Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator

The kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator are studied systematically. First, a 2(SP+SPR+SPU) manipulator including an upper and a lower SP+SPR+SPU parallel manipulators is constructed, and the inverse/forward displacements, velocity, acceleration and statics of the lower/upper parallel manipulators are studied, respectively. Second, the kinematics and statics of the lower/upper manipulators are combined and the displacement, velocity, acceleration, statics, and workspace of a 2(SP+SPR+SPU) manipulator are analyzed systematically. Third, the analytic solutions’ examples are given and verified by the simulation mechanism. This manipulator has some potential applications for the robot’s arm, leg, and twist, the serial–parallel machine tools, the sensor, the surgical manipulator, the tunnel borer, the barbette of warship, and the satellite surveillance platform.     

Pixel level image fusion scheme based on accumulated gradient and PCA transform

A new image fusion scheme based on local accumulated gradient and PCA transform is presented. The image fusion process begins by taking the Dual tree complex wavelet transform of the source images. Then, the fused local detailed coefficients are chosen according to local accumulated gradient rule, and the fused approximate coefficients are acquired by selection or averaging rule based on PCA. Finally, the fused image can be obtained by taking the inverse dual tree complex wavelet transform of the fused composite coefficients. The experimental results show that the proposed method is an efficient approach to image fusion.     

Granular Rough Theory: A representation semantics oriented theory of roughness

The present work is an archival paper for a series of contributions proposed in last few years on building a theory of roughness over pure mereological relations among information granules. There are five major efforts taken in the present paper: (1) emphasizing on the representational semantics of theory of roughness: to approximately represent a class of entities characterized by some aspects in terms of entity collections described at other aspects; (2) defining a representation model Granular Representation Calculus (GrRC) to synthesize complex information systems from information granules; (3) establishing notion of Granular Rough Theory (GrRT) over information granules operated in terms of GrRC; (4) extending GrRC/GrRT to various computational environments such as multi-agent systems and ontological computing environments; (5) exploring pragmatic aspects of GrRC/GrRT in implementing prototypes with data model and object programming orientations, and proposing an Ontology-Driven Web Information System as a granular-rough computational Web intelligence framework over GrRC/GrRT.     

Online hybrid traffic classifier for Peer-to-Peer systems based on network processors

It is estimated that 70% or more of broadband bandwidth is consumed by transmitting music, games, video and other content through Peer-to-Peer (P2P) clients. In order to detect, identify, and manage P2P traffic, some port, payload and transport layer feature based methods were proposed. Most of them were applied to offline traffic classification mainly due to the performance reason. In this paper, a network processors (NPs) based online hybrid traffic classifier is proposed. The designed hardware classifier is able to classify P2P traffic based on the static characteristic namely on line speed, and the Flexible Neural Tree(FNT) based software classifier helps learning and selecting P2P traffic attributes from the statistical characteristics of the P2P traffic. Experiment results illustrate that the hybrid classifier performs well for online classification of P2P traffic from gigabit network. The proposed framework also depicts good expansion capabilities to add new P2P features and to adapt to new P2P applications online.     

“智能科学技术导论”课程教学模式新思考

本文探讨了"智能科学技术导论"课程的教学重点和教学模式,指出本课程作为"智能科学与技术"专业的重要基础课程,应以专业特点和要求为出发点,建立新型的教学模式,培养学生的独立思考能力、创新能力和实践能力。     

Collective motion in non-reciprocal swarms

This paper studies a non-reciprocal swarm model that consists of a group of mobile autonomous agents with an attraction-repulsion function governing the interaction of the agents. The function is chosen to have infinitely large values of repulsion for vanishing distance between two agents so as to avoid occurrence of collision. It is shown analytically that under the detailed balance condition in coupling weights, all the agents will aggregate and eventually form a cohesive cluster of finite size around the weighted center of the swarm in a finite time. Moreover, the swarm system is completely stable, namely, the motion of all agents converge to the set of equilibrium points. For the general case of non-reciprocal swarms without the detailed balance condition, numerical simulations show that more complex self-organized oscillations can emerge in the swarms. The effect of noise on collective dynamics of the swarm is also examined with a white Gaussian noise model.     

Output regulation of nonaffine nonlinear systems using singular perturbation theory

A control synthesis method for output regulation based on singular perturbation theory combined with inverting design is considered for a class of nonaffine nonlinear systems. The resulting control signal is defined as a solution to ＂fast＂ dynamics which inverts a series error model, whose state is exponentially stable. It is shown that, under sufficient conditions being consistent with the assumptions of singular perturbation theory, this problem is solvable with （ε） tracking error if and only if a set of first-order nonlinear partial differential equations are solvable. The control law can be easily constructed and the simulations show the feasibility and effectiveness of the controller.     

一种基于完全独立集的排课算法

班级、教师、课程、教室、时间是课表的基本要素,通过把排课转化为求图的完全独立集,解决了时间冲突问题和合班课问题;根据教室资源限制,对独立集的个数和大小进行控制,解决了教室完全匹配问题和一门课程的不同教室安排问题.为实现排课软件提供了一个面向实际的算法.     

基于移动代理的分布式入侵检测系统的研究

目前的分布式入侵检测系统存在单点失效、网络带宽占用高、扩展性不强等缺点.文中针对这些缺点提出了一种基于移动代理的分布式入侵检测系统模型.该系统运用移动代理作为各种入侵的独立检测实体到主机监控代理上收集数据并聚集、关联这些数据,这使得系统减小了数据传输量、分散了计算,同时也提高了系统的可扩展性.着重讨论了系统部件失效的检测和自动恢复机制,使系统更加稳定可靠.对实验结果分析表明这种结构很好地减少了带宽的占用,容易对新的攻击进行扩展,失效的代理也能自动准确地恢复.     

AJAX在WebGIS异步数据交互中的研究

介绍了WebGIS的主要实现方法,并和WebGIS的其它不同实现技术进行了对比.目的是解决WebGIS中海量数据的同步交互问题,提出应用AJAX的异步性来实现WebGIS数据的异步交互,从而达到提高WebGIS数据传输效率,改善WebGIS用户交互的目的.利用AJAX的异步数据交互技术可以改善海量数据传输的性能, 给用户更好的交互体验, 对推广WebGIS的应用具有一定的现实意义.