A new approach of formation navigation derived from multi-robots cooperative online FastSLAM

A new formation navigation approach derived from multi-robots cooperative online FastSLAM is proposed. In this approach,the leader and follower robots are defined.The posteriori estimation of the leader robot state is treated as a relative reference for all follower robots to correct their state priori estimations.The control volume of individual follower will be achieved from the results of the corrected estimation.All robots are observed as landmarks with known associations by the others and are considered in their landmarks updating.By the method,the errors of the robot posterior estimations are reduced and the formation is well kept.The simulation and physical experiment results show that the multi-robots relative localization accuracy is improved and the formation navigation control is more stable and efficient than normal leader-following strategy.The algorithm is easy in implementation.     

Stability analysis and antiwindup design of uncertain discrete-time switched linear systems subject to actuator saturation

This paper investigates the stability analysis and antiwindup design problem for a class of discrete-time switched linear systems with time-varying norm-bounded uncertainties and saturating actuators by using the switched Lyapunov function approach.Supposing that a set of linear dynamic output controllers have been designed to stabilize the switched system without considering its input saturation,we design antiwindup compensation gains in order to enlarge the domain of attraction of the closed-loop system in the presence of saturation.Then,in terms of a sector condition,the antiwindup compensation gains which aim to maximize the estimation of domain of attraction of the closed-loop system are presented by solving a convex optimization problem with linear matrix inequality(LMI)constraints.A numerical example is given to demonstrate the effectiveness of the proposed design method.     

三维动画表演教学研究——浅析动画表演在三维动画教学以及动画创作中的重要性

影视表演艺术学被广泛应用在电影电视以及舞台戏剧中,动画艺术作为电影艺术的一个分支,表演艺术也随之融入到三维动画创作中。动画表演为动画师创作鲜活的角色提供丰富的创作灵感。由于计算机图形学飞速发展,极大简化了动画艺术的制作流程,在三维动画中应用表演理论及艺术方法会极大完善角色的肢体行为,使动画师深入理解角色动作行为及把握角色性格,表现出鲜活的角色形象。     

浅析艺术设计专业设立工作室制教学模式的重要性

当今时代,随着文化与经济的不断发展,市场越来越需要能快速适应社会发展的全方位设计人才。就艺术设计专业而言,对设计人才的培养应是多层次、多元化的。目前国内艺术设计教育与市场还存在脱节的现象,传统的视觉传达设计教育模式受到考验。本文通过论述工作室制教学模式的优点,探讨了艺术设计专业设立工作室制的重要性。     

基于身份的一次性盲公钥方案

在现有方案的基础上,通过分析超椭圆曲线双线性对和基于身份的特点,给出了一个改进的基于身份的一次性盲公钥方案。该方案由用户和可信中心共同完成用户密钥的生成,克服了密钥托管问题,避免了由可信中心进行密钥管理所产生的安全隐患。新构造的方案能够抵抗伪造性攻击,具有不可欺骗性,又保证了一次性盲公钥的独立性,是安全可靠的。而且方案中用户在通讯时可以使用不同的公钥,解决了Internet通信中的匿名认证问题,实现了用户隐私的有效保护。     

磁场信号检测误差分析及补偿算法

针对载体自身磁场特性及三轴磁传感器误差特性建立了地磁导航干扰误差补偿模型,通过对模型进行简化变形,利用系统辨识的最小二乘估计算法(LS)求取误差特性参数.数据分析表明:该方法简单易实现,简化了复杂的求解过程,基本达到了误差补偿的要求.     

电动自行车转矩脉动抑制分析与实现

针对电动自行车生产中如何抑制转矩脉动的问题,结合理论分析,提出采用换相电流闭环控制方法。     

CS3000顺控表的组态和应用

介绍CS3000系统顺控表的结构、参数定义和功能块组态,以聚丙烯加氢控制为例,描述顺控表的组态方法、顺控动作和操作步骤等。     

Binary particle swarm optimization with multiple evolutionary strategies

This paper introduces a novel variation of binary particle swarm optimization(BPSO) algorithm and a further extension to improve its performance.Firstly,mimicking the behaviors of some creatures group,multiple evolutionary strategies BPSO(MBPSO) is introduced which takes different evolutionary strategies for various particles according to their performances.Then,on the basis of MBPSO,a new strategy is discussed to improve the performance of the MBPSO(M2BPSO) which adopts the concept of the mutation operator aiming to overcome the premature convergence and slow convergent speed during the later stages of the optimization.The proposed two algorithms are tested on seven benchmark functions and their results are compared with those obtained by other methods.Experimental results show that our methods outperform the other algorithms.