基于观测器设计的移动小车自适应轨迹跟踪控制研究

提出了一种基于观测器设计的自适应轨迹跟踪控制算法，在无法准确测量移动机器人位姿的情况下，基于其完整动力学模型，实现机器人轨迹跟踪控制问题。方法考虑了实际参数的移动机器人完整动力学模型，将位姿观测器和自适应控制策略相结合，设计了一种移动机器人完整的自适应观测器轨迹跟踪控制策略。仿真结果表明该控制策略的正确性和有效性。     

改进微粒群算法及其在生料浆调配多目标优化中的应用

微粒群算法是一种简单易行、收敛快速的演化计算方法，但也存在早熟收敛的缺陷。鉴于惯性权值对控制算法收敛所起的作用，本文提出一种改进的微粒群算法，让惯性权值按类S型曲线形式随迭代次数非线性变化，并根据微粒当前的搜索状态自适应调节该曲线的曲率，有效保证算法收敛速度和全局寻优能力。改进的微粒群算法用于求解氧化铝生料浆调配过程0-1组合优化问题，与传统微粒群算法及遗传算法比较的结果表明，改进的微粒群算法具有较强的全局搜索能力且能有效避免早熟收敛问题。     

用多目标遗传算法优化设计水库分期汛限水位

水库分期汛限水位利用洪水的季节性规律,可在不降低水库防洪标准的前提下,显著提高水库兴利效益.论述了优化设计分期汛限水位的必要性、基于模拟调度优化设计分期汛限水位的可行性.以防洪、发电、航运等多目标来评价分期汛限水位方案,以不降低水库防洪能力为约束条件,建立了优化设计模型.对简单遗传算法进行了多目标评价、引入共享函数、线性变换适应度函数、优解保持策略、重新洗牌等改进,建立了一种改进的多目标遗传算法,用以优化设计分期汛限水位方案.以三峡水库为研究背景,采用混合编码方法描述分期汛限水位方案,利用1882~2003年宜昌站汛期的实测日流量资料进行模拟优化,得出了较优的分期汛限水位方案.计算结果表明,分期汛限水位优化设计能权衡防洪与兴利之间的关系,在满足防洪要求的前提下,显著提高水库兴利效益.     

Revitalizing the Public Sphere: The Current System of Discourse and the Need for the Participative Design of Social Action

Public discourse in Western democracies, particularly in the United States, is far from the Habermasian ideal of citizens engaging in a rational discussion of public affairs. Rather than providing an arena for informed deliberation, the growing expertise of the media, lobbyists, and politicians has sub-optimized the current system of discourse to focus on emotional manipulation and the creation of polarized interests, each competing with each other for dominance. Avoiding a potentially disastrous outcome from this unbalancing of public discourse requires a revitalization of the public sphere and a return of the citizen voice in public decision making. To that end, systems thinkers have a tremendous opportunity and can play an important role. This article will explore the current challenges facing public discourse and outline that potential role.     

System deployment optimization in architecture design

Optimization of architecture design has recently drawn research interest. System deployment optimization （SDO） refers to the process of optimizing systems that are being deployed to activi- ties. This paper first formulates a mathematical model to theorize and operationalize the SDO problem and then identifies optimal so- lutions to solve the SDO problem. In the solutions, the success rate of the combat task is maximized, whereas the execution time of the task and the cost of changes in the system structure are mini- mized. The presented optimized algorithm generates an optimal solution without the need to check the entire search space. A novel method is finally proposed based on the combination of heuristic method and genetic algorithm （HGA）, as well as the combination of heuristic method and particle swarm optimization （HPSO）. Experi- ment results show that the HPSO method generates solutions faster than particle swarm optimization （PSO） and genetic algo- rithm （GA） in terms of execution time and performs more efficiently than the heuristic method in terms of determining the best solution.     

Conceptual design and RCS performance research of shipborne early warning aircraft

In order to improve the survivability of the aircraft,conceptual design and radar cross section（RCS） performance research are done. The CATIA software is used to design the 3D digital model of the shipborne early warning aircraft, and some measures are taken to reduce the RCS characteristics of the early warning aircraft at the same time. Based on the physical optics method and the equivalent electromagnetic flow method,the aircraft＇s RCS characteristics and strength distribution characteristics are simulated numerically, and compared with the foreign advanced shipborne early warning aircraft. The simulation results show that under the X radar band, when the incident wave pitching angle is 0？, compared with the foreign advanced shipborne early warning aircraft, the forward RCS average value of the conceptual shipborne early warning aircraft is reduced to 24.49%, the lateral RCS average value is reduced to 5.04%, and the backward RCS average value is reduced to 39.26%. The research results of this paper are expected to provide theoretical basis and technical support for the conceptual design and the stealth design of the shipborne early warning aircraft.     

计算机辅助螺纹钢孔型设计系统的开发及应用

型钢孔型设计是制定型钢轧制工艺的重要内容之一.传统孔型设计过程以人工经验为主,其计算繁琐,原材料消耗大.为提高生产效率,通过对螺纹钢延伸孔型系统、精轧孔型系统及成品孔型的构成和设计方法的分析,结合螺纹钢孔型系统的基本设计理论和实际生产经验,对以往孔型设计过程中所使用的数学模型、经验公式等进行了修正,并以结构化程序设计方法为基础,采用可视化编程工具Visual Basic6.0建立了计算机辅助螺纹钢孔型设计系统.试用效果表明,缩短了新产品的设计周期,降低了轧机能耗和生产成本.     

低功耗高集成度MP3解码器IP核设计

针对MP3解码器IP核低功耗和高集成度的要求,对MP3的解码算法和硬件结构进行优化,并设计定制处理单元高效率地执行解码运算,同时引入门控时钟实现MP3解码器的分时工作,从而以极低的硬件代价和功耗完成了MP3解码器IP核设计。该IP核采用16.384 MHz系统工作时钟,共耗用33 088个逻辑门和33 004字节存储单元,以0.18μm 1P4M CMOS工艺成功流片。芯片测试结果表明,该IP核具有正确的MP3解码功能,音质良好,最大解码功耗不超过9 mW,逻辑电路所占硅片面积仅为0.37 mm2。     

结合工程实例就乳化沥青厂拌冷再生配合比设计探讨

冷再生配合比设计一直处于模糊的摸索阶段,对工程现场铣刨RAP材料进行了冷再生配合比设计,既利用土工基层配合比设计中最大干密度和最佳含水量的理念,也充分结合热沥青混合料的配合比设计中马歇尔空隙率、稳定度、劈裂强度等理念,确定了厂拌乳化沥青冷再生配合比。即RAP料占87%,石屑(0～5mm)占13%,水泥掺量为1.5%,最佳含水率7%,最佳沥青用量为2.5%。     

基于财务内部控制视角的高校公务卡运行设计——以四川X学院为例

全面推行公务卡结算制度是高校深化财务管理制度改革的必然要求,也为学校强化财务内部控制提供了一种有效的手段。为此,本文基于财务内部控制的视角,以四川X学院为例,对该校公务卡运行流程进行了设计,以期为该校初次推行公务卡结算制度提供有益的启示。