服务机器人分层式图形化编程平台

为了简化服务机器人编程流程,针对服务机器人任务规划特点,基于分层编程的理念,设计了一套简易图形化编程平台。平台由基本模块层、执行协调层、任务规划层3层组成,用户在不同层次采用不同编程方式,兼顾了编程效率和执行效率。同时,提供了友好的图形化编程界面,方便机器人编程。在交龙服务机器人上的编程实验验证了该平台编程的有效性和便捷性。     

Pro/ENGINEER自动编程技术在凸模加工中的应用

本文以一个凸模零件模型为例,介绍了使用Pro/ENGINEER软件NC模块自动编程的操作过程。采用Pro/ENGINEER软件进行自动编程,减少了编程人员的工作量,缩短了机床调试时间,大大提高了生产效率。随着NC编程技术的发展,NC编程可分为手工编程和自动编程。自动编程利用计算机帮助人们解决手工编程无法解     

Java编程中多种IO API复制文件的性能分析

Java编程中提供了多种编程接口进行流、文件、网络的操作.列举了多种不同的编程方式进行文件复制,对比其编程复杂程度及执行效率,为编程人员提供了相关的参考及编程建议.     

Delphi 7开发入门

《跟我学编程》栏目从2003年第6期开办以来先后系统地向初学电脑编程的读者讲述了VB、VC编程的基本知识,编程思路,编程方法,编程实例,编程技巧,受到读者的欢迎和好评。自本期起我们精心组织了Delphi开发工具的应用编程,从Delphi开发入门到提高,均以实例为主线贯穿,由浅入深,循序渐进,学用结合,通俗易懂。     

C++ Builder讲座

第三讲网络编程 本讲结合狼与猎狗游戏连机对弈功能的实现,介绍了WinSock编程的机理,详细讲解了WinSock编程的方法与技巧,同时还介绍了一些高级的WinSock编程知识,对其他的网络编程组件也作了各有侧重的介绍.力图通过此讲,让读者了解有关的网络编程知识,并能进行WinSock编程,编写简单的网络应用程序.     

高速通用EPROM编程器

本文介绍高速通用EPROM编程器的硬件设计和智能编程算法。智能编程算法使EOROM编程速度较一般的编程方法提高了6倍。加之面向磁盘目标文件的编程软件和在单一的无拔插力插座上,实现了对2716—27128各类芯片的编程和程控上下电功能,为用户编程EPROM提供了新手段。     

曲轴曲柄椭圆参数化编程

本文针对某加工工件为大型曲轴纯手工编程的特点,对通用的曲柄椭圆结构编程进行总结。通过使用数控系统计算功能实现曲柄椭圆铣削编程的参数化。参数化编程在简化手工编程难度的同时,还降低了编程的风险,减少了很多重复劳动。值得一提的是,在此基础上还可以推广应用到其他同类相似部位加工的参数化,以加快手工编程的效率,提高编程的准确率。     

用TP80l单板机对MCS_51系列单片机编程的设想

本文较详细地叙述了借助于TP801单板机和编程外围电路对MCS51系列单片微型机-8751的编程过程。文中着重阐明了编程原理、编程软件、编程步骤,并给出了外围电路原理图。     

VC＋＋编程技术与技巧研究

详细分析了VC作为C＋＋编程平台的特点和编程方式,对基本的编程技巧以一个helloword的形式进行说明,并讨论了多线程编程的方法：     

前途光明的中国人自己的编程技术——汉语编程

汉语编程技术,可以打破英语编程语言的垄断,为我国信息技术产业的发展开辟一条属于我们中国人自己的崭新光明之路。该文初步介绍了汉语编程的概念,对汉语编程和英语编程进行了比较,分析了汉语编程特点优势与不足,汉语编程面临机遇和挑战。     

