无人系统多模态视觉感知单元测试与评估方法的研究

提出一种通用的基于视觉传感器的无人系统多模态视觉感知平台的测试与评估的方法,研究了可见光波段和红外光波段下的动态测距实验与复杂光变测距实验. 整个过程采用基于北斗卫星实时授时的时间同步技术和真值采集设备,输出带有时间戳的无人系统多模态感知单元的测量数据和真值数据,并保证了不同设备之间的时间同步误差小于10 ms. 最后,对比测量数据和真值数据,给出测试设备的性能与功能的量化评估. 实验结果表明,该测试评估方法有效地获取了真值,并进行了时间同步,满足实际的需求,具备推广性.     

模具敏捷制造系统研究

针对模具设计制造过程复杂、条件苛刻和单件或小批量生产的特点 ,论述了模具产业发展敏捷制造技术的必要性。提出了模具敏捷制造系统框架和基于STEP与特征技术实现信息集成与过程集成的运行机制。阐述了基于Internet/Intranet的开放式可视化协同工作平台的模具敏捷制造实施方案。     

晶闸管CO2焊机的新型同步及触发电路

所论述的同步及触发电路，基于主电路结构特点设计，克服了传统同步及触发电路的不足，引用新的器件设计电路。该电路结构简单、稳定、精度高，通过具体的试验对电路设计进行的验证。说明该电路在工程实际应用中是非常实用的。     

网络游戏中移动同步问题的解决方案*

在基于C/S网络游戏架构下,介绍了网络游戏中的网络分布式对象的概念,分析了基于图形帧移动的错误方法,提出了一种基于时间移动的算法,并使用插值的方法改进了该算法.最后在上述基础上,提出了一种基于客户端预测和客户端修正的移动同步算法.在实时性要求较高的网络游戏中该算法完全能解决移动同步问题.     

In Silico Logical Modelling to Uncover Cooperative Interactions in Cancer

The multistep development of cancer involves the cooperation between multiple molecular lesions, as well as complex interactions between cancer cells and the surrounding tumour microenvironment. The search for these synergistic interactions using experimental models made tremendous contributions to our understanding of oncogenesis. Yet, these approaches remain labour-intensive and challenging. To tackle such a hurdle, an integrative, multidisciplinary effort is required. In this article, we highlight the use of logical computational models, combined with experimental validations, as an effective approach to identify cooperative mechanisms and therapeutic strategies in the context of cancer biology. In silico models overcome limitations of reductionist approaches by capturing tumour complexity and by generating powerful testable hypotheses. We review representative examples of logical models reported in the literature and their validation. We then provide further analyses of our logical model of Epithelium to Mesenchymal Transition (EMT), searching for additional cooperative interactions involving inputs from the tumour microenvironment and gain of function mutations in NOTCH.     

Fully distributed robust synchronization of networked Lur’e systems with incremental nonlinearities

This paper deals with robust synchronization problems for uncertain dynamical networks of diffusively interconnected identical Lur’e systems subject to incrementally passive nonlinearities and incrementally sector bounded nonlinearities, respectively, in a fully distributed fashion. Whereas in stabilization of one single Lur’e system the conditions of passivity and sector boundedness for the uncertain nonlinear function in the negative feedback loop are commonly assumed, in our context of networked Lur’e systems we adopt the stronger assumptions of incremental passivity and incremental sector boundedness. Throughout this paper the interconnection topologies among these Lur’e agents are assumed to be undirected and connected. We design robustly synchronizing protocols and subsequently implement these protocols in a fully distributed way by means of an adaptive control law that adjusts the coupling weights between neighboring agents. Both for the cases of incrementally passive as well as incrementally sector bounded nonlinearities we obtain sufficient conditions for the existence of fully distributed robustly synchronizing protocols. The state feedback matrices are computed by solving LMIs in terms of the matrices defining the individual agent dynamics. Numerical simulation examples illustrate our theoretical results.     

基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策

传统的协同搜索决策方法在目标引导和机间协同方面存在不足. 研究建立了基于分布概率预测的目标概率图（Target probability map,TPM）初始化方法和基于贝叶斯准则的目标概率图动态更新方法,形成了修正目标概率图（Modified TPM,MTPM）及其运算机理.考虑对任务子区域进行可控回访,定义了数字信息素图（Digital pheromone map,DPM）,建立了数字信息素图使用方法及更新机理.设计了基于MTPM和DPM的寻优指标,建立了基于滚动时域控制的协同搜索决策方法（MTPM-DPM-RHC method,MDR）.仿真表明: 1） MTPM能有效降低对目标的虚警率和漏检率;2） DPM能有效实现对任务区域可控回访;3） MDR方法的遍历能力、重访能力和目标搜索效率均优于已有方法.     

基于输出反馈滑模控制的分数阶超混沌系统同步

以具有更大秘钥空间的分数阶超混沌系统为驱动系统和响应系统,利用具有实际应用意义的输出反馈滑模控制实现两个系统的同步.通过对同步误差系统方程进行结构分解,在辅助系统的基础上设计具有输出反馈特性的滑模控制律.在分数阶系统稳定性理论基础上利用MATLAB YALMIP工具箱对滑模参数进行整定,并利用分数阶Lyapunov稳定性定理证明了滑模控制律和自适应滑模控制律的稳定性.最后,数值仿真表明了本文方法的有效性和可行性.     

切换有向拓扑中的网络化Euler-Lagrange系统自适应同步控制

在动态切换拓扑中研究了带有参数不确定性和单向信息交互的网络化Euler-Lagrange系统的协同控制问题.针对通信拓扑随时间变化的问题,利用有效的局部信息交互设计了一个分布式控制律,并利用自适应技术解决了系统动力学中的参数不确定性问题.通过构造一个连续的Lyapunov函数,证明了系统在切换拓扑的并图存在一棵有向生成树的频率足够高时即可实现网络同步.此外,进一步拓展使用简单的干扰观测器或滑模控制方法进一步研究了该协同策略下的干扰抑制问题.最后,以五颗异构航天器的姿态同步为背景,通过数值仿真及其对照说明了所提合作控制策略的有效性.