基于变结构的移动机器人侧向控制器的设计

采用基于后推与模糊滑模控制相结合的方法设计了移动机器人的变结构状态反馈控制器,实现了对道路跟踪侧向误差的渐近镇定控制.应用Lyapunov定理推导了移动机器人满足非完整性约束的时变光滑状态反馈镇定控制律;将状态控制区域分为远离奇异点的稳定工作区域与含有奇异点的非稳定区域2部分.设计模糊控制嚣来控制移动机器人的状态从非稳定区域向稳定区域转变,并采用移动机器人Amigobot作为实验平台验证了控制器设计的有效性.研究结果表明:侧向误差较大时,模糊控制器确保移动机器人在稳定区域内沿着模态切换线减小误差;当侧向误差较小时,时变光滑状态反馈控制实现对移动机器人的平稳镇定.在控制器设计中,将移动机器人的平移速度视为渐变参数,根据侧向误差能量函数的变化进行模糊自适应调节.     

SMAP/INID/1系统的瞬时队长分布

研究了一个有如下特征的排队系统:该系统的到达间隔及服务时间均为相互独立的随机变量,但不一定同分布.特别地,到达间隔分布与系统的瞬时输入量有关.这个系统是GI/G/1系统的拓广.该系统的瞬时队长过程一般不是一个马尔可夫过程,难于直接求取它的分布.利用补充变量技术,可以得到一个多维马尔可夫过程,使得上述系统的瞬时队长过程构成多维过程的一个分量过程,这样,便可借助马尔可夫过程理论及马氏骨架过程理论,得到一组柯尔莫哥洛夫向后方程及向后方程组,导出排队系统的瞬时队长分布的积分表示.在各到达间隔与服务时间均具密度函数的条件下,该积分表示的被积项能够递归地求取.此结论类似于A.S.Alfa等处理GI/G/1系统时所得结论.     

基于二维正投影图三维重建的递归算法

模拟人脑读图中的形体分析法的叠加原理 ,给出三维重建的一种递归算法 .输入初始三视图 ,从中识别出一个简单子块 ,重建这个子块 ,设想从所求形体中切去该子块 ,即将重建过的视图立刻擦除 ,算出剩余形体的三视图 ,并作为新的初始三视图 ,再接受递归算法模块处理 ,如此循环 ,直到投影图信息量为零 .这种算法具有如下特点 :①将自顶向下法和自底向上法有机地结合 ;②在使用自底向上法时仅对三视图作局部计算 ;③使用过的视图信息及时消除 ,避免重复计算 ,效率高 ;④可以解决多解问题 .在使用优先原则时 ,可消去虚伪解 .     

An extended Lagrangian support vector machine for classifications

Lagrangian support vector machine (LSVM) cannot solve large problems for nonlinear kernel classifiers. In order to extend the LSVM to solve very large problems, an extended Lagrangian support vector machine (ELSVM) for classifications based on LSVM and SVMlight is presented in this paper. Our idea for the ELSVM is to divide a large quadratic programming problem into a series of subproblems with small size and to solve them via LSVM. Since the LSVM can solve small and medium problems for nonlinear kernel classifiers, the proposed ELSVM can be used to handle large problems very efficiently. Numerical experiments on different types of problems are performed to demonstrate the high efficiency of the ELSVM.     

Solving constrained traveling salesman problems by genetic algorithms

Three kinds of constrained traveling salesman problems (TSP) arising from application problems, namely the open route TSP, the end-fixed TSP, and the path-constrained TSP, are proposed. The corresponding approaches based on modified genetic algorithms (GA) for solving these constrained TSPs are presented. Numerical experiments demonstrate that the algorithm for the open route TSP shows its advantages when the open route is required, the algorithm for the end-fixed TSP can deal with route optimization with constraint of fixed ends effectively, and the algorithm for the path-constraint could benefit the traffic problems where some cities cannot be visited from each other.     

