异构双腿机器人步态规划与控制实现

为了给智能仿生腿的开发提供一个理想的研究平台,提出了异构双腿行走机器人(BRHL)这一全新的类人机器人模式.首先阐述了BRHL的概念及研究意义,然后基于分割建模思想给出了BRHL的协调动力学模型.提出了修正的Sigmoid磁流变阻尼器建模方法并进行了实验建模.详细阐述了基于步态跟随的BRHL步态规划方法并进行了仿真.最后给出了BRHL的控制系统设计,利用Pro/E,ADAMS及MATLAB/Simulink对BRHL进行了虚拟样机联合控制仿真.仿真结果表明,基于MR阻尼器控制的仿生腿能够很好地实现对人工腿的步态跟随.     

基于数据挖掘的入侵检测技术精确度研究

入侵检测系统一直以来都是多层安全体系架构不可或缺的一部分,与传统的防御解决方案相比,基于数据挖掘的入侵检测有着较高的精确度,并能有效地识别未知的入侵模式.然而,伪肯定率的存在也一直影响着基于数据挖掘的入侵检测系统的深入研究.笔者分析影响入侵检测精确度的因素,提出了一种基于数据挖掘的有效提高精确度和降低伪肯定率的入侵检测方法.     

Intermittent demand forecasting in the Enterprise: Empirical verification

Forecasting methods are often valued by means of simulation studies. For intermittent demand items there are often very few non–zero observations, so it is hard to check any assumptions, because statistical information is often too weak to determine, for example, distribution of a variable. Therefore, it seems important to verify the forecasting methods on the basis of real data. The main aim of the article is an empirical verification of several forecasting methods applicable in case of intermittent demand. Some items are sold only in specific subperiods (in given month in each year, for example), but most forecasting methods (such as Croston's method) give non–zero forecasts for all periods. For example, summer work clothes should have non–zero forecasts only for summer months and many methods will usually provide non–zero forecasts for all months under consideration. This was the motivation for proposing and testing a new forecasting technique which can be applicable to seasonal items. In the article six methods were applied to construct separate forecasting systems: Croston's, SBA (Syntetos–Boylan Approximation), TSB (Teunter, Syntetos, Babai), MA (Moving Average), SES (Simple Exponential Smoothing) and SESAP (Simple Exponential Smoothing for Analogous subPeriods). The latter method (SESAP) is an author's proposal dedicated for companies facing the problem of seasonal items. By analogous subperiods the same subperiods in each year are understood, for example, the same months in each year. A data set from the real company was used to apply all the above forecasting procedures. That data set contained monthly time series for about nine thousand products. The forecasts accuracy was tested by means of both parametric and non–parametric measures. The scaled mean and the scaled root mean squared error were used to check biasedness and efficiency. Also, the mean absolute scaled error and the shares of best forecasts were estimated. The general conclusion is that in the analyzed company a forecasting system should be based on two forecasting methods: TSB and SESAP, but the latter method should be applied only to seasonal items (products sold only in specific subperiods). It also turned out that Croston's and SBA methods work worse than much simpler methods, such as SES or MA. The presented analysis might be helpful for enterprises facing the problem of forecasting intermittent items (and seasonal intermittent items as well).     

Enhancing survey‐based investment forecasts

We investigate the accuracy of capital investment predictors from a national business survey of South African manufacturing. Based on data available to correspondents at the time of survey completion, we propose variables that might inform the confidence that can be attached to their predictions. Having calibrated the survey predictors' directional accuracy, we model the probability of a correct directional prediction using logistic regression with the proposed variables. For point forecasting, we compare the accuracy of rescaled survey forecasts with time series benchmarks and some survey/time series hybrid models. In addition, using the same set of variables, we model the magnitude of survey prediction errors. Directional forecast tests showed that three out of four survey predictors have value but are biased and inefficient. For shorter horizons we found that survey forecasts, enhanced by time series data, significantly improved point forecasting accuracy. For longer horizons the survey predictors were at least as accurate as alternatives. The usefulness of the more accurate of the predictors examined is enhanced by auxiliary information, namely the probability of directional accuracy and the estimated error magnitude.     

基于区间直觉模糊数的得分函数与精确函数及其应用

在模糊决策理论中,区间直觉模糊数的排序是一个非常重要的理论问题.运用得分函数和精确函数对区间直觉模糊数进行有效排序的关键是得分函数和精确函数的科学构建.本文基于得分函数和精确函数的内涵,运用概率论全概率公式思想提出了新的得分函数和精确函数,并证明了其公理化的性质.通过大量的实际数据测算与比较分析,验证了本文提出的得分函数和精确函数的科学性,从而在对区间直觉模糊数排序时更有效、更准确.     

应用精密三角高程测量实现跨河水准的研究

文章从三角高程测量单向观测的高差计算公式入手,分析了三角高程测量的误差来源,推导了跨河水准网中测距三角高程的精度估算公式;在此基础上,得出了减弱各项误差从而提高精度的一些结论。结合目前的自动化全站仪,探讨了精密三角高程测量实现精密跨河水准的可行性和便利性,最后指出了在实施跨河水准测量时应注意的一些事项。     

北桥设计中的总线周期精确事务级建模

总线周期精确事务级建模能解决系统设计中的仿真精度和速度之间的矛盾。以北桥中的总线设计为背景,采用SystemC中接口方法调用的原理,实现了对Wishbone总线的周期精确事物级建模,并给出了具体的实现方法和测试方法,具有一定的通用性。     

基于强化学习的连续型机械臂自适应跟踪控制

针对空间主动碎片清除操作中连续型三臂节机器人系统跟踪问题,提出一种基于强化学习的自适应滑模控制算法。基于数据驱动的建模方法,采用BP神经网络对三臂节连续型机械臂进行建模,并作为预测模型指导强化学习实时调节所提出滑模控制器的控制参数,从而实现连续型机器人运动的实时跟踪控制。仿真结果表明：提出的数据驱动的预测模型对随机轨迹预测的相对误差保持在±1%以内,能够高精度地反映系统动态特性。对比固定参数的滑模控制器,提出的自适应控制器在保证系统达到控制目标的同时具有更低的超调量和更短的调节时间,表现出更好的控制效果。     

Mur二阶吸收边界条件两种差分格式的比较

从理论上比较了时域有限差分法的Mur二阶吸收边界条件两种差分格式的计算精度、实现难度等,得出了直接格式计算精度较高但实现难度略大的结论.数值实验证实了上述结论.     

Hadamard变换光学编码探测中的定位精度研究

针对Hadamard光学成像的编码定位精度波动对编码成像结果的影响,研究了编码机制对定位偏差响应的表现,发现了阿达玛变换光学系统对定位精度波动的敏感性规律:像元强度改变量与定位偏差量成比例;一个编码周期内定位偏差的多次波动导致像元强度改变量按次累加;各次波动对像场强度改变量分布具有循环性.采用63阶码板实验以及数值模拟方法计算63阶、255阶和511阶S矩阵编码成像,结果表明定位精度的变化对编码成像质量有重要影响.给出了在编码成像中所应用的编码矩阵折叠形式与定位精度的相关关系,为编码成像系统的精度设计给出了理论基础.