QCDgrid: A Grid Resource for Quantum Chromodynamics

Quantum Chromodynamics (QCD) is an application area that requires access to large supercomputing resources and generates large amounts of raw data. The UK's national lattice QCD collaboration UKQCD currently stores and requires access to around five Tbytes of data, a figure that is growing dramatically as the collaboration's purpose built supercomputing system, QCDOC [P.A. Boyle, D. Chen, N.H. Christ, M. Clark, S.D. Cohen, C. Cristian, Z. Dong, A. Gara, B. Joo, C. Jung, C. Kim, L. Levkova, X. Liao, G. Liu, R.D. Mawhinney, S. Ohta, K. Petrov, T. Wettig and A. Yamaguchi, “Hardware and software status of QCDOC, arXiv: hep-lat/0309096”, Nuclear Physics. B, Proceedings Supplement, Vol. 838, pp. 129–130, 2004. See: http://www.ph.ed.ac.uk/ukqcd/community/qcdoc/; P.A. Boyle, D. Chen, N.H. Christ, M.A. Clark, S.D. Cohen, C. Cristian, Z. Dong, A. Gara, B. Joo, C. Jung, C. Kim, L.A. Levkova, X. Liao, R.D. Mawhinney, S. Ohta, K. Petrov, T. Wettig and A. Yamaguchi, “Overview of the QCDSP and QCDOC computers”, IBM Journal of Research and Development, Vol. 49, No. 2/3, p. 351, 2005] came into full production service towards the end of 2004. This data is stored on QCDgrid, a data Grid currently composed of seven storage elements at five separate UK sites.     

Weaker convergence for Newton's method under Hölder differentiability

We use more precise majorizing sequences than in earlier studies such as [J. Appell, E. De Pascale, J.V. Lysenko, and P.P. Zabrejko, New results on Newton–Kantorovich approximations with applications to nonlinear integral equations, Numer. Funct. Anal. Optim. 18 (1997), pp. 1–17; I.K. Argyros, Concerning the ‘terra incognita’ between convergence regions of two Newton methods, Nonlinear Anal. 62 (2005), pp. 179–194; F. Cianciaruso, A further journey in the ‘terra incognita’ of the Newton–Kantorovich method, Nonlinear Funct. Anal. Appl. 15 (2010), pp. 173–183; F. Cianciaruso and E. De Pascale, Newton–Kantorovich approximations when the derivative is Hölderian: Old and new results, Numer. Funct. Anal. Optim. 24 (2003), pp. 713–723; F. Cianciaruso, E. De Pascale, and P.P. Zabrejko, Some remarks on the Newton–Kantorovich approximations, Atti Sem. Mat. Fis. Univ. Modena 48 (2000), pp. 207–215; E. De Pascale and P.P. Zabrejko, Convergence of the Newton–Kantorovich method under Vertgeim conditions: A new improvement, Z. Anal. Anwendvugen 17 (1998), pp. 271–280; J.A. Ezquerro and M.A. Hernández, On the R-order of convergence of Newton's method under mild differentiability conditions, J. Comput. Appl. Math. 197 (2006), pp. 53–61; J.V. Lysenko, Conditions for the convergence of the Newton–Kantorovich method for nonlinear equations with Hölder linearizations (in Russian), Dokl. Akad. Nauk BSSR 38 (1994), pp. 20–24; P.D. Proinov, New general convergence theory for iterative processes and its applications to Newton–Kantorovich type theorems, J. Complexity 26 (2010), pp. 3–42; J. Rokne, Newton's method under mild differentiability conditions with error analysis, Numer. Math. 18 (1971/72), pp. 401–412; B.A. Vertgeim, On conditions for the applicability of Newton's method, (in Russian), Dokl. Akad. N., SSSR 110 (1956), pp. 719–722; B.A. Vertgeim, On some methods for the approximate solution of nonlinear functional equations in Banach spaces, Uspekhi Mat. Nauk 12 (1957), pp. 166–169 (in Russian); English transl.: Amer. Math. Soc. Transl. 16 (1960), pp. 378–382; P.P. Zabrejko and D.F. Nguen, The majorant method in the theory of Newton–Kantorovich approximations and the Pták error estimates, Numer. Funct. Anal. Optim. 9 (1987), pp. 671–684; A.I. Zinc?enko, Some approximate methods of solving equations with non-differentiable operators (Ukrainian), Dopovidi Akad. Nauk Ukraïn. RSR (1963), pp. 156–161] to provide a semilocal convergence analysis for Newton's method under Hölder differentiability conditions. Our sufficient convergence conditions are also weaker even in the Lipschitz differentiability case. Moreover, the results are obtained under the same or less computational cost. Numerical examples are provided where earlier conditions do not hold but for which the new conditions are satisfied.     

