一种基于回调滞后的事件定序新算法

在分布式虚拟环境(DVE)中，各节点的时间和事件处理顺序的不一致，将严重影响仿真结果。为解决这些不一致问题，分析了DVE中不一致问题产生的原因，给出了一种软件时钟同步的方法，解决了时间一致性问题；提出了一个基于回调滞后的事件定序新算法，解决了因网络延迟而造成的事件处理顺序的不一致问题。将这些方法初步应用于分布交互仿真系统一综合仿真系统(Synthetic Simulation Sysem，SSS)中，系统的运行结果证明了这些方法的有效性。     

基于实时CORBA的分布式虚拟环境研究

构建一个规模可扩展、功能可扩充、高效的异构型分布式虚拟环境(Distributed Virtual Environments,简称DVE)系统是一个极具挑战的课题.针对DVE系统的规模扩展性问题,文章提出了融合空间分区、兴趣管理、一致性/并发控制和状态推算(Dead Reckoning)多种技术的一个通用框架,并对这些关键技术进行了研究;针对DVE系统的功能可扩充和异构性问题,文章提出了采用实时CORBA/TAO支持DVE系统实现的方法.上述方法为解决DVE系统的规模扩展性、功能扩充性和异构性提供了一个框架和技术上的完整方案.最后,文章给出了依据该方案开发的一个DVE系统实例.     

分布式虚拟环境中的定位服务

针对分布式虚拟环境(DVE)中的静态数据分布式存储的问题，本文提出了一种适用于DVE的定位服务机制，以及一种在定位服务中使用的兴趣区域表达式的快速匹配算法。DVE中的定位服务类似于DNS域名服务，不同点在于定位服务根据空间和逻辑信息进行匹配。定位服务提供了对分布式存放的静态数据的有效、可靠的访问。本文提出的定位服务机制和匹配算法都具有很好的扩展性，可以方便地扩展到对其他更加复杂的兴趣描述进行精确定位。     

分布式虚拟环境中的一致性问题研究

一致性问题是分布式虚拟环境中的基本问题。该文分析和总结了分布式虚拟环境中不一致问题产生的原因和将导致的结果，提出用面向对象方法中的对象-属性-事件机制解决实体状态的一致性问题，用软件时钟同步的方法解决时间一致性问题。提出了一个基于回调滞后的事件定序算法，用于解决事件处理顺序的一致性问题，用坐标转换的方法解决空间一致性问题。将这些方法初步应用于一个分布交互仿真系统-综合仿真环境中，系统的运行结果证明了这些方法的有效性。     

基于优先度的应用层组播协议

本文提出了一种用于分布式虚拟环境的应用层组播协议——基于优先度的应用层组播。与之前提出的其他应用层组播协议相比，它的优势在于将实体在虚拟环境中的优先度作为构建组播树的参数之一，而别的应用层组播协议仅仅考虑了网络层因数。因此它更加适用于那些实体优先度不同的应用，例如：分布式虚拟环境（DVE）。通过仿真实验得出：基于这种应用层组播协议建出的组播树在节点扇出和总带宽利用率上都比单播方式高效。同时优先度对建树起到了指导作用，即优先度大的实体。它到根节点的延时就小，由这几点可以证明，基于优先度的应用层组播很好的满足了DVE系统的特点。     

分布式虚拟环境中基于扫描体的碰撞检测研究

在分布式虚拟环境(DVE)中，由于网络传输的不确定性，物体的状态信息无法准确及时地传输到其他节点上，从而使得DVE中传统的基于状态序列的碰撞检测算法存在漏检和错检现象。在分析传统方法不足的基础上，提出了DVE中基于扫描体的碰撞检测算法，并给出了算法步骤，通过试验证明了该方法能够有效地避免网络传输所带来的不确定性，同时能为DVE提供具有较高精度的检测结果。     

分布式虚拟环境的可扩充性研究

讨论了与分布式虚拟环境系统扩充性相关的两类技术，一类是通过简单的硬件并行来实现系统扩容,典型的例子是多服务器并行分区技术。这类技术能够支持大规模的分布式虚拟环境(DVE)系统，缺点是费用太高;另一类技术试图通过减少服务器通信负载来实现系统容量的增加，主要包括感兴趣区域（AOI）技术，DR算法和组播技术。此外，还讨论了一些复合方法：如基于AOI的组播技术等。网络负载的减少意味着相同的硬件条件可以支持更大规模的客户,从而有助于解决大规模DVE系统的扩充性问题。     

