单自由度八杆仿生机构构型与尺度同步设计方法

单自由度八杆仿生机构杆长参数较多，是仿生机器人领域研究的难点之一。为提高设计效率，提出一种构型与尺度同步设计方法。在选定的运动链和机架的基础上，以不等式形式分步给出运动可行性及外形约束条件，使得上一步的杆长可作为下一步求解的已知值。通过该过程，在得到八杆仿生机构构型的同时，快速得到所有杆长的初步可行域。循环上述过程，逐步缩小约束条件的范围，可使得八杆机构的杆长快速接近目标值。在此基础上，分类讨论了连杆搭接顺序、约束条件及基本运动链的差异对求解难度及构型结果的影响。利用所提出的单自由度八杆仿生机构的设计方法，在对初始条件进行合理选取的前提下，可在初步得到构型的同时将杆长限定在较小范围内，实现了构型与尺度的同步设计。该方法还可应用于其他单自由度机构的设计当中，具有较好的借鉴意义。     

Estimation of fog utility pricing: a bio-inspired optimisation techniques' perspective

ABSTRACT

Due to the limited data storage capacity available to Internet service providers and large-scale enterprises, the concept of resource sharing arises. The services can be given on lease to enterprises through Service Level Agreements. Being the extension of the cloud computing, fog computing architecture brings the resources near end users. In order to get the services on lease, the enterprises are supposed to pay for the resources or services which are being used by them. In this paper, four nature inspired algorithms are analysed in order to determine the efficient management of services or resources so that the cost of resources can be reduced and the billing can be attained through calculation of the utilised resources. Pigeon inspired optimization, enhanced differential evolution, binary bat algorithm and simple human learning optimization are used to evaluate the energy consumed by the edge nodes or cloudlets that in turn can be used for estimating the bill through the Time of Use pricing variable. We evaluate the aforementioned techniques to analyse their performance regarding the bill calculation on the basis of fog servers usage. Simulation results demonstrate that BAT algorithm gives significantly better results than other three algorithms in terms of resource utilisation and bill reduction.     

Parkinson’s Disease Detection Using Biogeography-Based Optimization

In recent years, Parkinson's Disease (PD) as a progressive syndrome of the nervous system has become highly prevalent worldwide. In this study, a novel hybrid technique established by integrating a Multi-layer Perceptron Neural Network (MLP) with the Biogeography-based Optimization (BBO) to classify PD based on a series of biomedical voice measurements. BBO is employed to determine the optimal MLP parameters and boost prediction accuracy. The inputs comprised of 22 biomedical voice measurements. The proposed approach detects two PD statuses: 0-disease status and 1- good control status. The performance of proposed methods compared with PSO, GA, ACO and ES method. The outcomes affirm that the MLP-BBO model exhibits higher precision and suitability for PD detection. The proposed diagnosis system as a type of speech algorithm detects early Parkinson’s symptoms, and consequently, it served as a promising new robust tool with excellent PD diagnosis performance.     

可仿生自修复的无线传感网络节点设计

为保证无线传感网络的长期稳定运行,提出了一种具有仿生自修复功能的节点设计方法.该方法采用现场可编程模拟阵列(FPAA)实现传感模块内部各电路的信号链路,用信号处理模块监测传感模块内部各电路的工作状态.当传感模块发生异常时,信号处理模块判别其内部异常电路位置,并驱动FPAA启动冗余备份电路,完成了传感模块的信号链路的动态重构,达到了节点自修复的目的.首先介绍了仿生自修复节点的总体设计方案;然后,以应变无线传感网络节点为具体应用对象,设计实现了传感模块可动态重构自修复无线传感网络节点;最后,通过信号异常饱和状态的自修复试验验证了节点的自修复功能.     

一种面向智慧协同网络的自适配路由策略研究

现有互联网网络体系和机制相对"静态"和"僵化",缺乏支持智慧网络的有效机制.要从根本上解决现有互联网存在的严重弊端,必须创建新的网络理论体系.本文在智慧协同网络"三层"、"两域"体系结构下,针对"网络组件层"的路由自适配问题展开研究,提出基于生物启发的转发网络族群自适配路由策略,实现族群内路由组件之间的智慧协调、动态重构和优化决策,有效解决现有路由策略的静态、僵化等问题.通过数学分析证明:如果设定模型参数μ∈(0,1),提出的自适配路由策略可以始终保持稳定性.最后,通过原型系统验证了提出自适配路由策略是切实可行的,能够提高网络的承载业务数量和提升用户体验.     

仿甲虫鞘翅轻质结构及其参数优化设计

为研发新型轻质结构,在对甲虫鞘翅断面微结构进行观测的基础上,分析了甲虫鞘翅的微观结构特征,并据此设计和制备了基于碳纤维/环氧树脂复合材料的仿生轻质结构。对仿生轻质结构进行准静态压缩试验,同时利用有限元法对仿生轻质结构进行压缩性能分析,并将分析结果与试验结果进行对比,证明了有限元分析的正确性和可靠性。在此基础上进一步利用响应面法对仿生轻质结构进行参数优化设计。结果显示:压缩载荷下仿生轻质结构的最大承载力为18 455.00N,较优化前结构的提高了26.4%,压缩比强度为47.43 MPa/(g·cm-3),优化效果显著。     

Planning and Control of COP-Switch-Based Planar Biped Walking

Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure (COP) switched and modeled after human walking is introduced firstly.Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-link planar biped robot is developed. The simulation results exhibit an efficient walking gait.     

蝶翅结构多孔二氧化钛的制备与光催化性能研究

自然界天然存在的多孔结构被证明可以有效增加材料的光捕获效率。为了提高二氧化钛的光捕获效率从而进一步提高其光催化性能,采用生物模板的浸渍-焙烧脱模法制备了具有绿带翠凤蝶典型鳞片结构的二氧化钛(TiO₂),在对其微观结构进行了表征的基础上研究了其光捕获与光催化降解结晶紫性能。研究结果表明,所制备的二氧化钛能较好地复制了原始蝶翅的具有粗糙纹理的倒V型脊结构和纳米多孔阵列。这种具有蝶翅分级多孔结构的二氧化钛通过对光线的反复有序的散射和折射,有效地增强了光捕获效率,进而获得了优于普通二氧化钛的光催化性能。     

具有层状纤维缠绕的仿甲虫鞘翅轻质结构的设计及其力学性能分析

在对鞘翅断面微结构观测的基础上,分析了鞘翅的微观结构特征。设计了具有层状碳纤维缠绕的仿生轻质结构,并利用有限元法对其进行了力学性能分析。同时制备出了仿鞘翅结构复合材料模型,并进行了准静态压缩实验。将实验结果与有限元分析结果进行比较,证明了有限元分析结果的有效性。在此基础上,进一步比较了两种不同纤维缠绕方式的仿生轻质结构的力学性能,证明了两层交错纤维缠绕的仿生结构设计是合理的。