基于模型设计的倒立摆滑模变结构控制器研究

提出一种基于模型(MBD)的倒立摆控制器设计方法.相对于传统软件设计流程,MBD具备代码生成和早期算法验证功能.首先运用Lagrange方程建立倒立摆仿真模型;然后设计基于LMI倒立摆滑模变结构控制器算法模型,在仿真环境下与被控模型结合形成控制综合系统并进行仿真实验;接着自动生成滑模变结构高效嵌入式代码,整合成倒立摆控...     

参数化优化的仿人机器人相似性前向倒地研究

提出了一种基于运动相似性的仿人机器人前向倒地动作设计方法.首先,分析了运动相似性并提出了关键姿势同步转换方法; 其次,为机器人前向倒地运动四级倒立摆建立了相似性变换条件下的动力学约束方程与关联的物理条件约束; 再次,引入参数化优化控制与强化技术,对机器人的触地过程进行了参数化优化.实验结果表明了该方法的有效性.     

二级倒立摆状态反馈控制器设计优化方法

设计了一种二级倒立摆的状态反馈控制器。研究了一种基于单纯形算法的参数优化方法。首先给出了二级倒立摆系统模型并分析了系统特性,设计了状态反馈控制器,提出基于ITAE(Integrated Time&Absolute Error)性能指标应用单纯形优化方法对状态反馈控制参数进行优化设计,以快速准确地得到状态反馈阵,并利用固高GLIP2002型直线倒立摆系统进行仿真分析和二级倒立摆系统控制实验,实现了二级倒立摆优化控制。提出的一种如何寻找使系统稳定且具有较好性能的状态反馈控制参数这一控制领域重要问题的解决方法,避免了极点配置法手动试凑方法调试参数困难的问题,对非线性、强耦合运动体的控制具有理论意义和应用价值。     

基于非线性流形学习的3维人体运动合成

为了实现3维人体运动的有效合成,提出了一种基于非线性流形学习的3维人体运动合成框架及算法,并可应用于方便、快捷、用户可控的3维人体运动合成。该合成算法框架先采用非线性流形降维方法将高维运动样本映射到低维流形上,同时求解其本征运动语义参数空间的表达,然后将用户在低维运动语义参数空间中交互生成的样本通过逆向映射重建得到具有新运动语义特征的3维运动序列。实验结果表明该方法不仅能够对运动物理参数（如特定关节的运动位置、物理运动特征）进行较为精确的控制,还可用于合成具有高层运动语义（运动风格）的新运动数据。与现有运动合成方法比较,该方法具有用户可控、交互性强等优点,能够应用于常见3维人体运动数据的高效生成。     

基于可生长结构的神经网络建模与仿真

构建了用于倒立摆平衡控制的神经网络学习模型。该模型利用可生长结构神经网络的优势，不需要预先规定网络的结构和规模，便可以在学习过程中根据需要生长。基于可生长结构的神经网络将监督与无监督学习结合，能够快速学习刺激与响应之间的潜在关系。该神经网络离线进行监督学习，训练后作为控制器作用于倒立摆系统，构成基于可生长结构的倒立摆控制模型。以Matlab为开发工具进行了仿真实验。仿真结果表明，该模型能够完成一级倒立摆平衡控制任务，并验证了其有效性和抗干扰能力：     

人体运动仿真综述

人体运动仿真是生物力学、机器人学和计算机科学交叉产生的研究领域,其目的是建立计算模型模拟人体在给定约束下自然真实的物理运动.与一般的人体动画相比,人体运动仿真要求合成的人体运动满足牛顿定律.因此,人体运动仿真除了可用于特效制作,还可用于物理任务的操作培训和学习等方面.首先介绍人体运动仿真的起源与典型应用,然后阐述人体运动仿真研究的关键技术.在关键技术介绍中,引入人体运动仿真研究中使用的人体简化几何模型和物理模型,然后将人体运动仿真方法分成两类:基于前向动力学方法与基于逆向动力学方法,并详细介绍它们的发展历程和最新研究进展.最后从交互动作的仿真、仿真结果验证等几方面讨论人体运动仿真未来可能的发展方向.     