一种DVE中通用的因果消息序时间管理分布式中间件

对于遵循高层体系结构(HLA)标准构建的分布式虚拟环境(DVE),时间管理服务的性能将直接影响分布式仿真的效率和正确性。目前的时间管理服务实现了两种消息排序机制:接收序和时戳序。接收序对消息按其接收顺序进行处理,实时性高,但无法正确处理接收顺序与产生顺序相违背的消息;时戳序通常指保守时戳序机制,能对消息按其产生的时间顺序进行处理,但时间开销较大,难以到达DVE的实时性要求。因此,本文以分布式中间件的方式为DVE设计实现了一种因果消息序时间管理服务,提供符合HLA标准的程序接口,使分布式仿真应用在不改变原有调用接口的情况下,能够通过中间件对消息实现因果序时间管理。实验表明,使用该中间件可以有效维护消息的处理顺序,同时时间开销小,能够较好地满足DVE的实时性要求。     

多用户分布式虚拟环境系统MUDVE的实现技术

介绍了一个用户分布式虚拟环境实验系统MUDVE,在分析了DVE系统的两种通信模型的优缺点后,提出了一种新的混合通信模型,该模型具有系统扩展性好,通信延迟小,对客户机性能要求低的特点;还介绍了面向对象的场景数据管理、动态负载平衡、用户登录管理等功能的设计和实现,另外,MUDVE系统还提供了一般DVE系统所欠缺的信息服务和资源查找,定位功能,最后给出了系统实现的软硬件平台和实现结果。     

基于网格的分布式虚拟环境仿真

针对传统分布式虚拟环境仿真的不足,将网格计算技术引入到分布式虚拟环境仿真中。提出了基于网格的分布式虚拟环境仿真分层体系结构。该体系结构自底向上依次为网格节点、高性能通信系统、数据存储系统、计算系统、资源管理系统、仿真应用系统,并通过网格门户提供统一的仿真应用系统入口。建立了一个基于该体系结构的原型系统并进行了仿真测试。仿真结果表明所提出的体系结构设计满足虚拟环境仿真实时性、稳定性和可靠性的要求。     

Distributed containment control with multiple stationary or dynamic leaders in fixed and switching directed networks

In this paper, we study the problem of distributed containment control of a group of mobile autonomous agents with multiple stationary or dynamic leaders under both fixed and switching directed network topologies. First, when the leaders are stationary and all followers share an inertial coordinate frame, we present necessary and sufficient conditions on the fixed or switching directed network topology such that all followers will ultimately converge to the stationary convex hull formed by the stationary leaders for arbitrary initial states in a space of any finite dimension. When the directed network topology is fixed, we partition the (nonsymmetric) Laplacian matrix and explore its properties to derive the convergence results. When the directed network topology is switching, the commonly adopted decoupling technique based on the Kronecker product in a high-dimensional space can no longer be applied and we hence present an important coordinate transformation technique to derive the convergence results. The proposed coordinate transformation technique also has potential applications in other high-dimensional distributed control scenarios and might be used to simplify the analysis of a high-dimensional system to that of a one-dimensional system when the decoupling technique based on the Kronecker product cannot be applied. Second, when the leaders are dynamic and all followers share an inertial coordinate frame, we propose a distributed tracking control algorithm without velocity measurements. When the directed network topology is fixed, we derive conditions on the network topology and the control gain to guarantee that all followers will ultimately converge to the dynamic convex hull formed by the dynamic leaders for arbitrary initial states in a space of any finite dimension. When the directed network topology is switching, we derive conditions on the network topology and the control gain such that all followers will ultimately converge to the minimal hyperrectangle that contains the dynamic leaders and each of its hyperplanes is normal to one axis of the inertial coordinate frame in any high-dimensional space. We also show via some counterexamples that it is, in general, impossible to find distribute containment control algorithms without velocity measurements to guarantee that all followers will ultimately converge to the convex hull formed by the dynamic leaders under a switching network topology in a high-dimensional space. Simulation results are presented as a proof of concept.     

建模与仿真空间参考模型软件系统的设计和实现

首先介绍了空间参考模型和坐标变换软件系统设计和实现的原则，并给出了软件系统的体系结构和功能模块组成，然后给出了空间参考模型部分的主要数据结构和实现代码并分析了坐标变换的策略和方法，最后给出了坐标变换的流程，主要数据结构，函数和用户接口。     

Interaction in Time and Space

Distributed π-calculus and ambient calculus are extended with timers which may trigger timeout recovery processes. Timers provide a useful notion of relative time with respect to the interaction in a distributed system. The rather flat notion of space in timed distributed π-calculus is improved by considering a hierarchical representation of space in timed mobile ambients. Some basic results are proven, making sound both formal approaches. An easily understood example is used for both extensions, showing how it is possible to describe a non-monotonic behaviour and use a decentralized control to coordinate the interacting components in time and space.     