Isogeometric variational multiscale modeling of wall-bounded turbulent flows with weakly enforced boundary conditions on unstretched meshes

In this work, we combine (i) NURBS-based isogeometric analysis, (ii) residual-driven turbulence modeling and iii) weak imposition of no-slip and no-penetration Dirichlet boundary conditions on unstretched meshes to compute wall-bounded turbulent flows. While the first two ingredients were shown to be successful for turbulence computations at medium-to-high Reynolds number [I. Akkerman, Y. Bazilevs, V. M. Calo, T. J. R. Hughes, S. Hulshoff, The role of continuity in residual-based variational multiscale modeling of turbulence, Comput. Mech. 41 (2008) 371–378; Y. Bazilevs, V.M. Calo, J.A. Cottrell, T.J.R. Hughes, A. Reali, G. Scovazzi, Variational multiscale residual-based turbulence modeling for large eddy simulation of incompressible flows, Comput. Methods Appl. Mech. Engrg., 197 (2007) 173–201], it is the weak imposition of no-slip boundary conditions on coarse uniform meshes that maintains the good performance of the proposed methodology at higher Reynolds number [Y. Bazilevs, T.J.R. Hughes. Weak imposition of Dirichlet boundary conditions in fluid mechanics, Comput. Fluids 36 (2007) 12–26; Y. Bazilevs, C. Michler, V.M. Calo, T.J.R. Hughes, Weak Dirichlet boundary conditions for wall-bounded turbulent flows. Comput. Methods Appl. Mech. Engrg. 196 (2007) 4853–4862]. These three ingredients form a basis of a possible practical strategy for computing engineering flows, somewhere between RANS and LES in complexity. We demonstrate this by solving two challenging incompressible turbulent benchmark problems: channel flow at friction-velocity Reynolds number 2003 and flow in a planar asymmetric diffuser. We observe good agreement between our calculations of mean flow quantities and both reference computations and experimental data. This lends some credence to the proposed approach, which we believe may become a viable engineering tool.     

Book reviews

CALCULUS AND THE COMPUTER (An Approach to problem solving) by T. V. Fossum and R. W. Gatterdam, 1980, pub. by Scott, Forrseman & Co., Glenview, Illinois, 217pp+Index. $6.95 (only U.S. Price available).

KNOWLEDGE BASED PROGRAM CONSTRUCTION, by David R. Barstow, The Computer Science Library, Programming Languages Series No. 6. North-Holland, 1979. $10.

NUMERICAL ANALYSIS OF SEMICONDUCTOR DEVICES. Proceedings of the NASECODE 1 Conference held at Trinity College, Dublin, from 27th-29th June 1979, edited by B.T. Browne and J. J. H. Miller, pub. by Boole Press Ltd., P.O. Box No. 5, 51 Sandycove Road, Dunlaoghaire, Co. Dublin, Ireland, August 1979, XII + 303 pages, Cloth £20 (U.S. $42) ISBN 0-906783-003.     

