基于KF的自平衡机器人姿态角补偿方法

研究基于卡尔曼滤波(KF)的低通滤波补偿方法,对采用单轴加速度计的自平衡机器人姿态角测量系统进行补偿,消除由于振动、冲击等引起的信号失真,增强控制系统的稳定性.根据前期研究及实验,深入分析振动、冲击对传感器信号的影响,提出了一种基于最小二乘拟合原理的姿态角计算模型.在获得机器人自由振荡频率的基础上,设计了基于KF的混合低通滤波单元,并进行了物理模型实验.结果表明,该补偿方法能完全消除振动造成的传感信号失真.此外,该补偿方法对强烈冲击所造成的信号波动亦有明显衰减,能显著提升自平衡机器人的稳定性.     

Phosphonylation and aging mechanisms of mipafox and butyrylcholinesterase: A theoretical study

Phosphonylation and aging processes between butyrylcholinesterase with mipafox have been studied at the B3LYP/6-311G(d,p) level of theory. The calculated results indicate that the phosphonylation process employs a two-step addition-elimination mechanism with the addition (the first step) as the rate-limiting step. Two different calculation models revealed that the catalytic triad of butyrylcholinesterase plays an important role in accelerating the reaction. This is the same mechanism as the phosphonylation reaction of acetylcholinesterase by sarin reported by Wang et al. However, the energy barrier of the rate-limiting step in the present reaction is higher than that in phosphonylation reaction of acetylcholinesterase by sarin. This indicates the differences in the phosphonylation activity of sarin and mipafox. The aging process occurs through a two-step addition-elimination mechanism similar to the phosphonylation process with the addition as the rate-limiting step. The solvent effects have been evaluated by using a CPCM model and the results show that the stationary structures and the negative charges around some important atoms involved in the two processes are not significantly different. However, the energy barrier of the phosphonylation process is remarkably decreased, revealing that this process is feasible in solution.     

变而不移:金代乐论思想探析——兼及金乐论与宋乐论之关系

金人的音乐建构及礼乐倾向是中国古代乐论的重要组成部分。就音乐制度及用乐实践而言,立国之初便进行大肆的文化移植,礼乐制度成熟之后则努力掩盖宋之影响并凸显民族音乐的主体地位;就金朝乐论而言,金人则更多以乐表现真情实感,重视乐之"兴",在美学层面尚"淡"求"真"。宋、金乐论思想是两个并行的体系,制度层面的沿袭并未形成理论层面的直接影响。     

结合空时分组码和机会调度的多用户MIMO系统容量分析

为了充分利用多用户多输入多输出系统(MU-MIMO)中固有的多用户分集,采用机会调度方案,同时为了有效利用空间分集增益和编码增益,应用空时编码理论抵抗多径衰落和提高系统的性能.在瑞利信道下给出了一种结合空时分组码和机会调度的方案并对其进行了容量分析.基于多项式展开的方法,推导了理想和非理想信道估计时的信道容量的封闭表达式、上界值以及高信噪比和低信噪比时的渐近表达式,并分析了不同信道估计时的容量比.此外,分析了基于空间和多用户分集的遍历容量改善.通过相应的数值计算和蒙塔卡罗仿真很好地验证了理论分析的正确性,并表明：多用户分集提高了该方案的性能,而信道估计误差的存在却引起了信道容量的损失;在不同信噪比区域,遍历容量可用相应的渐近表达式来近似.     

Distributed Aggregation Algorithms for Mobile Sensor Networks with Group Mobility Model

In many applications of mobile sensor networks, such as water flow monitoring and disaster rescue, the nodes in the network can move together or separate temporarily. The dynamic network topology makes traditional spanning-tree-based aggregation algorithms invalid in mobile sensor networks. In this paper, we first present a distributed clustering algorithm which divides mobile sensor nodes into several groups, and then propose two distributed aggregation algorithms, Distance-AGG (Aggregation based on Distance), and Probability-AGG (Aggregation based on Probability). Both of these two algorithms conduct an aggregation query in three phases: query dissemination, intra-group aggregation, and inter-group aggregation. These two algorithms are efficient especially in mobile networks. We evaluate the performance of the proposed algorithms in terms of aggregation accuracy, energy efficiency, and query delay through ns-2 simulations. The results show that Distance-AGG and Probability-AGG can obtain higher accuracy with lower transmission and query delay than the existing aggregation algorithms.     

扰动观测器稳定平台视轴稳定的控制方法

为提高运动载体上稳定平台的抑制扰动能力,考虑稳定平台伺服系统的机械谐振因素的影响,提出了带输出观测器的扰动观测器稳定控制方法,研究该扰动观测器的回路结构、输入输出关系、带宽和鲁棒稳定性问题。仿真结果表明:在振幅4(°)/s、频率5 Hz的正弦信号下运动载体视轴稳定精度小于0.04°。在参数摄动情况下带输出观测器的扰动观测器比反馈型扰动观测器具有更好的鲁棒稳定性。     

“万物之生,皆禀元气”——王充元气自然论探析

作为中国哲学史上第一个元气自然论者,王充提出了"万物之生,皆禀元气"的命题,一面强调"一天一地,并生万物",一面指出天地是含气之自然。在此基础上,他沿着元气自然的思路解释天地生人以及人的命运,在反对天人感应和谶纬迷信的同时,走向另一种迷信。     

李超代数S(2)上的Rota-Baxter算子

主要研究李超代数S(2)上权为0的Rota-Baxter算子, 根据S(2)_0^-与sl(2,C)同构的这一性质, 利用sl(2,C)的Rota-Baxter算子, 给出了李超代数S(2)上的权为0的偶的Rota-Baxter算子, 同时利用 Rota-Baxter算子的定义计算得到了李超代数S(2)上的权为0的奇的Rota-Baxter算子。     

面向非结构化道路的特征光流检测

道路环境中的视觉障碍检测是智能车辆导航的一大难题,光流检测算法则为解决该难题提供了有效的途径。提出了一种复合特征光流检测算法,借助于不同类型局部特征的检测与匹配,通过图像分割发现感兴趣区域,通过光流检测为该区域的可通行性判定提供决策依据。与传统光流检测方法的对比实验证明了算法的有效性。     

逼近紧Chebyshev集的太阳性

设X是局部一致凸空间,G是逼近紧Chebyshev集.证明了G是逼近紧Chebyshev集的充分必要条件是G是太阳集.