轮手一体机器人能量次优重构规划方法

模块化机器人的重构规划中,由于各模块的目标分配与其轨迹规划之间的耦合关系导致组合爆炸问题.本文提出一种基于简化模型的能量次优规划方法,将重构规划问题转化为最优控制问题,实现目标分配与轨迹规划的解耦.通过求解由Hamilton-Jacobi-Bellman（HJB）方程描述的最优控制问题,得到简化模型的值函数和最优轨迹.各模块的运动目标由值函数的吸引域决定.通过在最优轨迹附近的次优区域内搜索得到实际运动轨迹,提高了搜索效率.仿真实验结果表明,该方法能够选择合适的模块组合,并能在障碍物环境中生成满足机器人动力学约束的运动轨迹.     

基于分治法的同步定位与环境采样地图创建

在不使用几何参数描述大规模环境的前提下, 提出了基于分治法的同步定位与环境采样地图创建 (Simultaneous localization and sampled environment mapping, SLASEM)算法来同时进行定位与地图创建. 该算法采用环境采样地图(Sampled environment map, SEM)描述环境, 使算法不局限于用几何参数描述的规则环境. 同时该算法实时地创建局部地图, 并基于分治法合并局部地图, 保证了算法的实时性. 在合并两个子地图时, 算法首先从环境采样地图中提取出角点, 利用角点约束初步更新子地图; 然后利用符号正交距离函数作为虚拟测量函数, 再次细微地更新子地图; 最后将两个子地图合并到一个大地图, 约简冗余的环境采样粒子, 以提高地图的紧凑性. 两个实验的结果验证了所提算法的有效性和实时性.     

一种新的多层碳纳米管复合膜修饰的葡萄糖生物传感器制备

将碳纳米管(CNT)分散在壳聚糖(CHIT)溶液中固定到玻碳电极表面,用戊二醛交联甲苯胺蓝(TB)得到复合膜(TB-CNT-CHIT)修饰电极.由于碳纳米管具有良好的电子传递性能,与碱性生物染料甲苯胺蓝之间表现出协同作用,使甲苯胺蓝的电化学活性得到了较大的提高.此TB-CNT-CHIT复合膜修饰的玻碳电极在较低电位下对过氧化氢具有良好的电催化性能,与TB-CHIT膜比较,测定H2O2的灵敏度增大了近20倍.将复合组份多层修饰到电极上,通过戊二醛固定葡萄糖氧化酶,制备了一种新的葡萄生物传感器,该传感器在-0.2 V下对葡萄糖响应的线性范围为0.05～10 mM,检测下限为10μM.传感器的灵敏度较高,响应快,性能稳定.     

主动毫米波成像隐私保护算法

针对主动毫米波成像安检系统的个人隐私保护问题,提出了一种不受身高、站姿影响的毫米波人体图像隐私保护算法.通过预处理将毫米波图像背景噪声弱化,增加人体目标边缘细节.使用二值化和形态学处理进一步区分背景与人体目标,根据身高划分的人体部位比例与像素点遍历求最值法实现隐私部位的初步定位,可以满足标准站姿下不同身高受检人的隐私部位定位需求.算法所包含的定位复查校准模块通过对隐私位置条件的循环判断与调整,解决了非标准站姿下隐私部位的定位.最后,根据已定位的坐标进行模糊化处理,实现保护受检人隐私的功能.算法已应用于实际产品,与常规隐私保护算法相比,可移植性高,运行速度快,定位准确     

A comparative investigation on urban radio noise at several specific measured areas and its applications for communications

High population density and the presence of many more motorcycles than cars make the noise environment in Taiwan different from that in other countries. There is growing concern about the electromagnetic effects within this environment. With the measured radio noise, the minimum suggested receive power in an urban environment ranges from 354 MHz to 426 MHz. We measured the properties of noise at an urban center, a nearby port, and a freeway exit, which are located in the same city, and on a hill lying adjacent to the city. We chose an urban center and a nearby hill as the noise environment for the following reasons: (a) the noise margin at urban areas is smaller than that at suburban and rural areas. (b) The coverage of the measurement on a hill is larger than that in a city. (c) The relation of the noise environment between a hill and an urban center can be obtained. The statistical distributions of the four particular noise environments are shown and design constraints for a broadcasting system are revealed.     

Analysis of spudcan–footprint interaction in a single soil with nonlinear FEM

The footprints that remain on the seabed after offshore jack-up platforms completed operations and moved out provide a significant risk for any future jack-up installation at that site. Detrimental horizontal and/or rotational loads will be induced on the base cone of the jack-up platform leg(spudcan) in the preloading process where only vertical loads are normally expected. However, there are no specific guidelines on design of spudcan re-installation very close to or partially overlapping existing footprints. This paper presents a rational design approach for assessing spudcan–footprint interaction and the failure process of foundation in a single layer based on nonlinear finite element method. The relationship between the distance between the spudcan and the footprint and the horizontal sliding force has been obtained.Comparisons of simulation and experimental results show that the model in this paper can deal well with the combined problems of sliding friction contact, fluid–solid coupling, and convergence difficulty. The analytical results may be useful to jack-up installation workovers close to existing footprints.     

Parity-Time Symmetry in Non-Hermitian Complex Optical Media

The exploration of quantum-inspired symmetries in optical and photonic systems has witnessed immense research interest both fundamentally and technologically in a wide range of subject areas in physics and engineering. One of the principal emerging fields in this context is non-Hermitian physics based on parity-time symmetry, originally proposed in the studies pertaining to quantum mechanics and quantum field theory and recently ramified into a diverse set of areas, particularly in optics and photonics. The intriguing physical effects enabled by non-Hermitian physics and PT symmetry have enhanced significant application prospects and engineering of novel materials. In addition, there has been increasing research interest in many emerging directions beyond optics and photonics. Here, the state-of-the art developments in the field of complex non-Hermitian physics based on PT symmetry in various physical settings are brought together, and key concepts, a background, and a detailed perspective on new emerging directions are described. It can be anticipated that this trendy field of interest will be indispensable in providing new perspectives in maneuvering the flow of light in the diverse physical platforms in optics, photonics, condensed matter, optoelectronics, and beyond, and will offer distinctive application prospects in novel functional materials.     

On-chip solenoid inductors with high quality factor for high frequency magnetic integrated circuits

On-chip solenoid inductors for high frequency magnetic integrated circuits are proposed. The eddy current loss was reduced by dividing the inductor into three consecutive inductors connected in series. The inductor has an inductance of 1.1nH and the maximum quality factor (Q/sub max/) of 50.5. The self-resonant frequency and the operating frequency at Q/sub max/ are greater than 17.5GHz and 16.7GHz, respectively.     

Performance study of marginal posterior density estimation via Kullback-Leibler divergence

In this article, we introduce Kullback-Leibler (K-L) divergence as a performance measure of marginal posterior density estimation. We show that the K-L divergence can be used to compare two density estimators as well as to assess convergence of a marginal density estimator. We also examine performance of the importance-weighted marginal density estimation (IWMDE) proposed by Chen (1994) under the K-L divergence and we further extend the IWMDE to some more complex Bayesian models where the kernel method, which is widely used for estimating marginal densities using Markov chain Monte Carlo (MCMC) sampling outputs is not applicable. Finally, we use a constrained linear multiple regression model as an example to illustrate our methodology.