星载系统单故障恢复策略研究

针对指令重试时难以合理选择重试时机和冗余资源问题，并根据星载系统的特点，提出了系统致命失效概率最小的单故障重试恢复策略．该策略以星载系统所有出现的故障均为单故障这一假设为前提，建立了指令重试时间与系统资源备份数及系统的致命失效概率间的关系．通过最小化系统的致命失效概率，可得出在系统资源备份一定时的最佳指令重试时间．同时，若系统存在最大致命失效概率，则可得到在最佳指令重试时系统所需的资源备份数．分析该策略可以发现，星载系统的致命失效概率随着系统的运行期的延长而增大，并且随着错误检测率的提高，星载系统的可靠性增加。     

热流模型半导体方程组的光滑解

考虑具热效应的半导体方程组的初边值问题，应用Ｓｃｈａｕｄｅｒ不动点原理和先验估计方法，证明了该问题整体光滑解的存在唯一性。     

低功率激光通过细胞内Ca^2＋对细胞功能的调控作用

综述了Ｈｅ－Ｎｅ激光照射使细胞溶质内［Ｃａ＾２＋］ｉ增加，产生钙信号，从而调控细胞功能，引起细胞内一系列生理和生物化学反应。     

月球车的运动学、动力学分析及其仿真研究

首先推导出六轮月球车运动学方程 ;其次 ,给出了在崎岖地形中运动的月球车的受力分析 ;最后 ,在考虑月球车多关节动力学问题条件下 ,建立了月球车的动力学模型 ;通过仿真实验表明该动力学模型可以较好地解决月球车在崎岖地形中的复杂运动问题 .     

双臂空间机器人的通用运动学路径规划算法

提出了一种基于通用运动学模型的双臂空间机器人在自由浮游状态下捕捉目标并避免碰撞障碍物的路径规划算法。过去的双臂空间机器人路径规划问题主要研究双臂的避碰问题 ,而忽略了机器人本体的避碰问题。实际上 ,当机械臂运动时 ,机器人本体也在相对运动 ,这个相对运动随机械臂质量与本体质量之比的增大而增大。利用通用运动学模型计算出双臂空间机器人的各点 (包括本体 )的速度 ,并在路径规划过程中根据机器人本体的速度计算出本体平动的距离 ,克服这个平动来避免与障碍物碰撞。最后 ,通过路径规划算法的计算机仿真结果证明了所提出路径规划算法的可行性     

GMCL： a robust global localization method for mobile robot

A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.     

毛竹枯梢病的发生发展规律研究

通过人工接种和野外定点试验，竹喙球菌（Ceratosphaeria phyllostachydis)在福建能以菌丝、子囊孢子及分生孢子三种形态越冬。1-3级感病侧枝上形成的有性子实体是主要的初侵染原，子囊孢子萌发后从伤口或自然孔口侵入当年新竹，它主要靠雨水溅散作用传播。在整个生长季节都能释放子囊孢子，以5-7月份释放量最多。温度、降雨量和降雨日是影响病害发生发展的主要因素。6月下旬出现症状，8月上旬至9月上旬为发病盛期，10月下旬以后基体停止信展，病菌进入越冬，毛竹枯梢病是一种具有多侵染点的病害。     

Research on Virtual Object Tele-operation Based on Gesture

A tele-operation method of virtual environment based on gesture is presented.Firstly,the design block diagram and the information flow of the virtual environment tele-operation simulation system are given.Secondly,the coordination transformation between virtual gesture and the tele-operated aircraft is presented.Finally,a tele-operation simulation system based on gesture is developed.And the simulation results demonstrate that there is more consistency between the virtual gesture and the moving object.     

Building Integrated Mobile Robots for Soccer Competition

Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme adaptive PID learning controller. It means to overcome the drawbacks of the conventional PID type control methods. Secondly, we introduce our vision recognition algorithm. It remarkably increases the speed of recognition. Finally, we refer the communication system. We adopt bulletin board system to prevent communication confusion.     

A New Method for Accelerated Waldthroughs of Virtual Environments

A new method for accelerated walkthroughs of virtua l environments is presented. In order to improve rendering quality, it partitio ns visibility computation PVS preprocessing and runtime dynamic visibility computation, at the meantime level-of-detail models are managed to speed up the rendering. The me th od relies on the hierarchical spatial data structure (HSDS) of 3D objects in vir tual environment. Compared with some classical speedup methods such as the graph ic hardware method and a few typical software speedup techniques, the new method embodies obvious improvement in speedup performance.