New shape-based auroral oval segmentation driven by LLS-RHT

A new method that exploits shape to localize the auroral oval in satellite imagery is introduced. The core of the method is driven by the linear least-squares (LLS) randomized Hough transform (RHT). The LLS-RHT is a new fast variant of the RHT suitable when not all necessary conditions of the RHT can be satisfied. The method is also compared with the three existing methods for aurora localization, namely the histogram-based k-means [C.C. Hung, G. Germany, K-means and iterative selection algorithms in image segmentation, IEEE Southeastcon 2003 (Session 1: Software Development)], adaptive thresholding [X. Li, R. Ramachandran, M. He, S. Movva, J.A. Rushing, S.J. Graves, W. Lyatsky, A. Tan, G.A. Germany, Comparing different thresholding algorithms for segmenting auroras, in: Proceedings of the International Conference on Information Technology: Coding and Computing, vol. 6, 2004, pp. 594-601], and pulse-coupled neural network-based [G.A. Germany, G.K. Parks, H. Ranganath, R. Elsen, P.G. Richards, W. Swift, J.F. Spann, M. Brittnacher, Analysis of auroral morphology: substorm precursor and onset on January 10, 1997, Geophys. Res. Lett. 25 (15) (1998) 3042-3046] methods. The methodologies and their performance on real image data are both considered in the comparison. These images include complications such as random noise, low contrast, and moderate levels of key obscuring phenomena.     

A DAFT DL_POLY distributed memory adaptation of the Smoothed Particle Mesh Ewald method

The Smoothed Particle Mesh Ewald method [U. Essmann, L. Perera, M.L. Berkowtz, T. Darden, H. Lee, L.G. Pedersen, J. Chem. Phys. 103 (1995) 8577] for calculating long ranged forces in molecular simulation has been adapted for the parallel molecular dynamics code DL_POLY_3 [I.T. Todorov, W. Smith, Philos. Trans. Roy. Soc. London 362 (2004) 1835], making use of a novel 3D Fast Fourier Transform (DAFT) [I.J. Bush, The Daresbury Advanced Fourier transform, Daresbury Laboratory, 1999] that perfectly matches the Domain Decomposition (DD) parallelisation strategy [W. Smith, Comput. Phys. Comm. 62 (1991) 229; M.R.S. Pinches, D. Tildesley, W. Smith, Mol. Sim. 6 (1991) 51; D. Rapaport, Comput. Phys. Comm. 62 (1991) 217] of the DL_POLY_3 code. In this article we describe software adaptations undertaken to import this functionality and provide a review of its performance.     

Response to the comments on "Fundamental limits of reconstruction-based superresolution algorithms under local translation"

Wang and Feng (IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 28, no. 5, p 846, May 2006) pointed out that the deduction in (Z. Lin and H. Y. Shum, IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 26, no. 1, pp. 83-97, Jan. 2004) overlooked the validity of the perturbation theorem used in (Z. Lin and H. Y. Shum, IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 26, no. 1, pp. 83-97, Jan. 2004). In this paper, we show that, when the perturbation theorem is invalid, the probability of successful superresolution is very low. Therefore, we only have to derive the limits under the condition that validates the perturbation theorem, as done in (Z. Lin and H. Y. Shum, IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 26, no. 1, pp. 83-97, Jan. 2004).     

A counterexample of a theorem by Tsolas et al. and an independentresult by Zaborszky et al. [with reply]

Recent results on the composition of the stability boundary by N.A. Tsolas et al. (IEEE Trans. Circuits Syst., vol.CAS-32, no.10, pp.1041-9, Oct. 1985) and J. Zaborszky et al. (Proc. IFAC Symp. Power Syst. Power Plant. Contr., Beijing, China, Aug. 1986, pp.597-603) claimed that it consisted of the stable manifolds of index-one unstable equilibria and their closures. A counterexample shows the potential existence of additional structures within the boundary. This finding invalidates numerous theorems published in the literature. The author concedes that the counterexample to the theorem in the paper by N.A. Tsolas et al. is unassailable and identifies the error in his proof     

Comparison of computational approaches for predicting the effects of missense mutations on p53 function

