基于模糊强化学习的双轮机器人姿态平衡控制

针对单轨双轮机器人在静止情况下存在的固有静态不稳定问题, 提出一种基于模糊强化学习(简称为Fuzzy-Q)的控制方法。首先,运用拉格朗日法建立带控制力矩陀螺的系统动力学模型。然后, 在此基础上设计表格型强化学习算法, 实现机器人的稳定平衡控制。最后,针对算法存在的控制精度不高和控制器输出离散等问题, 采用模糊理论泛化动作空间, 改善控制精度, 并使控制输出连续。仿真实验表明, 相较于传统强化学习方法, 所提方法能够显著提高控制精度, 且可以有效抑制外界干扰力矩对系统的影响, 保证系统具有一定的抗干扰能力。     

回流次数对Sn3.5Ag0.5Cu焊点特性的影响

研究了回流次数对Sn3．5Ag0．5Cu焊点特性的影响,采用扫描电镜SEM和光学显微镜对多次回流后Sn3．5Ag0．5Cu焊点界面金属间化合物（IMC）层的形貌和拉伸断裂断口形貌进行了分析．结果表明：随着回流次数的增加,焊点的宽度和金属间化合物的厚度增加;焊料和凸点下金属化层（UBM）之间界面上的IMC组织从针状逐渐粗化;焊料的拉伸强度有轻微变化;断裂面第一次回流焊后出现在焊料中,而多次回流焊后断裂面部分出现在焊料中,部分出现在UBM和焊料的界面中．     

预应力混凝土结构孔道摩擦系数κ和μ值实测分析

文章通过预应力混凝土梁实测数据并参考了国内外的相关研究资料。对预应力束的孔道摩擦系数κ和μ值进行了较深入的分析。对影响摩擦系数的因素进行了探讨,认为我国规范取值偏小,文章给出了实际摩擦系数取值的建议。     

Experimental studies on oxidizing removal of Cyclops of zooplankton

0 IntroductionCyclops couldn’t be effectively inactivated by theconventional disinfection such as chlorination due to itsstronger resistance to oxidation.In addition,the motilityof Cyclops makes it easily penetrate sand filter into theclean water tank in waterworks , even municipal servicepipe .Adult Cyclops , with body length of one to severalmillimeters, may be caught by naked eye to bring con-sumers unsanitary sense and may become disease trans-mission mediumas the host of pathogenic para…     

Effects of medium nutrition on cell growth and isocamptothecin A and B production by suspension cell culture of Camptotheca acuminata

The effects of initial sucrose concentration, nitrate to ammonium ratio, total N concentration and phosphate concentration in medium on cell growth and isocamptothecin A and B synthesis by suspension call culture of Camptotheca acuminata were investigated in 250 mL shake flasks. 30 g L^-1 sucrose concentration was beneficial to secondary metabolites synthesis. The cell growth and metabolites synthesis were also affected by the ratio of NO3^-/NH4^＋ , and nitrate was tavourable for cell growth. The maximum dry weight was achieved when nitrate was used as the sole N souree. The effect of total initial N on the cell cultures was also investigated with NO3^-/NH4^＋ ratio of 1 ： 2. The final dry cell weight was similar throughout culture period and 50 mM initial N was favourable for secondary metabolite synthesis. 50 mM initial phosphate concentration facilitated both cell growth and secondary metabolites synthesis.     

一种新改进的DS/CDMA多用户检测器

提出了一种利用盲信号分离技术(BSS)与RAKE接收相结合的新多用户检测器.利用基于高阶累积量快速定点的独立分量分析(ICA)算法,从CDMA系统的多址干扰信号中较好地分离出需要用户的多径混合信号和多址干扰信号,进而通过RAKE接收需要的用户信号.     

用ASP和SQL Server建立高校科研信息管理系统

根据高校科研管理的特点对高校科研管理信息系统的需求进行了研究,提出了采用微软公司的ASP SQL Server系统的解决方案,该方案采用B rowser/Server结构,浏览器的客户端无需安装任何组件,就可以使用本系统的所有功能;探讨了该解决方案的需求分析、程序设计、程序测试的全过程,系统总结了建立高效率科研管理信息系统的方法.     

A Class of Second-Order Consensus Protocol in Multi-Agent Systems with Multiple Input Delays

This paper is concerned with the consensus problems for second-order multi-agent systems with multiple input delays. Different from all standard consensus algorithms with uniform delays, the authors aim to find the largest input-delay margin which can guarantee the consensus for the case when delays are nonuniform. Based on frequency domain analysis and matrix theory, an upper bound for maximum tolerable input-delay is given in terms of the relationship with scaling strengths and largest eigenvalue of the Lapalician matrix. Simulation results are provided to illustrate the obtained results.     

Space use by two arboreal rodent species in a Neotropical cloud forest

Studying animal space use patterns can help increase our understating of ecological processes such as competition and community dynamics. To quantify space and habitat use in an isolated and patchy cloud forest community in Mexico, we evaluate the vertical stratification, home range and habitat selection of two arboreal rodents: Habromys schmidlyi and Reithrodontomys microdon. Using live-traps at ground level and different forest strata, we radio-equipped nine individuals of H. schmidlyi and seven of R. microdon, and evaluated fine-scale space use and broad-scale habitat selection between cloud forest and oak forest. We found an average home range of 0.24 ha for R. microdon males and 0.72 ha for females, with a preference for higher canopy in the cloud forest. For H. schmidlyi the home range was 0.83 ha for males and 0.29 ha for females, with a preference for the understory level in the cloud forest. Home range is three-dimensional for these rodents, so we estimate that on average, individuals of both species used eight trees in the time they were tracked. We characterised the vegetation at the trap sites, and used recursive partitioning to relate the presence of different plants with the probability of finding these two species and Peromyscus aztecus, a third rodent species also present in the area and considered in our analysis of habitat use. The highest probability of finding R. microdon (96%) was related to the presence of Brachythecium occidentale and Renauldia mexicana, while H. schmidlyi (95%) was found in close proximity to Fabronia ciliaris and Everniastrum. We highlight the importance of arboreal trapping in biodiversity assessments, and the role of arboreal rodents in maintaining tropical forest ecosystems. We suggest that these rodent species could avoid or reduce competition by using the vertical strata differentially, and that H. schmidlyi and R. microdon can be biological indicators for cloud forest management and conservation.