模块化可重构机器人动力学研究进展

模块化可重构机器人由于其构型多变,运动形式丰富等特点,可以在非结构化环境或未知环境中执行任务,在最近几年迅速成为机器人研究领域的前沿和热点. 模块化可重构机器人在军事、医疗、教育等众多工程领域具有广泛的应用前景,其典型代表包括仿生多足模块化机器人、模块化可重构机械臂、晶格式模块化机器人等. 模块化可重构机器人丰富的构型设计、多样的连接特征、不断拓展的应用范围,给动力学建模与控制带来了很多挑战和机遇. 本文首先阐述了模块化可重构机器人的研究背景和意义,并概述了其构型分类与设计、构型描述与运动学建模方法.随后,本文系统回顾了模块化可重构机器人动力学研究中相关问题的最新进展,包括：(1)系统整体动力学建模;(2)结合面以及对接机构动力学建模;(3)基于动力学模型的控制方法. 本文最后提出了模块化可重构机器人动力学研究中若干值得关注的问题.     

基于锂电池的空间电源系统钝化研究

针对空间能源系统在卫星寿命末期的钝化需求,分析了不同轨道卫星锂电池的温度条件,同时分析了锂电池位置、卫星姿态对其温度的影响。基于上述分析的温度范围,研究了锂电池在钝化后发生热失控的可能性和影响因素,分析得到基于锂电池的空间电源系统钝化需求。在此基础上,提出了4种可行的钝化解决方案,并从受空间环境影响程度、额外增加元器件的情况以及钝化后电路受电流应力情况等方面进行对比,分析结果表明,旁路钝化方案是基于锂离子电池的电源系统钝化的首选方案。     

集群环境中微服务容器资源特征分析及优化

在集群环境中部署微服务已经成为微服务部署的重要方式.由于不同种类服务对于CPU、内存、磁盘等资源的需求不同,导致集群中的节点产生资源碎片、出现资源消耗倾斜.如何提高集群资源利用率、降低集群能耗,成为继保障服务级别协议(service level agreement, SLA)之后的重大挑战.本文以阿里巴巴集团2021年发布的近两万个微服务的详细跟踪为数据样本,从容器资源使用情况、节点部署特征和资源消耗偏好等多个维度出发,分析其集群资源消耗特征,发现集群中出现了资源消耗倾斜的情况.通过进一步分析节点中容器部署情况发现容器资源分配不合理加剧了这一现象.基于此我们提出了一种使用深度双Q网络的模型,依据上游服务资源需求的实时变化,对容器资源分配进行优化.对比实验结果表明该方法可以在保证服务SLA的情况下有效提高容器资源利用率,改善节点资源消耗倾斜的情况.     

计算机视觉技术在船舶自动识别系统中的应用

船舶自动识别系统是一种现代化助航技术,推广应用该技术,能在很大程度上减少海损事故,提升船舶航行的安全性。近年来,计算机视觉技术逐渐实现了与自动识别系统的融合,在很大程度上优化和完善了船舶自动识别系统。文中结合笔者的研究经验,探讨了计算机视觉技术在船舶自动识别系统中的实际应用,并展望了其未来发展趋势。     

Direct Freeform Laser Fabrication of 3D Conformable Electronics

3D conformable electronic devices on freeform surfaces show superior performance to the conventional, planar ones. They represent a trend of future electronics and have witnessed exponential growth in various applications. However, their potential is largely limited by a lack of sophisticated fabrication techniques. To tackle this challenge, a new direct freeform laser (DFL) fabrication method enabled by a 5-axis laser processing platform for directly fabricating 3D conformable electronics on targeted arbitrary surfaces is reported. Accordingly, representative laser-induced graphene (LIG), metals, and metal oxides are successfully fabricated as high-performance sensing and electrode materials from different material precursors on various types of substrates for applications in temperature/light/gas sensing, energy storage, and printed circuit board for circuit. Last but not the least, to demonstrate an application in smart homes, LIG-based conformable strain sensors are fabricated and distributed in designated locations of an artificial tree. The distributed sensors have the capability of monitoring the wind speed and direction with the assistance of well-trained machine-learning models. This novel process will pave a new and general route to fabricating 3D conformable electronic devices, thus creating new opportunities in robotics, biomedical sensing, structural health, environmental monitoring, and Internet of Things applications.     