聚类筛选的人体物理运动生成算法

由于人体物理运动具有高维、非线性以及关节之间强耦合性等特点,导致物理运动生成求解困难.通过分析人体物理运动解空间,提出一种基于空间划分筛选和智能进化策略相结合的优化求解算法.首先对采集的运动数据进行预处理,并随机取样变异获得进化算法的初始种群;然后利用多组协方差矩阵进化策略算法分别对初始种群中的个体优化求解;再对优化求解得到的若干个体采用子空间划分,选取每个子空间中的最优个体作为下一时刻的初始解;最后经过多次迭代获得物理控制轨迹,生成物理运动.实验结果表明,相对于现有算法,该算法不仅能够使人体物理模型更好地跟踪运动数据,而且在鲁棒性、时间性能、稳定性方面都有较大程度提高.     

倒立摆系统显式模型预测控制

由于模型预测控制的反复在线优化计算特点,使得模型预测控制难以适用于动态变化较快的机电系统的控制,如倒立摆动系统的控制,为此研究了倒立摆动系统的显式模型预测控制.基于约束线性优化控制问题的多参数规划方法,建立了显式模型预测控制系统,以避免控制系统反复在线优化计算.应用建立的显式模型预测控制系统,对于直线一级和二级倒立摆系统控制做了研究,并做了数值仿真计算.研究结果表明倒立摆系统显式模型预测控制的平衡控制效果是明显的.     

非线性倒立摆系统平衡点反馈控制参数的优化计算

本文基于圆轨倒立摆非线性系统模型,建立了平衡点状态反馈控制参数的高精度优化算法,编制计算程序确定出反馈控制参数,并对圆轨倒立摆平衡点的实例控制.与将系统线性化后的反馈参数的计算分析相比,本文研究方法具有较大平衡范围.仿真与实例平衡控制都表明了本文研究方法的可行性.     

基于分段遗传算法的倒立摆摆起控制研究

针对倒立摆摆起这类复杂非线性系统的优化控制问题,提出了一种基于遗传算法的近似全局最优化的控制方法.在导轨长度和控制力受限的情况下,从倒立摆的物理特性出发,以摆杆进入上半平面前的最后一次角速度为零的时刻为分界时刻,将摆起过程分成两个阶段,分别使用自适应交叉、变异算子的遗传算法搜索每个阶段的最优控制决策,实现了1.9 s内一级倒立摆的成功摆起.这种方法可以简化控制规则,优化摆起时间,并使摆杆更加平稳地进入稳摆控制.仿真和实时控制实验,说明该方法是可行的.     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

Call for Papers The 6^th International Conference on Grid and Cooperative Computing

Recent years have seen rapid advances in various grid-related technologies, middleware, and applications. The GCC conference has become one of the largest scientific events worldwide in grid and cooperative computing. The 6th international conference on grid and cooperative computing (GCC2007) Sponsored by China Computer Federation (CCF),Institute of Computing Technology, Chinese Academy of Sciences (ICT) and Xinjiang University ,and in Cooperation with IEEE Computer Soceity ,is to be held from August 16 to 18, 2007 in Urumchi, Xinjiang, China.     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.     

The Distributed Time-Triggered Simulation Scheme: Core Principles and Supporting Execution Engine

Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs.     

Software-Konfigurationsmanagement in großen Softwareprojekten

Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel.     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and     

Editorial:Brain-machine interface(BMI) and cyborg intelligence

正Brain-machine interfaces(BMIs)aim at building a direct communication pathway between the brain and an external device,and represent an area of research where significant progress has been made during the past decade.Based on BMIs,mind information can be read out by neural signals to control     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate     

SCIENCE CHINA Information Sciences SUBJECT INDEX TO VOLUME 57(2014)

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