基于GPS射频模拟信号源的无人机导航系统研究

为了在室内验证卫星导航功能,采用飞机模型计算机、GPS硬件仿真器和GPS射频模拟信号源,提出了一种模拟卫星动态绝对定位的设计思想;根据导航计算需要,对系统中涉及到的不同坐标系进行转换;搭建半物理仿真平台,给出无人机自主导航的验证方案;仿真结果表明,基于GPS射频模拟信号源的无人机导航验证方法切实可行,导航系统具有良好的稳定性。     

An Equivariance Theorem with Applications to Renaming

In the renaming problem, each process in a distributed system is issued a unique name from a large namespace, and the processes must coordinate with one another to choose unique names from a much smaller name space. We show that lower bounds on the solvability of renaming can be formulated as a purely topological question about the existence of an equivariant chain map from a “topological disk” to a “topological annulus”. Proving the non-existence of such a map implies the non-existence of a distributed renaming algorithm in several related models of computation.     

Compression of 3-D Point Visual Data Using Vector Quantization and Rate-Distortion Optimization

In this paper, we propose adaptive and flexible quantization and compression algorithms for 3-D point data using vector quantization (VQ) and rate-distortion (R-D) optimization. The point data are composed of the position and the radius of sphere based on QSplat representation. The positions of child spheres are first transformed to the local coordinate system, which is determined by the parent-children relationship. The local coordinate transform makes the positions more compactly distributed in 3-D space, facilitating an effective application of VQ. We also develop a constrained encoding method for the radius data, which can provide a hole-free surface rendering at the decoder side. Furthermore, R-D optimized compression algorithm is proposed in order to allocate an optimal bitrate to each sphere. Experimental results show that the proposed algorithm can effectively compress the original 3-D point geometry at various bitrates.     

基于Petri网的分布式多媒体同步模型研究

Petri网作为一种描述系统行为的形式化工具,在各类多媒体系统中有着较多的应用,尤其擅长于描述多媒体的同步问题,出现了诸如OCPN（对象组合Petri网）等多媒体同步模型,然而,这些模型却不足以处理分布式环境中的多媒体同步问题。本文提出了一种新的扩充Petri网模型并分析了其模型化的能力和性质,利用该模型可以较好地解决分布式环境中的多媒体同步问题。     

Particle systems for efficient and accurate high-order finite element visualization

Visualization has become an important component of the simulation pipeline, providing scientists and engineers a visual intuition of their models. Simulations that make use of the high-order finite element method for spatial subdivision, however, present a challenge to conventional isosurface visualization techniques. High-order finite element isosurfaces are often defined by basis functions in reference space, which give rise to a world-space solution through a coordinate transformation, which does not necessarily have a closed-form inverse. Therefore, world-space isosurface rendering methods such as marching cubes and ray tracing must perform a nested root finding, which is computationally expensive. We thus propose visualizing these isosurfaces with a particle system. We present a framework that allows particles to sample an isosurface in reference space, avoiding the costly inverse mapping of positions from world space when evaluating the basis functions. The distribution of particles across the reference space isosurface is controlled by geometric information from the world-space isosurface such as the surface gradient and curvature. The resulting particle distributions can be distributed evenly or adapted to accommodate world-space surface features. This provides compact, efficient, and accurate isosurface representations of these challenging data sets.     

一种应变片装配系统的校准方法

为了解决机械臂装配系统中基座坐标系难以确定及空间位置获取时需进行运动学建模的难点,提出了一种基于工具坐标的偏差式计算方法用于应变片装配。通过工作坐标与弹性体装配孔中心位置重合校准,将应变片偏差与弹性体偏差投影至工具坐标系,建立了装配系统的偏差计算模型。通过基于质心的绕贴装头中心旋转且等角度分布于圆周上的多幅图像信息,使贴装头中心定位和坐标重合点精确到亚像素级精度,实现了高精度贴装头位置和坐标点重合校准。实验结果表明该系统能很好地完成应变片的自动装配任务,6 s完成一次应变片的安装,且装配精度能达到0.2 mm。