RTDMiner: 基于数据挖掘的引用计数更新缺陷检测方法

在Linux内核等大型底层系统中广泛采用引用计数来管理共享资源.引用计数需要与引用资源的对象个数保持一致,否则可能导致不恰当引用计数更新缺陷,使得资源永远无法释放或者被提前释放.为检测不恰当引用计数更新缺陷,现有静态检测方法通常需要知道哪些函数增加引用计数,哪些函数减少引用计数.而手动获取这些关于引用计数的先验知识过于费时且可能有遗漏.基于挖掘的缺陷检测方法虽然可以减少对先验知识的依赖,但难以有效检测像不恰当引用计数更新缺陷这类路径敏感的缺陷.为此,提出一个将数据挖掘技术和静态分析技术深度融合的不恰当引用计数更新缺陷检测方法 RTDMiner.首先,根据引用计数的通用规律,利用数据挖掘技术从大规模代码中自动识别增加或减少引用计数的函数.然后,采用路径敏感的静态分析方法检测增加了引用计数但没有减少引用计数的缺陷路径.为了降低误报,在检测阶段再次利用数据挖掘技术来识别例外模式.在Linux内核上的实验结果表明,所提方法能够以将近90%的准确率自动识别增加或减少引用计数的函数.而且RTDMiner检测到的排行靠前的50个疑似缺陷中已经有24个被内核维护人员确认为真实缺陷.     

A blockchain-based framework for data quality in edge-computing-enabled crowdsensing

With the rapid development of mobile technology and smart devices, crowdsensing has shown its large potential to collect massive data. Considering the limitation of calculation power, edge computing is introduced to release unnecessary data transmission. In edge-computing-enabled crowdsensing, massive data is required to be preliminary processed by edge computing devices (ECDs). Compared with the traditional central platform, these ECDs are limited by their own capability so they may only obtain part of relative factors and they can’t process data synthetically. ECDs involved in one task are required to cooperate to process the task data. The privacy of participants is important in crowdsensing, so blockchain is used due to its decentralization and tamper-resistance. In crowdsensing tasks, it is usually difficult to obtain the assessment criteria in advance so reinforcement learning is introduced. As mentioned before, ECDs can’t process task data comprehensively and they are required to cooperate quality assessment. Therefore, a blockchain-based framework for data quality in edge-computing-enabled crowdsensing (BFEC) is proposed in this paper. DPoR (Delegated Proof of Reputation), which is proposed in our previous work, is improved to be suitable in BFEC. Iteratively, the final result is calculated without revealing the privacy of participants. Experiments on the open datasets Adult, Blog, and Wine Quality show that our new framework outperforms existing methods in executing sensing tasks.     

电力电子设备接入电压支撑强度量化评估指标综述

当前,大规模新能源发电、柔性直流输电等电力电子设备接入系统存在规模受限、暂态过电压、控制失稳等问题,其严重程度与系统的电压支撑强度密切相关。该文以电力电子设备并网系统为背景,对电压支撑强度的量化评估指标——短路比指标、阻抗比指标的构建与应用进行综述。分析电力系统强弱的关键特性及其与量化评估指标之间的关联,阐述了电压支撑强度的概念。一方面,短路比作为量化评估系统电压支撑强度的重要指标,根据电力电子设备并网后的系统特征,发展不同形式的构建方法。采用短路比指标衡量电压支撑强度时,临界短路比是划分系统强弱的重要判据,与系统静态电压稳定密切相关,当前临界短路比应用于新能源系统时存在计算方法及数值不统一的问题。另一方面,通过推导阻抗比与临界短路比之间的数学关系,分析阻抗比对电压支撑强度的影响,确定短路比与阻抗比在电压支撑强度量化评估应用中的配合关系。该文对现有的电压支撑强度量化评估指标存在的问题进行分析与总结,建议在评估电压支撑强度时将短路比指标作为主要指标,将阻抗比指标作为辅助指标,为衡量系统对电力电子设备接纳能力的后续研究提供参考。     

Reliable control strategy based on sliding mode observer against FDI attacks in smart grid

This paper is concerned with the reliable operation of cyber-physical systems under false data injection attacks. First of all, a robust adaptive sliding mode observer is designed to estimate the state of the power system; different from the traditional sliding mode observer, the observer we designed is not only robust to state errors but also can automatically adjust the parameter of attack identification. Secondly, a method of attack reconstruction has been given to estimate the actual attack signal. Finally, a reliable sliding mode control strategy is proposed to eliminate the impact of false data injection attacks; compared with the existing results, the designed defense strategy utilizes the reconstructed attack signal in the attack identification scheme and state error signal at the same time. Moreover, a power system with 3 generator buses and 6 load buses is taken as an simulation example to verify the availability of the proposed control strategy.     

基于一致性算法的直流受端电网分布式调频资源协同频率控制

直流受端电网中大容量直流功率的馈入和大量分布式光伏及储能经电力电子变换器接入,导致受端电网同步机电源逐渐被取代,系统等效惯量下降,严重影响了受端电网的频率特性。因此,挖掘电网调频资源、增加电网频率控制的灵活性十分重要。针对上述问题,基于一致性算法,提出了利用受端电网中配电网的分布式调频资源,包括分布式光伏、储能、柔性负荷等协同参与电网一次调频的分布式控制方法。该控制方法能够有效应对由于调频资源数量大而导致的计算难度增大问题,并可通过定时刷新分布式调频资源的运行状态并自适应计算频率响应系数,实现在故障发生时快速响应频率变化。通过对等效直流受端电网中配电网调频资源以不同控制策略参与频率调节的仿真对比分析,验证了文中方法对直流受端电网频率调节的有效性及经济性。