不相同的,则称它是单纯的.单纯的支架对构造单纯的可分解填充设计有很重要的作用,后者可以用来构造统计学中的均匀设计.本文通过直接构造和递推构造的方法证明了组型一致的(3,4)单纯支架存在的必要条件也是充分的.     

Synthesis process of Ba-ferrites from α-FeOOH and γ-FeOOH and investigation of magnetic properties

The claviform BaFe₁₂O₁₉ crystals were synthesized by the precipitation-toptactic reaction method using α-FeOOH and γ-FeOOH as raw materials respectively. The synthesis processes of BaFe₁₂O₁₉, studied by XRD, SEM, EDS, FT-IR, and TG-DTA techniques, included preparations of precursor γ and precursor α, formations of α-Fe₂O₃ and BaFe₂O₄, and production of rod-like BaFe₁₂O₁₉ through dehydroxylation of pod-like FeOOH, followed by reactions of α-Fe₂O₃ with BaCO₃ and BaFe₂O₄. The crystallinity of α-Fe₂O₃ and BaCO₃ from precursor α was better than from precursor γ due to the direct dehydroxylation of α-FeOOH, resulting in a lower nucleation rate and better crystallinity of BaFe₂O₄. BaFe₁₂O₁₉ prepared from precursor α showed lower crystallinity and purity with a higher length-diameter ratio than from precursor γ. The VSM results proved that the appearance of final products had an important influence on magnetic properties.     

Solidification microstructure and phase constitution of Fe-7.5%Mo-16.5%Si ternary quasiperitectic alloy

Solidification of Fe-7.5%Mo-16.5%Si ternary quasiperitectic alloy is investigated by using differential scanning calorimetry (DSC) and drop tube containerless processing techniques.The primary phase is identified as R (Fe5Mo3Si2) and the quasiperitectic phases are τ1 (Fe5MoSi4) and Fe3Si.With the decrease of droplet diameter, the cooling rate and undercooling of the droplets in-crease rapidly.The experiment result indicates that the solidification microstructure is composed of remnant primary phase, qua-sip...