月球车的运动学、动力学分析及其仿真研究

首先推导出六轮月球车运动学方程 ;其次 ,给出了在崎岖地形中运动的月球车的受力分析 ;最后 ,在考虑月球车多关节动力学问题条件下 ,建立了月球车的动力学模型 ;通过仿真实验表明该动力学模型可以较好地解决月球车在崎岖地形中的复杂运动问题 .     

顶吹搅拌液相流体的水模实验与数值模拟分析

采用水模型和VOF数学模型对浸没式气体顶吹搅拌液相流体分别进行实验与数值模拟,分析在不同喷吹条件下气泡在液相中的形变、运动及液相流体的流场特性。结果表明,随着气流量和喷管浸入液面深度的增加,气-液混合区域分布范围逐渐扩大,液面波动更剧烈;气流量越大、喷管浸入液面越深、液相温度越高,气泡运动对液相流体内部的搅拌作用越强,流体内部扰动越剧烈,液相流场域中的流场速度越大,其中,当气流量为2.0m3/h、喷管浸入液面深度为340mm时,其液相流场速度最大值达到1.18m/s。     

基于摄像头的直立行走智能车控制系统设计

针对以往靠中心线提取速度较慢导致车模方向控制不稳,容易跑出赛道等问题,设计以K60微控制器为核心控制单元,利用CMOS摄像头对路径信息进行采集,在提取赛道边界和控制车体方向时创新性的使用了"窗口检测法"和"双比例"PD控制方法。"窗口检测法"能够缩短赛道边界的提取时间,提高搜索效率。双比例PD控制能够对比例参数P进行实时调整,进而更及时、准确地控制车模的运行方向。     

国家电子政务外网入侵防御系统应用实践研究

电子政务外网是网络攻击的一个重点目标,根据国家电子政务外网的安全要求,需增强安全防护.IPS是一种主动响应入侵,并进行安全防护的安全产品,在电子政务行业得到了广泛应用.结合IPS在电子政务外网中的应用案例,阐述了IPS的选择依据、实现目标、保障措施.实践中采用了马尔可夫方法计算动态信息系统威胁发生概率,分析电子政务外网安全风险,为制定安全策略提供依据.     

沈阳市铁西区工人新村三期园区园林景观评价

从工人新村三期园区的园林景观整体入手,分析了硬质景观和软质景观,认为其充分体现了以人为本的设计理念.整体规划布局合理,园路顺畅,设施齐全、功能完备,植被丰富、四季青新,在绿化和美化了园区环境的同时,给人们的日常生活带来了极大的方便,具有明显的生态效益和社会效益,非常适宜市民居住和生活.但是,在水景景观和常绿树种配植方面略显不足,还有改进空间.     

Mechanical and corrosion properties of low-carbon steel prepared by friction stir processing

Low-carbon steel plates were successfully subjected to normal friction stir processing(NFSP) in air and submerged friction stir processing(SFSP) under water, and the microstructure, mechanical properties, and corrosion behavior of the NFSP and SFSP samples were investigated. Phase transformation and dynamic recrystallization resulted in fine-grained ferrite and martensite in the processed zone. The SFSP samples had smaller ferrites(5.1 μm), finer martensite laths(557 nm), and more uniform distribution of martensite compared to the NFSP samples. Compared to the base material(BM), the microhardness of the NFSP and SFSP samples increased by 19.8% and 27.1%, respectively because of the combined strengthening effects of grain refinement, phase transformation, and dislocation. The ultimate tensile strengths(UTSs) of the NFSP and SFSP samples increased by 27.1% and 38.7%, respectively. Grain refinement and martensite transformation also improved the electrochemical corrosion properties of the low-carbon steel. Overall, the SFSP samples had better mechanical properties and electrochemical corrosion resistance than the NFSP samples.     

Higher-order principal component pursuit via tensor approximation and convex optimization

Recovering the low-rank structure of data matrix from sparse errors arises in the principal component pursuit （PCP）. This paper exploits the higher-order generalization of matrix recovery, named higher-order principal component pursuit （HOPCP）, since it is critical in multi-way data analysis. Unlike the convexification （nuclear norm） for matrix rank function, the tensorial nuclear norm is stil an open problem. While existing preliminary works on the tensor completion field provide a viable way to indicate the low complexity estimate of tensor, therefore, the paper focuses on the low multi-linear rank tensor and adopt its convex relaxation to formulate the convex optimization model of HOPCP. The paper further propose two algorithms for HOPCP based on alternative minimization scheme： the augmented Lagrangian alternating direction method （ALADM） and its truncated higher-order singular value decomposition （ALADM-THOSVD） version. The former can obtain a high accuracy solution while the latter is more efficient to handle the computationally intractable problems. Experimental results on both synthetic data and real magnetic resonance imaging data show the applicability of our algorithms in high-dimensional tensor data processing.     

The age of synthesis: From cognitive science to converging technologies and hereafter

This paper describes the development of two of the most important scientific disciplines in the last quarter of the 20th century, cognitive science, which emerged in 1975, and nano-bio-info-cogno (NBIC) converging technologies, which emerged in 2000. In this century, we will achieve cross-disciplinary integration, innovation in comprehensive knowledge and comprehensive devel opment in human resources. NBIC converging technologies will greatly expand human cognition and communication, improve human health, enhance social outcomes, strengthen national security and unify science and education. Cognitive science and converging technologies will have major effects on the future human development. I argue that the 21st century represents an age of synthesis, reflected in the continual reintegration between scientific disciplines in recent times. This new age of synthesis will require innovations in thought and methodology that differ from those underlying the age of analysis in the 20th century. I predict that these developments will allow every individual to realize comprehensive development. Accordingly, the education system will be transformed, and a comprehensive human resources system will be created.     

Heterogeneity,nonlinearity and endogenous market volatility

This paper aims to contribute to the literature on the explanatory power of behavior models with heterogeneous agents. The authors present a new nonlinear structural stock market model which is a nonlinear deterministic process buffeted by dynamic noise. An exogenous noise is introduced to the model with the assumption of IID normal innovations of the fundamental value in order to investigate how noisy dynamics interacts with deterministic process. The market is composed of two typical trader types: the rational fundamentalists and the boundedly rational traders governed by greed and fear. The interaction between noise and deterministic element determines the evolution process of the system as key parameters are changed. The authors find the model is able to generate time series that exhibit dynamical and statistical properties closely resembling those of the S&P500 index, such as volatility clustering, fat tails (leptokurtosis), autocorrelation in square and absolute return, larger amplitude, crashes and bubbles. The authors also investigate the nonlinear dependence structure in our data. The results indicate that the GARCH-type model cannot completely account for all nonlinearity in our simulated market, which is thus consistent with the results from real markets. It seems that the nonlinear structural model is more powerful to give a satisfied explanation to market behavior than the traditional stochastic approach.     

Atomic-scale segregation behavior of Sn/Ti and O at Σ3[11¯0](111) grain boundary in niobium

First-principle calculation was performed to illustrate the atomic arrangement and segregation behavior of Sn/Ti and O in View the MathML source grain boundary, and the interaction of oxygen interstitials with Sn/Ti atoms on the grain boundary was studied. The analyses on the segregation energies and geometric positions, and the electron densities show that Sn, Ti and O atoms segregate at the Σ3 grain boundary. And the preferred segregation sites of the impurities at View the MathML source were determined. When Sn segregates at grain boundary plane, the O atom prefers to the bulk-like site and shows no segregation tendency at grain boundary, whereas the segregated Ti atom can slightly enhance oxygen segregation at the grain boundary.