SEM analysis of the changes of carbon layer structure of mesocarbon microbeads heat-treated at different temperatures

Mesocarbon microbeads (MCMB) with narrow size distribution, excellent sphericity and no obvious conglutination have been prepared with a coal tar pitch containing quinoline insolubles (QI) as the raw material. Optical microscopy and scanning electron microscopy (SEM) are used to examine the structure of the MCMB. It has been found that SEM technique shows the structural information of MCMB clearly in the form of micrographs even when the structure of MCMB is complex, while the optical technique is useful for analysis of the regular structure of the mesophase spheres but cannot be effectively used to analyze either the complex structure of the green MCMB or the structures of the further heat-treated ones at different temperatures. According to the characteristics of the carbon layers, the structures of the as-prepared MCMB in the present experiment could be classified as (I) Parallel Layer type structure and (2) Bent Layer type structure with the carbon layers gathering at one or two points in the MCMB. In the experiments, SEM is also utilized to investigate the structures of MCMB that are heat-treated at different temperatures. It has been found that the MCMB without any further heat-treatment show no layered-carbons, while the ones heat-treated at temperaturehigher than 1000℃ exhibit obvious layered carbons across their sections. When increasing the heat-treatment temperature, the carbon layers become thinner and flatter.     

Effects of Ca on the distribution, structure and morphology of aluminum species in polyaluminum chloride

The flocculation efficiency of polyaluminum chloride (PAC) is closely related to the distribution and structure of its AI species, and Al13 is the optimal species in PAC for flocculation. A series of PAC containing Ca was prepared by adding Ca before and after the basifying reaction. The effects of Ca on the Al species were studied by ^27Al nuclear magnetic resonance (NMR) and atomic force microscope (AFM) techniques. The experimental results show that the introduction of Ca increases the content of Alm and Al13 in PAC and decreases their chemical shifts in NMR spectra due to the electric repulsion between the positive Ca species and AI species and the formation of AI-O-Ca complexes.With the rise of Ca/AI molar ratio, the AI species in PAC tend to scatter. It is observed that the formerly branch-aggregated clusters are tending to form granule-aggregated ones whose diameter gets smaller and smaller, and the floccule aggregates are formed at a higher Ca/Al molar ratio. The introduction of Ca to PAC, which increases the Al13 content, is certainly to enhance the flocculation efficiency of PAC in water treatment.     

高新技术的发展与我国劳动就业的对策

高新技术与劳动就业是我国社会经济发展的两大战略问题。高新技术的发明和应用促进着经济的发展、改变着社会的生活 ,从而影响与经济和社会生活广泛联系的劳动就业。本文从高新技术的广泛影响出发 ,深入分析高新技术的发展对我国就业结构和就业形势的影响 ,并针对高新技术的发展引起的结构性失业现象提出我国应该采取的有效对策。     

重置变结构神经网络及其在风险投资项目评估中的应用

基于神经网络的结构直接影响到网络性能的优劣,进而影响其推广使用,尝试将重置算法应用于经典BP神经网络的结构优化,研究了重置算法中最佳重置时间的性质,提出一种重置变结构经典BP神经网络。通过实例,将重置变结构经典BP神经网络应用于风险投资的项目风险评估中,并与经典BP神经网络的实验结果进行对比。结果表明,重置算法的引入有效地解决了神经网络结构的优化问题。     

网络--探索复杂性的新途径

简单系统由于非线性关系可以呈现复杂行为，而复杂系统可以遵循简单规则自组形成、近年来，作为探索复杂系统结构和功能的复杂网络引起了国际科学界的高度重视，已成为数理科学、生命科学、社会科学、技术科学和管理科学的研究热点之一．论文首先介绍了在复杂网络研究方面已经取得的某些进展，从典型模型．重要概念，网络分类一直到网络结构涌现，其中也包括了作者所做的工作；然后对某些值得注意的问题做了简短的评述．