自主机器人多智能体软件架构及伴随行为机制

自主机器人是一类由计算机软件控制的信息物理系统，如何支持该类机器人在开放环境下的有效和协调运行是自主机器人控制软件（CSAR：Control Software of Autonomous Robot）研究与实践面临的一项重要挑战.本文基于组织理论的思想，采用Structure-in-5的组织架构模式，提出了基于多智能体的CSAR的软件架构MaRSA（Multi-agent Robotic Software Architecture），通过独立抽象CSAR的行为规划、分发、执行等软构件并显式加强这些构件间的交互，从而为自主机器人行为的有效规划和协调实施奠定架构基础；提出了基于MaRSA架构的伴随行为机制，从因果性、时序性和按需性三个方面建立了机器人观察行为和任务行为间的伴随关系，并基于分步规划和动态决策的思想设计并实现了伴随行为的自主决策算法DAAB（Decision Algorithm of Accompanying Behaviors）.论文分别在仿真环境和实际机器人环境下设计了对比性实验，结果表明，与主流的反应式行为决策算法和BDI式概率决策算法相比较，基于MaRSA和伴随行为机制的DAAB算法所生成的伴随行为规划在开放环境下具有可行性和更高效的执行效率.     

软件功能安全验证活动的应用

软件功能安全验证活动对提高安全关键系统的安全性具有重要作用,它贯穿于软件安全生命周期的各个阶段。通过对各阶段输出文档的审查和分析,可尽早发现软件问题,降低软件修复成本。完整的问题闭环处理流程可有效解决软件验证活动中发现的问题,给出各方均满意的处理结果。     

Thermal and rheological effects in a classical Graetz problem using a nonlinear Robertson-Stiff fluid model

The present article elaborates the Graetz problem for the Robertson-Stiff fluid model with imposed iso-thermal conditions. The closed-form expression of Robertson-Stiff fluid velocity is obtained. Employing the classical separation of variables approach, the energy equation of the said problem is reduced into an eigenvalue problem. The solution of the eigenvalue problem is developed numerically via the MATLAB built-in algorithm BVP4C. The constants appearing in series solutions are computed by Simpson's rule. The special case of this analysis with appropriate scaling is also applicable for the Bingham, power-law, and Newtonian fluid models. The impact of the dissipation function on Nusselt numbers and mean temperature is also considered. The pictorial representation of average temp7erature and Nusselt number are discussed in the presence of the plug radius, power-law index, and Brinkman number. It is observed that the presence of the plug radius and power-law index delay the prevalence of fully developed conditions for the Nusselt number. Moreover, the local Nusselt number for channel confinement attains higher values as compared with tube confinement. The present investigation has numerous applications in the field of engineering, nanotechnology, biomedical sciences, and development of several thermal types of equipment or microfluidic devices.     

基于VSE的大南湖一矿通风系统现状仿真与评估

为了掌握大南湖一矿通风系统现状,科学评估其安全性、稳定可靠性及合理性,对全矿进行了通风参数精准普查,基于VSE软件对通风系统运行状况进行了仿真与评估。结果表明大南湖一矿通风系统存在部分巷道微风、回风大巷风速偏高、井下通风设施较多、部分角联分支易发生风流转向、矿井通风阻力分布不合理等问题,为系统的优化改造指明了方向。     

A 3E,hydrogen production,irrigation, and employment potential assessment of a hybrid energy system for tropical weather conditions – Combination of HOMER software,shannon entropy,and TOPSIS

The increasing threat to environmental sustainability as a result of greenhouse gas (GHG) emissions from fossil fuel base power plants has necessitated the need to find sustainable energy sources to meet the world's energy demands. This study focuses on assessing the potential of a hybrid power plant for the production of electricity, hydrogen for the production of fertilizer for agricultural activities, farmland irrigation, environmental impact as well as its employment potential in northern Ghana. The Shannon entropy weight and TOPSIS multi-criteria decision-making approach were adopted to rank and identify the optimal configuration out of five possible options for the study area. Results from the simulation show that the winning system, i.e., Hydro + Battery system would generate a total electricity of 1,095,679 kWh/year. A cost of electricity of 0.06 $/kWh with an operating cost (OC) of $18,318 was recorded for the winning system. The total produced hydrogen by the optimum configuration is 8816 kg/year at a levelized cost of hydrogen (LCOH) of 4.47 $/kg. The quantity of low-carbon fertilizer that can be produced from the produced hydrogen is also assessed. The optimum configuration also recorded an employment potential of 4 persons in 25 years. A total GHG equivalence of 383.49 metric tons of CO₂ equivalent indicating the level of emissions that will be avoided should the optimum system be used to meet the demands specified in this study was obtained.     

虚拟战场环境的导弹可视化仿真设计

主要对多模复合制导仿真平台中的导弹视景仿真模块的实现方法进行了研究,介绍了仿真模块的组成,研究了三维物体建模的方法并讨论如何实现动态演示。对基于VC＋＋以OpenGL编程建模仿真和采用Creator、Vega实现作战导弹飞行可视化这样两种方法,概括阐述了其实现过程,并进行了分析比较,得到了适用于导弹飞行仿真控制的设计方法,对于其它场景下三维物体仿真具有一定的借鉴作用。     

基于ARM嵌入式处理器的塑焊机温度控制系统设计

介绍了基于ARM嵌入式处理器LPC2132的塑焊机温度控制系统,重点分析了系统的构成、控制策略和软件设计方法。控制策略采用改进的PID算法实现,在软件设计中移植了μC/OS-Ⅱ操作系统,采用多任务程序设计方法设计程序,大大降低了编写程序的复杂度。实践表明该系统具有控温精度高、运行可靠等优点。     

高等院校中教学软件存在的问题及其发展

教学软件是计算机辅助教学的重更内容之一。它综合了计算机科学与技术、教育学、心理学等学科。尤其在高等院校中教学软件的开发与使用对教学改革和教学管理具有十分重要的意义。但由于种种原因,教学软件存在着一定的问题,制约了教学软件的发展。本文主要阐述了存在的主要问题及促进教学软件发展的方法和建议。     

直埋热水管道和直埋蒸汽管道设计理论浅析

根据直埋热水管道和直埋蒸汽管道的不同特性 ,介绍了两种管道的应力验算及强度计算 ,并对两种直埋热力管道的敷设方式和保温结构进行了分析比较。