We applied our recently developed kinetic computational mutagenesis (KCM) approach [L.T. Chong, W.C. Swope, J.W. Pitera, V.S. Pande, Kinetic computational alanine scanning: application to p53 oligomerization, J. Mol. Biol. 357 (3) (2006) 1039–1049] along with the MM-GBSA approach [J. Srinivasan, T.E. Cheatham 3rd, P. Cieplak, P.A. Kollman, D.A. Case, Continuum solvent studies of the stability of DNA, RNA, and phosphoramidate-DNA helices, J. Am. Chem. Soc. 120 (37) (1998) 9401–9409; P.A. Kollman, I. Massova, C.M. Reyes, B. Kuhn, S. Huo, L.T. Chong, M. Lee, T. Lee, Y. Duan, W. Wang, O. Donini, P. Cieplak, J. Srinivasan, D.A. Case, T.E. Cheatham 3rd., Calculating structures and free energies of complex molecules: combining molecular mechanics and continuum models, Acc. Chem. Res. 33 (12) (2000) 889–897] to evaluate the effects of all possible missense mutations on dimerization of the oligomerization domain (residues 326–355) of tumor suppressor p53. The true positive and true negative rates for KCM are comparable (within 5%) to those of MM-GBSA, although MM-GBSA is much less computationally intensive when it is applied to a single energy-minimized configuration per mutant dimer. The potential advantage of KCM is that it can be used to directly examine the kinetic effects of mutations.     

On the estimation of the general parameter

In this paper, we first discuss the origin, developments and various thoughts by several researchers on the generalized linear regression estimator (GREG) due to Deville and Särndal [Deville, J.C., Särndal, C.E., 1992. Calibration estimators in survey sampling. J. Amer. Statist. Assoc. 87, 376-382]. Then, the problem of estimation of the general parameter of interest considered by Rao [Rao, J.N.K., 1994. Estimating totals and distribution functions using auxiliary information at the estimation stage. J. Official Statist. 10 (2), 153-165], and Singh [Singh, S., 2001. Generalized calibration approach for estimating the variance in survey sampling. Ann. Inst. Statist. Math. 53 (2), 404-417; Singh, S., 2004. Golden and Silver Jubilee Year-2003 of the linear regression estimators. In: Proceedings of the Joint Statistical Meeting, Toronto (Available on the CD), 4382-4380; Singh, S., 2006. Survey statisticians celebrate Golden Jubilee Year-2003 of the linear regression estimator. Metrika 1-18] is further investigated. In addition to that it is shown that the Farrell and Singh [Farrell, P.J., Singh, S., 2005. Model-assisted higher order calibration of estimators of variance. Australian & New Zealand J. Statist. 47 (3), 375-383] estimators are also a special case of the proposed methodology. Interestingly, it has been noted that the single model assisted calibration constraint studied by Farrell and Singh [Farrell, P.J., Singh, S., 2002. Re-calibration of higher order calibration weights. Presented at Statistical Society of Canada conference, Hamilton (Available on CD); Farrell, P.J., Singh, S., 2005. Model-assisted higher order calibration of estimators of variance. Australian & New Zealand J. Statist. 47 (3), 375-383] and Wu [Wu, C., 2003. Optimal calibration estimators in survey sampling. Biometrika 90, 937-951] is not helpful for calibrating the Sen [Sen, A.R., 1953. On the estimate of the variance in sampling with varying probabilities. J. Indian Soc. Agril. Statist. 5, 119-127] and Yates and Grundy [Yates, F., Grundy, P.M., 1953. Selection without replacement from within strata with probability proportional to size. J. Roy. Statist. Soc. Ser. 15, 253-261] estimator of the variance of the linear regression estimator under the optimal designs of Godambe and Joshi [Godambe, V.P., Joshi, V.M., 1965. Admissibility and Bayes estimation in sampling finite populations—I. Ann. Math. Statist. 36, 1707-1722]. Three new estimators of the variance of the proposed linear regression type estimator of the general parameters of interest are introduced and compared with each other. The newly proposed two-dimensional linear regression models are found to be useful, unlike a simulation based on a couple of thousands of random samples, in comparing the estimators of variance. The use of knowledge of the model parameters in assisting the estimators of variance has been found to be beneficial. The most attractive feature is that it has been shown theoretically that the proposed method of calibration always remains more efficient than the GREG estimator.