仿真机器鱼双鱼协作过孔策略的研究

水中机器人受到水波动力及水下复杂环境等相关因素的影响,导致行为控制和多机器鱼之间协作完成任务成为难点。针对水中机器人大赛中的双鱼协作过孔项目,从仿真机器鱼控制及协作策略两方面对水中机器人的控制方法进行了研究。水中机器人控制采用基于目标区域的路径规划方法,克服了仿真机器鱼由于水波动干扰而无法准确到达目标点的问题。仿真机器鱼通过不断感知外界环境和自身位置,合理进行角色变换,从而有效地实现了协作带球过孔的任务。该算法在2011中国机器人大赛暨RoboCup公开赛水中机器人双鱼协作过孔项目中获得冠军。对仿真机器鱼控制及协作策略的研究,为日后实体水中机器人的控制研究提供了参考,具有重要意义。     

仿生机器鱼水球比赛策略系统的初步探究

文章介绍仿生机器鱼水球比赛的基本情况,总结策略系统在整个比赛系统所占的地位及重要性,阐述策略系统的基本特点及在设计策略系统时需要考虑和注意的问题。本文还给出一种基于层次模型的策略系统,详细地描述各个层次的任务和作用,提供实现各个模块的一些基本想法和出发点,为设计和实现更加完善的策略系统提供了一定的借鉴和参考。     

机器鱼2D仿真顶球策略研究

介绍了机器鱼水球比赛关键技术一顶球,并给出了几种常用方法.     

浅述机器鱼水球比赛策略优化

本文分析在机器鱼水球比赛策略编写过程中遇到的问题,并根据不同策略所遇到的问题提供不同的解决方案,对机器鱼的进攻策略做图形化分析,将冗余的策略进行不断地优化,逐步筛选出执行效率比较高的程序。     

仿生机器鱼的动力学仿真

仿生机器鱼的研究受到各国越来越多的研究工作者的重视,并取得了一定的成果.本文着重研究了仿生机器鱼的尾鳍的动力学并建立了仿生机器鱼的运动模型,并对该模型进行了计算机仿真,研究探索了仿生机器鱼的前进速度与尾鳍摆角、摆动频率、摆动幅度之间的关系.     

机器鱼水球比赛中“非精确”策略的探析

策略在机器鱼水球比赛中起着至关重要的作用,本文以策略的编写为出发点,通过对机器鱼在水球比赛中路径的分析,结合机器鱼在比赛中的可能出现的实际情况,提出了一种新的策略,即＂非精确＂策略,接着对该策略进行了介绍,与其他策略进行了比较,并阐述了其优点。     

机器鱼的无半径转弯

在研究机器鱼机动性的情况下,建立了无半径转弯的运动学模型,该模型实现了机器鱼在改变方向时不影响位置的变化,最后通过水动力学分析和仿真实验验证这一理论是合理的.     

仿生机器鱼艏向摆动动力学仿真及分析

由尾鳍拍动产生侧向力导致的机器鱼的艏摇能够影响航行器的推进效率。该文首次运用Adamas软件埘北京航空航天大学机器人研究所“SPC—Ⅱ”仿生机器鱼进行了尾鳍受力分析和动力学仿真。从鱼体和尾鳍推进机构质阜比、拍动频率以及对尾鳍攻角的影响三个方面对仿真结果进行了分析,得出以下结论：随着鱼体和尾鳍推进机构质量比的增大以及频率的增大。艏摇不断减小;鱼体和尾鳍推进机构质量比小于78,没有出现共振现象;艏摇的存在会明显的衰减尾柄主臂和尾鳍攻角的角位移。     

水下仿生机器鱼的研究进展Ⅳ——多仿生机器鱼协调控制研究

本文探讨了多仿生机器鱼群体游动协调的问题,这是仿生机器鱼技术研究的一个新的方向,目前尚无人涉足.首先研制了一套具有高效、高机动性的微小型多机器鱼平台,提出了基于AGENT的网格算法进行多机器鱼的定位和协调控制,利用该实验平台,进行了多机器鱼对抗和多机器鱼协调过孔的实验研究.     

水下仿生机器鱼的研究进展IV——多仿生机器鱼协调控制研究

本文探讨了多仿生机器鱼群体游动协调的问题，这是仿生机器鱼技术研究的一个新的 方向，目前尚无人涉足．首先研制了一套具有高效、高机动性的微小型多机器鱼平台，提出 了基于AGENT的网格算法进行多机器鱼的定位和协调控制，利用该实验平台，进行了多机器 鱼对抗和多机器鱼协调过孔的实验研究．     

基于本体的协同知识交流模型

在远程协作环境下,不同背景的人对同一问题的理解会产生差异,这不利于学习效果收敛的场合。为消除这种影响,该文提出了用本体来为人与人的交流提供一致的理解,分析了系统要素和动态行为,给出了基于本体的协同知识交流模型以及相应的原型。     

Bounding Volume Hierarchies of Slab Cut Balls

We introduce a bounding volume hierarchy based on the Slab Cut Ball. This novel type of enclosing shape provides an attractive balance between tightness of fit, cost of overlap testing, and memory requirement. The hierarchy construction algorithm includes a new method for the construction of tight bounding volumes in worst case O(n) time, which means our tree data structure is constructed in O(n log n) time using traditional top‐down building methods. A fast overlap test method between two slab cut balls is also proposed, requiring as few as 28–99 arithmetic operations, including the transformation cost. Practical collision detection experiments confirm that our tree data structure is amenable for high performance collision queries. In all the tested benchmarks, our bounding volume hierarchy consistently gives performance improvements over the sphere tree, and it is also faster than the OBB tree in five out of six scenes. In particular, our method is asymptotically faster than the sphere tree, and it also outperforms the OBB tree, in close proximity situations.     

