相关证据的融合及其在机器人多感觉信息融合中的应用

Ｄ－Ｓ证据理论在多信息融合中的应用要求各证据间相互独立,这在很多实际场合中却很难实现。本文简要地阐述了基于Ｄ－Ｓ证据理论的多传感器信息融合算法,提供了一种基于Ｄ－Ｓ理论的推广方法以理解决融合信息的相关性问题,并用机器人的力学和热学传感器作实验,对该方法有效性进行了研究。     

用于三维图像恢复的广义点扩展函数

采用传统的摄像系统点扩展函数恢复三维图像,往往不能得到满意的结果。文中提出一种新的概念－广义点扩展函数,取代传统的摄像系统点扩展函数,用于三维图像恢复。首先给出广义点扩展函数的定义,它等于物体和场景到摄像系统的点扩展函数与摄像系统的点扩展函数的券积。然后给出物体和场景到摄像系统的点扩展函数估计。最后还给出采用广义点扩展函数恢复三维图像的实验结果。实验结果表明,采用广义点扩展函数恢复三维图像,比采用     

基于虚拟模糊集的PID参数整定器的仿真研究

该文中给出的模糊整定器是在虚拟模糊集概念的基础上实现的。该方法首先根据Ｚ－Ｎ整规则,按照过程的开环阶跃响应设置初始参数,然后基于闭环控制系统的响应特性,利用模糊系统精确整定控制器参数。模糊控制规则知识库由整定知识和专家经验规则构成。其中整定知识可通过对一典型过程的参数整定来自动提取。最后给出的数字仿真结果证明该方法的有效性。     

一体化仿真支撑软件PROSIMS

本文介绍目前同办仅有的在Ｗｉｎｄｏｗｓ操作系统下的ＰＲＯＳＩＭＳ支撑软件。该软件是面向对象的、一体化的、能同时用于仿真和控制系统的开发与实时运行 。文中重点说明了其运行机制及其优越性。     

局域网防火墙的设计与实现

本文设计与实现了局域网防火墙。首先阐述了防火墙的原理,然后分析防火墙系统总体设计,最后论述防火墙的设计与实现,并详述其具体实现的各个模块。     

基于ARM9和Linux的机器人控制系统设计

以ARM9和嵌入式Linux为平台,采用光电码盘,解决了在ARM中无高速I/O外部脉冲计数寄存器情况下轮式移动机器人的速度检测问题,并利用积分分离的PID算法实现了速度调制。在嵌入式Linux操作系统中完成整个控制过程驱动的编写,并在测速和动态调速等关键实现上给出详细的介绍,最终实现智能机器人的闭环控制。     

Discrete surface Ricci flow

This work introduces a unified framework for discrete surface Ricci flow algorithms, including spherical, Euclidean, and hyperbolic Ricci flows, which can design Riemannian metrics on surfaces with arbitrary topologies by user-defined Gaussian curvatures. Furthermore, the target metrics are conformal (angle-preserving) to the original metrics. A Ricci flow conformally deforms the Riemannian metric on a surface according to its induced curvature, such that the curvature evolves like a heat diffusion process. Eventually, the curvature becomes the user defined curvature. Discrete Ricci flow algorithms are based on a variational framework. Given a mesh, all possible metrics form a linear space, and all possible curvatures form a convex polytope. The Ricci energy is defined on the metric space, which reaches its minimum at the desired metric. The Ricci flow is the negative gradient flow of the Ricci energy. Furthermore, the Ricci energy can be optimized using Newton's method more efficiently. Discrete Ricci flow algorithms are rigorous and efficient. Our experimental results demonstrate the efficiency, accuracy and flexibility of the algorithms. They have the potential for a wide range of applications in graphics, geometric modeling, and medical imaging. We demonstrate their practical values by global surface parameterizations.     

A distributed expansible authentication model based on Kerberos

There is a potential server bottleneck problem when the Kerberos model is applied in large-scale networks because the model uses centralized management. To enlarge its application scope, researchers must consider how to build a trust relation among those Kerberos servers located on different isolated domains, but have not provided a way to prevent the potential bottleneck that can occur with Kerberos servers. With the development of across-domain authentication techniques, the local server bottleneck problem has not been alleviated; in fact, it has become more serious.Adopting the rigorous binary tree code algorithm, we present an authentication model based on Kerberos. Compared with similar models, our model has several advantages. First, it overcomes the potential server bottleneck problem and can balance the load automatically. Second, it can process across-domain authentication and enlarge the authentication boundary. Finally, its authentication path is short, with no more than two Kerberos servers being involved when authenticating a user.     

Design of distributed compliant micromechanisms with an implicit free boundary representation

In this paper, a parameterization approach is presented for structural shape and topology optimization of compliant mechanisms using a moving boundary representation. A level set model is developed to implicitly describe the structural boundary by embedding into a scalar function of higher dimension as zero level set. The compactly supported radial basis function of favorable smoothness and accuracy is used to interpolate the level set function. Thus, the temporal and spatial initial value problem is now converted into a time-separable parameterization problem. Accordingly, the more difficult shape and topology optimization of the Hamilton–Jacobi equation is then transferred into a relatively easy size optimization with the expansion coefficients as design variables. The design boundary is therefore advanced by applying the optimality criteria method to iteratively evaluate the size optimization so as to update the level set function in accordance with expansion coefficients of the interpolation. The optimization problem of the compliant mechanism is established by including both the mechanical efficiency as the objective function and the prescribed material usage as the constraint. The design sensitivity analysis is performed by utilizing the shape derivative. It is noted that the present method is not only capable of simultaneously addressing shape fidelity and topology changes with a smooth structural boundary but also able to avoid some of the unfavorable numerical issues such as the Courant–Friedrich–Levy condition, the velocity extension algorithm, and the reinitialization procedure in the conventional level set method. In particular, the present method can generate new holes inside the material domain, which makes the final design less insensitive to the initial guess. The compliant inverter is applied to demonstrate the availability of the present method in the framework of the implicit free boundary representation.