A real-time planning algorithm for obstacle avoidance of redundant robots

A computationally efficient, obstacle avoidance algorithm for redundant robots is presented in this paper. This algorithm incorporates the neural networks and pseudodistance function D _p in the framework of resolved motion rate control. Thus, it is well suited for real-time implementation. Robot arm kinematic control is carried out by the Hopfield network. The connection weights of the network can be determined from the current value of Jacobian matrix at each sampling time, and joint velocity commands can be generated from the outputs of the network. The obstacle avoidance task is achieved by formulating the performance criterion as D _p>d _min (d _min represents the minimal distance between the redundant robot and obstacles). Its calculation is only related to some vertices which are used to model the robot and obstacles, and the computational times are nearly linear in the total number of vertices. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical.     

四氧化三锰的制备方法

本文对用各种锰原料制备四氧化三锰的方法进行综合评述     

On social computing research collaboration patterns: a social network perspective

The field of social computing emerged more than ten years ago. During the last decade, researchers from a variety of disciplines have been closely collaborating to boost the growth of social computing research. This paper aims at identifying key researchers and institutions, and examining the collaboration patterns in the field. We employ co-authorship network analysis at different levels to study the bibliographic information of 6 543 publications in social computing from 1998 to 2011. This paper gives a snapshot of the current research in social computing and can provide an initial guidance to new researchers in social computing.     

计算机网络安全问题及防范对策

文章简单阐述了当前计算机网络所面临的主要安全威胁,并在此基础上提出了分层控制的方案,建立了不同层次间网络安全的防范措施,希望以此来提高网络安全性。     

针对语音变换的语音篡改检测

针对使用语音变换技术的语音篡改,提出一种自动检测方法。在分析语音变换基本模型和变换语音失真的基础上,提取语音信号的声道参数以及相关的信号统计量,并通过支持向量机递归特征消除法,选择出对语音变换比较敏感的特征作为分类特征,使用支持向量机进行语音变换检测和变换语音的说话人性别判别。对于一种语音变换软件的实验结果表明,该方法具有较高的检测准确率,其中语音变换检测的平均准确率为94.90%,变换语音的说话人性别判别平均准确率为92.09%。     

基于CAE的平流式换热器无模成型工艺开发

为实现高效的平流式换热器柔性弯曲制造,避免模具对制品的损伤,采用仿真与试验相结合的方法实现平流式换热器无模弯曲工艺开发.与传统的换热器绕弯成型技术相比,该成型过程无须弯曲模,而是通过控制换热器两端的运动轨迹实现弯曲成型,改变相应的运动轨迹能实现不同的弯曲半径.在成型原理分析的基础上,建立无模弯曲成型过程的有限元仿真模型,并基于仿真结果确定合理的弯曲速度、夹头长度和中性层半径等工艺参数.设计并制造无模弯曲成型试验装置,并研究翅片结构等因素对成型质量的影响.     

面向高端装备制造CAE技术的机遇和挑战

针对高端装备制造在设计、分析、制造、服役和维护等全过程中对CAE的需求,从结构、流体以及流固耦合等3个方面概述CAE技术国内外进展及其面临的机遇和挑战,指出在发展具有能够对装备在极端服役环境下准确的结构、流体和流固耦合CAE分析技术的基础之上,需不断突破面向工程应用的多物理场耦合、跨尺度分析、多学科综合设计、产品性能评估和集成等关键技术,使CAE逐步向支持现代设计和全寿命周期管理转变.     

CoGCN: Combining co‐attention with graph convolutional network for entity linking with knowledge graphs

Entity linking is a fundamental task in natural language processing. The task of entity linking with knowledge graphs aims at linking mentions in text to their correct entities in a knowledge graph like DBpedia or YAGO2. Most of existing methods rely on hand‐designed features to model the contexts of mentions and entities, which are sparse and hard to calibrate. In this paper, we present a neural model that first combines co‐attention mechanism with graph convolutional network for entity linking with knowledge graphs, which extracts features of mentions and entities from their contexts automatically. Specifically, given the context of a mention and one of its candidate entities' context, we introduce the co‐attention mechanism to learn the relatedness between the mention context and the candidate entity context, and build the mention representation in consideration of such relatedness. Moreover, we propose a context‐aware graph convolutional network for entity representation, which takes both the graph structure of the candidate entity and its relatedness with the mention context into consideration. Experimental results show that our model consistently outperforms the baseline methods on five widely used datasets.     

Differential Evolution Algorithm Based Self-adaptive Control Strategy for Fed-batch Cultivation of Yeast

In the fed-batch cultivation of Saccharomyces cerevisiae, excessive glucose addition leads to increased ethanol accumulation, which will reduce the efficiency of glucose utilization and inhibit product synthesis. Insufficient glucose addition limits cell growth. To properly regulate glucose feed, a different evolution algorithm based on self-adaptive control strategy was proposed, consisting of three modules (PID, system identification and parameter optimization). Performance of the proposed and conventional PID controllers was validated and compared in simulated and experimental cultivations. In the simulation, cultivation with the self-adaptive control strategy had a more stable glucose feed rate and concentration, more stable ethanol concentration around the set-point (1.0 g•L^-1), and final biomass concentration of 34.5 g-DCW•L^-1, 29.2% higher than that with a conventional PID control strategy. In the experiment, the cultivation with the self-adaptive control strategy also had more stable glucose and ethanol concentrations, as well as a final biomass concentration that was 37.4% higher than that using the conventional strategy.