Bubbling Up the Good Ideas: A Two‐Mode Network Analysis of an Intra‐Organizational Idea Challenge

Organizations have been experimenting with intraorganizational crowdsourcing (IOC), yet the mechanisms of IOC production remain an underresearched topic. Drawing on a 2‐mode ERGM, we examine structural mechanisms and individual‐level factors that shape the network structure of idea generation and selection yielded by an IOC idea challenge in a global IT corporation. Results show a Matthew effect leading to 1) highly centralized employee participation around a few “superactive” employees who engage with many ideas and 2) highly centralized idea popularity with a few ideas attracting most employee attention. We find support for shared affiliations among employee‐idea clusters in the first half of the participation, which is, however, less likely in the second half. We also find support for geographic homophily.     

Development of a Sensor Fusion Strategy for Robotic Application Based on Geometric Optimization

Fusion of multi-sensor information is an important technology, which is growing exponentially due to its tremendous application potential in many areas. Effective fusion of data from sensors is very critical in increasing an intelligent system's capability to accomplish complex tasks. Appropriate fusion technologies are needed to be developed specially when a system requires redundant sensors to be used. More the redundancy in sensors, more is the computational complexity for controlling the system and more is its intelligence level. This research presents a strategy developed for multiple sensor fusion, based on geometric optimization. Each sensor's uncertainty has been modeled using classical Lagrangian optimization techniques. However, the uniqueness and effectiveness of the present technique lies on the fact that starting from the optimized value as initial estimate the accuracy of the sensory information has further been improved up to any pre defined bounded range, by developing two architectures – FFA (fission–fusion architecture) and FDD (fusion in differential domain). Sufficient evidences and analyses have been provided in the paper to show its effectiveness in various applications.     

一种基于双令牌的多机器人协作策略研究

规划协作和自组织协作是两种比较常见的多机器人协作方式，前者规划精度高，但设计复杂，且系统鲁棒性不强，后者灵活性很强，但由于单个机器人自主性很强，因此，协作存在一定盲目性。该文为此提出了一个基于双令牌的多机器人自组织协作模型。模型中采用了具有两级策略评价标准的多机器人策略调整机制，通过双令牌来协调机器人之间的策略调整行为。设计了一个基于本文自组织模型的多机器人控制系统，进行了仿真实验验证。     

盲人数字图书馆设计策略的研究

从页面设计和功能设计两个模块来阐述,提出了盲人数字图书馆的设计策略,旨在通过提高盲人数字图书馆的易访问性来使盲人和视障用户便利地访问网站,获取自己所需要的信息。     

盲人数字图书馆设计策略的研究

从页面设计和功能设计两个模块来阐述,提出了盲人数字图书馆的设计策略,旨在通过提高盲人数字图书馆的易访问性来使盲人和视障用户便利地访问网站,获取自己所需要的信息。     

基于CSCW的网络化制造协作支持系统研究与开发

研究开发基于Java的网络化制造协作支持系统,对系统的应用环境和运作流程等进行了分析,完成了系统模型的设计,在对相关关键技术进行深入研究的基础上部分实现了该系统。     

纯电动汽车转矩控制策略及仿真

研究纯电动汽车转矩优化控制问题.针对传统纯电动汽车转矩控制方法存在控制模式单一、动力性和经济性较差等缺点,提出驱动模式识别的纯电动汽车转矩优化控制方法.将整车驱动行驶时工作模式划分成三种驱动模式,建立了驱动模式模糊识别器.根据驱动模式识别结果,运用线性计算、转矩补偿和动力总成效率寻优方法分别制定了三种驱动模式下的转矩优化控制策略.仿真结果表明,所研究的转矩优化控制方法能准确识别驱动模式,优化了整车驱动转矩,显著提升了整车的动力性和经济性.     

A computer simulation in surgery for a human hip joint

For patients who have early signs of hip joint disease resulting from a structural abnormality, various surgeries for correcting abnormal stress distribution can be useful to prevent the progression of the disease. However, it is difficult to confirm the optimal procedure for surgery. To deal with this problem, we devised a computer program to support preoperative planning. Hip images obtained by computed tomography were loaded into our program, and a three-dimensional voxel model was created. Then the pressure distribution on the hip joint was analyzed with a rigid-body spring analysis (computational nonlinear mechanical analysis). This system has a module for performing virtual surgery. This program allows the hip joint mechanics to be evaluated easily, so that the advantages and disadvantages of various surgical methods can be examined biomechanically prior to surgery. However, this system has several problems that should be solved in the near future. This work was presented in part at the 12th International Symposium on Artifi cial Life and Robotics, Oita, Japan, January 25–27, 2007