基于路标点追踪的差速驱动机器人运动规划

首先,针对三角网格路径规划方法采用D-P算法提取路标点时,其最大阈值不易确定等问题,提出基于碰撞检测的抽取路标点方法.同时采用Pure Pursuit算法跟踪路标点,对差速驱动机器人进行运动规划;然后,通过实验对比分析表明,在提取路标点时,与D-P算法相比,碰撞检测方法更加优越;最后,通过差速驱动机器人的运动规划实验表明:Pure Pursuit算法追踪路标点方法规划的运动轨迹为一条光滑曲线,能够有效地避开地图上的障碍物;机器人角速度和线速度均为光滑函数,变化平缓,在路标点附近出现较小波动,波动范围均在允许值内;运动规划时间为0.049s,完全能够满足实际需求.研究结果表明,基于路标点追踪的移动机器人运动规划是一种简单有效的运动规划方法.     

基于Conv1d-LSTM模型的能源分配预测

能源分配问题往往与其所在区域环境有关,能源分配的预测可以通过当地环境因素数据来推测之后对该区域的能源分配数值,最大程度上分配好能源. LSTM网络预测短期效果良好,但预测较长时期的数据会导致误差积累,速度慢且准确性差; Informer是近期新提出的能源预测算法模型,速度快但在该任务上预测能力不够.本文提出Conv1d-LSTM模型,预测结果优于上述两个模型,具有更低的平均绝对误差和均方根误差.     

二进制代码安全分析综述

近几十年来,计算机硬件性能和软件规模技术已不同以往,其承载了人类社会生活生产的方方面面.计算机技术的飞速发展,也带来了人们对程序安全问题的关注.由于市面上存在着较多的遗留软件,这些软件无人维护且缺乏源代码支持,其安全性令人担忧,而二进制分析技术被用来解决该类软件问题.二进制分析技术根据其检测方式不同可分为:基于静态的二进制代码分析技术、基于动态的二进制代码分析技术和动静态混合的二进制代码分析技术.本文调研了近年来的二进制代码安全分析领域上相关研究,分别详细阐述了这3类技术中的主要方法,并对其关键技术进行详细介绍.     

结合简短可链接环签名的智能合约选举方案

目前一些电子选举协议利用可链接环签名或一次性环签名来保护投票者的隐私,并防止重复投票的情况发生,但签名大小随投票人数的增大而增大,而简短可链接环签名大小始终固定不变,但已有简短可链接环签名算法效率较低。针对这些问题,利用累加器和基于知识证明的签名,构造新的高效的简短可链接环签名,结合匿名地址及星际文件系统,提出一种新的智能合约选举方案,分别设计了选举的创建、投票、计票等阶段的操作。对方案的不可伪造性、可链接性、匿名性、隐私性、公开验证性以及运行效率进行了证明和分析。最后进行了实验仿真评估,结果显示,随着投票者人数的增大,该方案选票的签名大小及Gas消耗保持不变且较少,生成时间及验证时间增长缓慢且较少。     

Vapor Phase Growth of Centimeter-Sized Band Gap Engineered Cesium Lead Halide Perovskite Single-Crystal Thin Films with Color-tunable Stimulated Emission

Single crystal metal halide perovskites thin films are considered to be a promising optical, optoelectronic materials with extraordinary performance due to their low defect densities. However, it is still difficult to achieve large-scale perovskite single-crystal thin films (SCTFs) with tunable bandgap by vapor-phase deposition method. Herein, the synthesis of CsPbCl_3(1–x)Br_3x SCTFs with centimeter size (1 cm × 1 cm) via vapor-phase deposition is reported. The Br composition of CsPbCl_3(1–x)Br_3x SCTFs can be gradually tuned from x = 0 to x = 1, leading the corresponding bandgap to change from 2.29 to 2.91 eV. Additionally, an low-threshold (≈23.9 µJ cm⁻²) amplified spontaneous emission is achieved based on CsPbCl_3(1–x)Br_3x SCTFs at room temperature, and the wavelength is tuned from 432 to 547 nm by varying the Cl/Br ratio. Importantly, the high-quality CsPbCl_3(1–x)Br_3x SCTFs are ideal optical gain medium with high gain up to 1369.8 ± 101.2 cm⁻¹. This study not only provides a versatile method to fabricate high quality CsPbCl_3(1–x)Br_3x SCTFs with different Cl/Br ratio, but also paves the way for further research of color-tunable perovskite lasing.     

四旋翼无人机姿态系统复合连续快速非奇异终端滑模控制EI北大核心CSCD

本文针对受多源干扰影响的四旋翼无人机姿态系统,基于复合连续快速非奇异终端滑模算法,研究了姿态指令变化率未知情况下的连续有限时间姿态跟踪控制问题.首先,基于四旋翼无人机姿态回路动力学模型,通过引入虚拟控制量实现姿态跟踪误差动态的三通道解耦;其次,分别针对各通道跟踪误差动态设计高阶滑模观测器,实现跟踪误差变化率和集总干扰的有限时间估计;最后,结合姿态跟踪误差变化率的估计信息,构建动态快速非奇异终端滑模面,并在控制设计中用指数幂函数代替符号函数以保证控制量连续.并且基于Lyapunov分析方法给出了姿态跟踪误差有限时间收敛的严格证明,仿真结果验证了所提方法的有效性.     

