基于能耗优化的六足机器人摆动腿轨迹规划

以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑.     

一种基于LINGO的交错式验证码生成技术

验证码技术是有效防止非人为控制程序的一种防范机制,技术应用领域很广泛。在互动多媒体技术领域中的验证码技术,应通过自带的系统字库生成英文验证码,并对传统的验证码生成技术进行优化改进,采用交错式方法混乱字符增加噪点,经过多次实验该验证码加大了程序系统自动识别难度,从而达到了降低其机器识别率效果。     

公交车的远卡自动收费系统设计

在对公交收费系统的发展和无线射频识别技术进行研究的基础上,分析了现行公交收费系统的优缺点与局限性,并提出了一种公交车远卡自动收费系统的设计思路.主要使用ARM核芯片STM32、射频芯片nRF24LE1等器件,完成了硬件设计.在软件设计上实现了自动计算票价的扣费机制.该系统创新性地将远距离射频技术应用在公交收费系统中,不仅方便了乘客,而且大大提高了乘客上下车的效率.     

Optimal controller location in wireless networked control systems

The control performance of wireless networked control systems (WNCS) has been shown to heavily depend on the packet delivery quality of both the sensor‐to‐controller and controller‐to‐actuator communications. Such quality relies on the relative distance between the wireless transmitter and receiver, which naturally raises the challenging problem of controller placement in WNCS for optimal control performance. In this paper, we investigate the optimal controller location (OCL) problem in WNCS based on linear‐quadratic‐Gaussian control strategy. For the one‐hop network case where the controller can only be placed at either the sensor side or the actuator side, we derive a simple yet effective criterion to determine the OCL. For the more general multi‐hop case where the controller can be located at either one of the sensors, relays, or actuators, we obtain the necessary and sufficient condition under which the closed‐loop system is guaranteed to be stable. On the basis of these results, we further transform the OCL problem into an optimization problem that can be solved efficiently. Numerical results are provided to verify our analysis. Copyright © 2013 John Wiley & Sons, Ltd.     

Performance of estimating depth in projection based stereoscopic virtual display

Accurate distance estimation is essential for effective user interaction with objects appearing in the virtual space. Research has shown that the distance estimation in the virtual space is not as accurate as that in the real world. The inaccuracy phenomenon is almost exclusively documented for estimating objects appearing straight ahead of the eye. A collection of the accuracy data for targets located in different angles of view in the visual field may be useful in aiding the design of user‐virtual object interaction. This study collected the object to object distance estimation accuracy for targets displayed stereoscopically. There are five horizontal and two vertical viewing angles and three depths, resulting in a total of 30 locations in the virtual space. The distance estimation for any of the 30 object pairs were performed with or without the aid of spatial cues. Significant factors influencing the accuracy and time of distance estimation were identified. Implications of the finding were discussed with respect to the stereoscopic display environment.     

Millimeter‐wave planar high gain SIW antenna using half elliptic radiation slots

This article reports a high gain millimeter‐wave substrate integrated waveguide (SIW) antenna using low cost printed circuit board technology. The half elliptic slots which can provide small shunt admittance, low cross polarization level and low mutual coupling are etched on the board surface of SIW as radiation slots for large array application. Design procedure for analyzing the characteristics of proposed radiation slot, the beam‐forming structure and the array antenna are presented. As examples, an 8 × 8 and a 32 × 32 SIW slot array antennas are designed and verified by experiments. Good agreements between simulation and measured results are achieved, which shows the 8 × 8 SIW slot array antenna has a gain of 20.8 dBi at 42.5 GHz, the maximum sidelobe level of 42.5 GHz E‐plane and H‐plane radiation patterns are 22.3 dB and 22.1 dB, respectively. The 32 × 32 SIW slot array antenna has a maximum measured gain of 30.05 dBi at 42.5 GHz. At 42.3 GHz, the measured antenna has a gain of 29.6 dBi and a maximum sidelobe level of 19.89 dB and 15.0 dB for the E‐plane and H‐plane radiation patterns. © 2015 Wiley Periodicals, Inc. Int J RF and Microwave CAE 25:709–718, 2015.     

Novel ultra‐compact two‐dimensional waveguide‐based metasurface for electromagnetic coupling reduction of microstrip antenna array

A novel ultracompact two‐dimensional (2D) waveguide‐based metasurface is proposed herein and applied for the first time to reduce mutual coupling in antenna array for multiple‐input multiple‐output applications. The unit cell of the proposed 2D waveguide‐based metasurface is ultracompact (8.6 mm × 4.8 mm, equal to λ₀/14.2 × λ₀/25.5) mainly due to the symmetrical spiral lines etched on the ground. The metasurface exhibits a bandgap with two transmission zeros attributing to the negative permeability in the vicinity of magnetic resonance and the negative permittivity in the vicinity of electric resonance. Taking advantage of these two features, a microstrip antenna array is then designed, fabricated, and measured by embedding an 8 × 1 array of the well‐engineered 2D waveguide‐based metasurface elements between two closely spaced (9.2 mm, equal to λ₀/13.3) H‐plane coupled rectangular patches. There is good agreement between the simulated and measured results, indicating that the metasurface effectively reduces antenna mutual coupling by more than 11.18 dB and improves forward gain. The proposed compact structure has one of the highest reported decoupling efficiencies among similar periodic structures with comparable dimensions. © 2015 Wiley Periodicals, Inc. Int J RF and Microwave CAE 25:789–794, 2015.     

Output performance optimization for RTD fluxgate sensor based on dynamic permeability基于动态磁导率参数的时间差型磁通门传感器的输出响应优化

The output performance of residence times difference (RTD) fluxgate may vary under different driving conditions (driving currents and frequencies) and core materials. To optimize the RTD fluxgate and simplify its design process, an analytical model is employed to select the parameters and identify the effective factors that dominate the performance. The dynamic permeability parameters (P_i), which reflect the changes in the magnetization curve, are mathematically analyzed in detail. The linear variation functions of P_i in different driving conditions are fitted by using the dynamic arctangent hysteresis model. Consequently, the selection of driving conditions and core materials, which are assessed by comparing the experiment and simulation results, has an important role in achieving the optimal output performance of the RTD fluxgate.     

Similarity assessment for scientific workflow clustering and recommendation基于相似性评估策略的科学工作流聚类与推荐

This article proposes to identify and recommend scientific workflows for reuse and repurposing. Specifically, a scientific workflow is represented as a layer hierarchy that specifies the hierarchical relations between this workflow, its sub-workflows, and activities. Semantic similarity is calculated between layer hierarchies of workflows. A graph-skeleton based clustering technique is adopted for grouping layer hierarchies into clusters. Barycenters in each cluster are identified, which serve as core workflows in this cluster, for facilitating the cluster identification and workflow ranking and recommendation with respect to the requirement of scientists.     

基于 OpenStack 的虚拟资源调度技术研究

传统的高能物理计算系统基于物理机集群,主要通过 Torque、Condor、LSF 等资源管理和作业调度系统将作业调度到物理机器上运行,缺少对虚拟化计算的接口支持。我们选取 OpenStack 作为底层虚拟化平台,设计并实现上层调度系统与 OpenStack 之间的桥梁,采用推拉结合的作业运行方式,构建虚拟计算集群。