An optimization model of UAV route planning for road segment surveillance

Unmanned aerial vehicle （UAV） was introduced to take road segment traffic surveillance. Considering the limited UAV maximum flight distance, UAV route planning problem was studied. First, a multi-objective optimization model of planning UAV route for road segment surveillance was proposed, which aimed to minimize UAV cruise distance and minimize the number of UAVs used. Then, an evolutionary algorithm based on Pareto optimality technique was proposed to solve multi-objective UAV route planning problem. At last, a UAV flight experiment was conducted to test UAV route planning effect, and a case with three scenarios was studied to analyze the impact of different road segment lengths on UAV route planning. The case results show that the optimized cruise distance and the number of UAVs used decrease by an average of 38.43% and 33.33%, respectively. Additionally, shortening or extending the length of road segments has different impacts on UAV route planning.     

网络环境下大学英语自主学习中的情感因素调查研究——以沈阳建筑大学为例

通过问卷调查和访谈的方式研究了影响学习者自主学习能力提高的三个重要情感因素:焦虑、学习动机、学习态度。研究表明,大多数受试者在网络环境下的大学英语自主学习中呈现出适度焦虑的心理状态,但仍有少部分学生存在着一定程度的焦虑;学习者的工具性动机高于融入性动机;学习者有一定的自主学习意识,但是对自己在自主学习中的角色不够明确。针对这些发现,提出了相应的教学建议。     

基于多元智能理论的大学英语视听说自主学习模式研究

以多元智能理论为基础,介绍了沈阳建筑大学开展视听说自主学习模式试点教学的实践过程,并通过问卷和访谈调查了学习者对视听说自主学习的总体评价以及自主学习过程中存在的问题。研究表明,大部分学习者能够适应网络自主学习模式,并比较认可网络自主学习对英语学习的作用,但是视听说自主学习模式在教材、教学软件设计、学生之间、师生之间的交流与互动等方面还存在一些不足,学习者的积极性也有待提高。针对这些发现,本文提出了相应的教学建议。     

高校文学课程中的问题探求与知识建构

面对文学类课程教学所面临的内外双重困境,在教学中以自主学习为课程目标,以问题与知识构建为重要突破口,使学生的课内学习与课外探求互为联动,从而不断提高文学类课程的教学效果,使文学类课程从"无用"走向隐性与显性的双重"有用",从而处理好问题探求与知识建构之间良性互动的关系。     

自主移动机器人局部优化导航算法研究

自主移动机器人在未知环境下需要依靠自身装配的传感器不间断地获得周围环境信息,辨别出障碍物的位置,进行计算和自主决策.现有导航算法在面临U型等复杂环境时容易在僵死路径上产生反复,导致导航不能继续.文中提出了一种基于模糊逻辑的局部优化导航算法,采用"辨识-记忆"策略来处理传感器信息.在路径规划中保留最近走过路径的位置和角度特征等相关资源,形成"记忆".当前规划路径形成死区并反复运行时,会形成"辨识"并重新规划路径和导航决策以避免障碍物碰撞.在Webots Pro和Matlab下设计仿真实验,结果表明移动机器人在模糊规则指导下能有效避障和避免死区现象,实现较好的自主导航.     

考虑交通流量捕获的风-氢-电耦合网络规划

研究在风-氢-电耦合网络下的制氢加氢站(HPRS)与风电场的选址定容问题,以期实现HPRS与风电场的科学布局.首先,建立了包含氢气生产、压缩和储存并被注入氢燃料汽车的HPRS全流程模型,模拟现场电解水HPRS的氢气生产和消耗;其次,提出交通网的加氢逻辑规则及网络扩展技术;最后,同时考虑交通网络约束、电力网络约束和设备运行约束,构建考虑交通流量捕获的风-氢-电耦合网络规划模型.以IEEE 33节点电力网络和25节点交通网络作为算例测试系统,研究结果验证了所提模型的有效性.     

基于加油时间最短的流量平衡设计方法研究

基于飞机地面压力加油系统管路模型，运用运筹学方法，建立了求取加油时间最短的数学模型，求触得出只有在流量平衡的条件下，加油时间最短。系统研究的结果验证了该结论的正确性。     

GPS自主导航原理、算法及应用

针对超小型飞行器的特点，详细研究了采用GPS实现超小型飞行器自主导航的原理和算法，并介绍了地面计算机在Windows环境下利用Visual Basic6．0接收和处理GPS定位数据的方法。     

Implementation and performance evaluation of a scheduling algorithm for divisible load parallel applications in a cloud computing environment

Cloud computing is an emerging technology in which information technology resources are virtualized to users in a set of computing resources on a pay‐per‐use basis. It is seen as an effective infrastructure for high performance applications. Divisible load applications occur in many scientific and engineering applications. However, dividing an application and deploying it in a cloud computing environment face challenges to obtain an optimal performance due to the overheads introduced by the cloud virtualization and the supporting cloud middleware. Therefore, we provide results of series of extensive experiments in scheduling divisible load application in a Cloud environment to decrease the overall application execution time considering the cloud networking and computing capacities presented to the application's user. We experiment with real applications within the Amazon cloud computing environment. Our extensive experiments analyze the reasons of the discrepancies between a theoretical model and the reality and propose adequate solutions. These discrepancies are due to three factors: the network behavior, the application behavior and the cloud computing virtualization. Our results show that applying the algorithm result in a maximum ratio of 1.41 of the measured normalized makespan versus the ideal makespan for application in which the communication to computation ratio is big. They show that the algorithm is effective for those applications in a heterogeneous setting reaching a ratio of 1.28 for large data sets. For application following the ensemble clustering model in which the computation to communication ratio is big and variable, we obtained a maximum ratio of 4.7 for large data set and a ratio of 2.11 for small data set. Applying the algorithm also results in an important speedup. These results are revealing for the type of applications we consider under experiments. The experiments also reveal the impact of the choice of the platforms provided by Amazon on the performance of the applications under study. Considering the emergence of cloud computing for high performance applications, the results in this paper can be widely adopted by cloud computing developers. Copyright © 2014 John Wiley & Sons, Ltd.     

基于滤波反步法的欠驱动AUV三维路径跟踪控制

研究了欠驱动自主水下航行器 (Autonomous underwater vehicle, AUV)的三维空间路径跟踪控制问题.针对基于虚拟向导建立的三维路径跟踪误差模型, 采用滤波反步法设计跟踪控制器,通过二阶滤波过程获得虚拟控制量的导数, 避免了直接对虚拟控制量解析求导的复杂过程, 同时滤除了高频测量噪声, 增加了系统对噪声的鲁棒性.通过设计滤波误差补偿回路, 保证了滤波信号对虚拟控制量的逼近精度.基于李雅普诺夫稳定性理论设计鲁棒项, 保证了闭环跟踪误差系统状态的渐近稳定.仿真结果表明了该控制器对噪声干扰具有一定的鲁棒性, 能够实现对三维路径的精确跟踪.