未知观测噪声时机器人同步定位与地图构建

对未知观测噪声的机器人同步定位与地图构建问题,提出基于神经网络PID自适应学习观测噪声的机器人同步定位与地图构建算法.已知系统噪声为高斯分布,噪声的方差未知,但其真值是在某个有限集合内.设计一个由神经网络PID控制器、观测噪声调整以及中值滤波构成的噪声在线辨识单元.通过自适应在线辨识观测噪声,并进行新息协方差平均值滤波,迭代修正观测噪声协方差,实现机器人同步定位精度的在线提高.实验表明,该算法可降低观测噪声先验信息不足的影响,减小定位误差.     

大学生勤工助学平台网站设计与实现

通过对高校勤工俭学学生的调查研究,设计出一种基于浏览器/服务器(B/S)模式的高校勤工助学网站。采用ASP作为开发工具,ACCESS作为后台数据库管理,建立一个为大学生提供勤工助学、招聘求职等信息的发布网站,主要包括兼职须知、发布招聘、求职中心、勤工风采、勤工通告中心等模块。学生可以网上申请勤工助学岗位、校内外单位可以在网上发布勤工助学招聘信息,方便了学生求职。     

介观模拟研究温度对DPPC磷脂双层膜结构的影响

生物膜作为生物体的一种基本组成单元,在各种生命活动中占据重要地位。生物膜的结构和功能的稳定性是其发挥一切生理功能的前提。本文以DPPC磷脂双分子层为生物膜模型,采用基于Martini力场的粗粒化模拟方法,考察了温度对DPPC磷脂双层膜结构、形态和功能的影响。结果表明,315 K为DPPC磷脂双层膜的相转变温度;温度升高,DPPC分子间隙增加,尾链发生折叠弯曲,引起脂均面积增大,厚度减小,流动性增加;DPPC双层膜中甘油酯基团组成的栅栏区为膜中分子排列最有序的区域,也是阻碍小分子透膜的主要屏障区。研究结果不仅有助于更好地阐释生物膜的结构形态和功能之间的关系,也有助于理解药物与膜的相互作用,指导临床用药。     

结构动力数值仿真两级并行计算系统开发及应用

根据分布式存储并行计算机的体系结构特点,设计了一个结构动力数值仿真两级并行计算系统.首先通过两级分区为并行计算准备数据,并将数据分布式存储在各节点的局部存储器上;在结构动力分析过程中,通过进一步缩减问题规模和有效地提高通信效率大幅度减少了界面方程求解时间以及系统求解总时间.文中详细阐述了该系统工作原理、并行计算流程和系统实现的相关软件开发工具.最后通过典型数值算例验证了该系统的有效性.     

栅元有效共振积分的CUDA算法设计与实现

核反应堆中需要实时精确地计算堆芯和增殖材料的有效共振积分或群截面来实现反应堆的安全控制。整个计算过程因为涉及大量的积分运算和庞大的核素截面数据,采用常规的计算方法,计算时耗相当大。基于统一计算设备架构(CUDA)平台,利用图形处理器(GPU)的计算能力,对整个计算过程进行并行化分解,多线程同时运算,大幅度提升计算速度,降低时耗。实验结果表明,在GPU上并行计算所得结果与原始数据没有明显差异,且加速效果显著。     

Stochastic consensus control with finite frequency specification for Markov jump networks

A stochastic finite frequency consensus protocol for directed networks with Markov jump topologies and external disturbances is proposed in this paper. By introducing the frequency band information into consensus control design, the disagreement dynamics of interconnected networks asymptotically converge to zero with an improved level of disturbance attenuation in the specific frequency band. In addition, the new model transformation approach is presented by exploring certain features of Laplacian matrix in real Jordan form, which leads to more generality of the designed protocol. A numerical example validates the potential of the developed results. Copyright © 2015 John Wiley & Sons, Ltd.     

The design and test of dual/triple‐mode bandpass filter based on temporal coupled‐mode theory

In this article, the design and test of both a K‐band dual‐mode bandpass filter (BPF) pair and a K‐band triple‐mode BPF are presented based on N‐mode temporal coupled‐mode theory (CMT). The expressions of transmission and reflection responses are analytically derived. All the parameters in the expressions have clear physical meanings and are easily optimized to reach the required filter performance. Aided by eigenmode simulations, concrete structures of the three integrated BPFs are designed and optimized to approach the calculated physical parameters. After the fabrications and measurements of the three BPFs, extended upper/lower stopband with high stopband rejections are achieved, and by increasing the number of resonant modes, improved frequency selectivity and better passband flatness are obtained. The analytical analysis well predicts the simulation and measurement results, which provides an efficient way for BPF designs. © 2016 Wiley Periodicals, Inc. Int J RF and Microwave CAE 26:609–622, 2016.