基于Unity3D的水下机器人半实物仿真系统

基于Unity3D研制了一种由地面控制终端、机器人本体和三维仿真系统3部分组成的水下机器人半实物仿真系统,为水下机器人开发过程中的性能测试、控制算法分析和人员操作培训提供了仿真和测试平台。该系统采用同一地面控制终端作为三维仿真系统和机器人控制系统的统一指令输入源,以实现虚拟对象和机器人本体的同步工作,可对系统进行实时监测、调参。采用多目视觉技术对机器人位置采集,对传感器数据进行卡尔曼滤波处理。机器人运动仿真试验结果表明,机器人实际运动路径和仿真规划路径基本相同,该系统动态响应性和控制系统同步性较好。     

群体演出活动服装虚拟仿真系统设计与实现

服装在群体演出活动中发挥重要作用,直接影响整体演出效果呈现。为实现群体演出活动服装的虚拟设计和虚拟演练目标,设计实现群体演出活动服装虚拟仿真系统。利用CLO3D建立人体模型,构建服装个体模型,将人体和服装模型导入Unity后,调整服装材质并且添加纹理图,在Unity中复制成群体,开发演出场景虚拟仿真的交互界面,实现群体演出服装整体效果的设计与可视化虚拟仿真。仿真结果表明,虚拟仿真技术能够模拟出群体演出活动的大体效果,节约排练成本,缩短排练的周期。     

Dynamic Event-Triggered Control for Nonlinear Systems: A Small-Gain Approach

An event-triggered control(ETC) system transmits data packages and updates control inputs only when the predefined criterion is satisfied. In this way, network communication and computing resources are scheduled more reasonably in contrast to the traditional periodic sampling strategy.Small-gain approach proposed in recent literatures is a new modeling method to deal with nonlinear ETC systems. Different from traditional ETC models, stability criteria are proposed in the form of input to state stability(ISS) gain to design the triggering mechanisms. This paper introduces additional dynamic variables in this model and proposes a small-gain based dynamic event-triggered strategy.Sufficient conditions to guarantee the stability of the system are derived with the help of cyclic-smallgain theorem and Zeno behaviors are avoided to ensure the feasibility of this method in practical applications. Numerical simulations are given to demonstrate the effectiveness of our approach.     

The industrial asymmetry of the stock price prediction with investor sentiment: Based on the comparison of predictive effects with SVR

As a representative emerging financial market, the Chinese stock market is more prone to volatility because of investor sentiment. It is reasonable to use efficient predictive methods to analyze the influence of investor sentiment on stock price forecasting. This paper conducts a comparative study about the predictive performance of artificial neural network, support vector regression (SVR) and autoregressive integrated moving average and selects SVR to study the asymmetry effect of investor sentiment on different industry index predictions. After studying the relevant financial indicators, the results divide the Shenwan first-class industries into two types and show that the industries affected by investor sentiment are composed of young companies with high growth and high operative pressure and there are a great number of investment bubbles in those companies.     

Anthropogenic influence has increased climate extreme occurrence over China

There is overwhelming evidence that anthropogenic activity has exerted a great influence on climate extremes, especially on heat events at continental to global...     

SQL Server数据库的数据完整性控制

数据的完整性是指数据库中数据的正确性、有效性和一致性。完整性约束条件是完整性控制机制的核心。在SQL Server数据库应用系统中,有多种方法进行数据的完整性保护,应根据各种完整性约束的优点将它们结合起来使用,充分发挥SQLServer提供的数据完整性的效能,确保数据准确性和一致性。     

国际重要检索系统与甘肃省科技期刊

对国际重要检索系统进行了论述,并对甘肃省科技期刊被国际重要检索系统收录情况进行了统计与分析。     

Wheeled foot quadruped robot HITAN-I

0IntroductionInthe past,much work has been done toinvestigatefour-legged walking.Two of the earliest works are the G.E.Quadruped and Phoney[1].With the introduction ofmore powerful computers,more and more bionic robotshave beeninvented in recent years.WARP1[2]in2002,TITAN[3-5]from1989,BISAM[6]in1998and SCOUTII[7]in1999are examples for these developments.Asground vehicle,the advantages of mobile robot have beenrecognized by peopleinengineeringfields.Ground mobilerobots are usually cl…     

Optimal Switching Integrity Attacks on Sensors in Industrial Control Systems

In this article, an optimal switching integrity attack problem is investigated to study the response of feedback control systems under attack. The authors model the malicious attacks on sensors as additive norm bounded signals. The authors consider an attacker who is only capable of launching attacks to limited number of sensors once a time and changing the combinations of attacked sensors all over the time. The objective of this paper is to find the optimal switching sequence of these combinations and the optimal attack input. The authors solve this problem by transforming it into a traditional optimal control problem with new control variables vary continuously in the range [0, 1]. The optimal solutions of the new control variables are of bang-bang-type. Therefore, an algebraic switching condition and an optimal attack input can be obtained. Finally, numerical results are provided to illustrate the effectiveness of the methods.     

A Survey on Algorithms for Computing Comprehensive Gröbner Systems and Comprehensive Gröbner Bases

Journal of Systems Science and Complexity - Weispfenning in 1992 introduced the concepts of comprehensive Gröbner system/basis of a parametric polynomial system, and he also presented an...