面向异构DHT存储的数据与位置解耦算法

分布式哈希表(distributed hash table, DHT)由于其高效的数据寻址方式而被广泛应用于分布式存储.传统DHT必须将数据存放在指定节点中才能实现高效的数据分布式寻址,极大地限制了DHT技术的应用范围.例如,在异构存储网络中,节点的存储空间、带宽、稳定性等均有较大差异,结合数据特征和节点性能差异选择合适的数据存放节点可以很大程度上提高数据的访问效率,而传统DHT数据和存储位置紧耦合的特征导致其难以应用于异构的存储网络中.针对此问题,提出了vRoute算法以实现DHT中数据标识与其存储位置的解耦.通过构建基于Bloom Filter的分布式数据索引, vRoute算法可以在不降低数据寻址效率的基础上允许数据存储在网络中的任意节点.通过扩展Kademlia算法实现了vRoute,并从理论上证明了vRoute算法的有有效性.最后,模拟实验表明vRoute以较低的存储、网络开销实现了和传统的DHT算法接近的数据寻址效率.     

Exploring the tidal effect of urban business district with large-scale human mobility data

Business districts are urban areas that have various functions for gathering people, such as work, consumption, leisure and entertainment. Due to the dynamic nature of business activities, there exists significant tidal effect on the boundary and functionality of business districts. Indeed, effectively analyzing the tidal patterns of business districts can benefit the economic and social development of a city. However, with the implicit and complex nature of business district evolution, it is non-trivial for existing works to support the fine-grained and timely analysis on the tidal effect of business districts. To this end, we propose a data-driven and multi-dimensional framework for dynamic business district analysis. Specifically, we use the large-scale human trajectory data in urban areas to dynamically detect and forecast the boundary changes of business districts in different time periods. Then, we detect and forecast the functional changes in business districts. Experimental results on real-world trajectory data clearly demonstrate the effectiveness of our framework on detecting and predicting the boundary and functionality change of business districts. Moreover, the analysis on practical business districts shows that our method can discover meaningful patterns and provide interesting insights into the dynamics of business districts. For example, the major functions of business districts will significantly change in different time periods in a day and the rate and magnitude of boundaries varies with the functional distribution of business districts.     

Measuring code maintainability with deep neural networks

The maintainability of source code is a key quality characteristic for software quality. Many approaches have been proposed to quantitatively measure code maintainability. Such approaches rely heavily on code metrics, e.g., the number of Lines of Code and McCabe’s Cyclomatic Complexity. The employed code metrics are essentially statistics regarding code elements, e.g., the numbers of tokens, lines, references, and branch statements. However, natural language in source code, especially identifiers, is rarely exploited by such approaches. As a result, replacing meaningful identifiers with nonsense tokens would not significantly influence their outputs, although the replacement should have significantly reduced code maintainability. To this end, in this paper, we propose a novel approach (called DeepM) to measure code maintainability by exploiting the lexical semantics of text in source code. DeepM leverages deep learning techniques (e.g., LSTM and attention mechanism) to exploit these lexical semantics in measuring code maintainability. Another key rationale of DeepM is that measuring code maintainability is complex and often far beyond the capabilities of statistics or simple heuristics. Consequently, DeepM leverages deep learning techniques to automatically select useful features from complex and lengthy inputs and to construct a complex mapping (rather than simple heuristics) from the input to the output (code maintainability index). DeepM is evaluated on a manually-assessed dataset. The evaluation results suggest that DeepM is accurate, and it generates the same rankings of code maintainability as those of experienced programmers on 87.5% of manually ranked pairs of Java classes.     

Combustion timing control of HCCI engine based on NNPC and Elman-NN model under complex conditions

Homogeneous Charge Compression Ignition (HCCI) combines the characteristics of gasoline engine and diesel engine with high thermal efficiency and low emissions. However, since there is no direct initiator of combustion, it is difficult to control the combustion timing in HCCI engines under complex working conditions. In this paper, Neural Network Predictive Control (NNPC) for combustion timing of the HCCI engine is designed and implemented. First, the black box model based on Elman neural network is designed and developed to estimate the combustion timing. The fuel equivalence ratio, intake valve closing timing, intake manifold temperature, intake manifold gas pressure, and engine speed are chosen as the system inputs. Then, a NNPC controller is designed to control combustion timing by controlling the intake valve closing timing. Simulation results show that the Elman neural network black box model is capable of estimating the HCCI engine combustion timing. In addition, regardless of whether the HCCI engine is in constant or complex condition, the designed NNPC controller is capable of keeping the combustion timing within the ideal range. In particular, under New European Driving Cycle (NEDC) working conditions, the maximum overshoot of the controller is 28.95% and the average error is 1.03 crank angle degree. It is concluded that the controller has good adaptability and robustness.