基于光刀图像的机器人示教纠偏方法

为了解决机器人辅助在线检测系统示教过程中效率低、人为干预多的问题,针对孔类特征,提出一种通过处理光刀图像获取机器人位姿纠正参数的方法。在该方法中,纠偏过程按照将图像光刀线调整为水平方向、将被测特征调整至图像中央、根据不同特征调整最优扫描方向3个步骤进行。根据光刀图像可以求出测量坐标系与被测特征的位姿关系,并得到该位姿与理想测量位姿的偏差。经过坐标变换即可得到在机器人基坐标系下的调整参数。另外,可利用电脑控制机器人运动,从而实现了纠偏过程的自动化。实验结果表明,该方法可将初始的示教位姿修正为理想位姿,且比传统方式效率更高。     

基于概率法的电力系统安全分析

为应对电力系统安全分析中的停机问题，基于概率法的方式，将常用的确定停机计算与加入了概率法的概率停机进行比较，研究了二者的区别与其在长期投资方向的不同。在进行电力系统停机分析时，通常会分别从确定停机与概率停机的角度出发，对其应急状态下的潮流进行计算。但前者的方法可能导致极低概率的停机事件被忽略，进而影响长期的资金投资。通过加入概率法的计算，使得对单个停机事件的判定由其具体的频率来确定，增加了系统运行的稳定性。     

火电机组一次调频性能实时监测系统

为了实时监测和评价火电机组一次调频性能，开发了火电机组一次调频性能实测监测系统。该系统具有一次调频参数异动感知、一次调频性能量化预测及自适应校正等关键功能。某机组的实际应用表明，该系统能够实现火电机组一次调频关键参数的实时监测和调频性能的准确预测。     

基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

Advances in statistical mechanics of rock masses and its engineering applications

To efficiently link the continuum mechanics for rocks with the structural statistics of rock masses,a theoretical and methodological system called the statistical mechanics of rock masses(SMRM)was developed in the past three decades.In SMRM,equivalent continuum models of stressestrain relationship,strength and failure probability for jointed rock masses were established,which were based on the geometric probability models characterising the rock mass structure.This follows the statistical physics,the continuum mechanics,the fracture mechanics and the weakest link hypothesis.A general constitutive model and complete stressestrain models under compressive and shear conditions were also developed as the derivatives of the SMRM theory.An SMRM calculation system was then developed to provide fast and precise solutions for parameter estimations of rock masses,such as full-direction rock quality designation(RQD),elastic modulus,Coulomb compressive strength,rock mass quality rating,and Poisson’s ratio and shear strength.The constitutive equations involved in SMRM were integrated into a FLAC3D based numerical module to apply for engineering rock masses.It is also capable of analysing the complete deformation of rock masses and active reinforcement of engineering rock masses.Examples of engineering applications of SMRM were presented,including a rock mass at QBT hydropower station in northwestern China,a dam slope of Zongo II hydropower station in D.R.Congo,an open-pit mine in Dexing,China,an underground powerhouse of Jinping I hydropower station in southwestern China,and a typical circular tunnel in Lanzhou-Chongqing railway,China.These applications verified the reliability of the SMRM and demonstrated its applicability to broad engineering issues associated with jointed rock masses.     

优化GD-模糊规则的滑坡预报模型研究

为了提高滑坡灾害预报准确率，改善传统的滑坡监测和预报中存在的参数选取困难及模糊控制系统作为预报模型精确度不高的问题，首先采用山体结构稳定性分析法进行滑坡灾害参数的选取，得出降雨量、含水率、土压力及岩土表面位移增量作为预报参数的结论；其次将选取的参数作为模糊系统的输入，建立滑坡灾害发生概率模型，并引入优化的GD算法修正预报模型中的动态参数，使模糊控制模型具有自适应性；同时与未优化的模糊控制模型以及单独模糊控制模型进行仿真对比，仿真结果表明，该控制算法收敛速度快，具有很好的收敛性；最后将该模型在某滑坡重点灾区实验区进行实验测试，实验结果显示该模型具有较好的收敛性，且预报精度达到90%。     

Attitudinal choice models with applications in human decision making

A new family of attitudinal discrete choice models is proposed by considering the attitudinal character and the weight vector, both of which are specific to a decision maker (DM). Given the attribute values of different alternatives, the proposed models give varying choice probabilities, as per the DM's-specific attitudinal character and the weight vector. It is also shown that the conventional discrete choice models are the special cases of the proposed attitudinal models. The proposed choice models are also generalized through an additional parameter to add to their capabilities. An application on real data is included to demonstrate their usefulness in the real world.     

面向智能客服的句子相似度计算方法

针对金融领域中智能客服的句子相似度计算方法进行了研究。利用基于词性的分词纠正模型减少中文歧义词、金融相关词汇的分词错误；通过词向量方法和循环神经网络分别提取词语级和句子级的语义特征，并且得到句子向量；用融合层计算出句子向量间的差异特征；对差异特征进行降维和归一化得到句子相似度计算结果。实验结果表明，该方法具有较高的准确率和[F1]值。     

Deposition of UF5 on the surface of steel material having oxide coating in contact with gaseous UF6

When UF6 is handled in leak tight system, the amount of uranium compound formed on the surface of containers, valves, and others in UF6 handling facilities is not so significant for a short term that special attention has not been given to this problem. The present work was done to throw some more light on this problem based on the recent experiment. We discuss the possibility that the intermolecular transfer of a fluorine atom from UF6 to UF5 may participate in the formation of uranium compound. The discussion includes also the unique features contained in the experimental result, the reaction processes assumed in this problem, and the derivation of a rate equation for expressing the deposition of uranium compound. Furthermore, we propose a new method for determining nonlinear parameters included in a governing differential equation having two variables for expressing the deposition of uranium compound from experimental raw data.