具有输入饱和特性的中型足球机器人运动控制研究

研究了具有输入饱和特性的全自主中型足球机器人的运动控制问题,建立了足球机器人的运动学模型,基于Lyapunov稳定性条件研究了足球机器人对足球跟踪的自主控制算法,实现了足球机器人在赛场上的高精度运动控制,实验进一步证明了算法的鲁棒性。     

动态图象运动矢量多重跟踪搜索算法及实现

针对动态图象运动矢量搜索过程中，使用普通的对数搜索方法有可能无法搜索到真实最优运动矢量的问题，分析了产生该问题的原因，并提出使用运动矢量多重跟踪方法进行运动矢量搜索。在图象匹配的过程中应用亚采样模板有效地降低了该方法的计算量。对大量数据的分析试验证实，该方法具有很好地适应多极点匹配图象的特点，能准确搜索到真实最优运动矢量点。     

5—单硝酸异山梨醇酯的合成研究（Ⅰ）

本文由山梨醇经脱水、酰化、硝化及皂化合成了５单硝酸异山梨醇酯．脱水收率６５％；酰化、硝化及皂化总收率３０％．并对工艺条件进行了初步优化．     

基于联合节点行为策略的WSN覆盖控制算法

针对无线传感器网络在对移动目标节点覆盖过程中出现网络能量快速消耗问题，提出了一种基于联合节点行为策略的覆盖算法。根据网络模型建立传感器节点与目标节点从属关系，确定覆盖关联模型；利用概率理论求解邻居节点冗余覆盖度，确定最少传感器节点数量；给出了邻居节点覆盖期望值的求解方法；仿真实验表明，该算法与其他算法在网络覆盖率和网络生存周期两个性能指标上均提升了12.39%和15.01%，从而验证了算法的有效性。     

基于压缩感知的高阶MIMO系统信道估值算法

针对通信网络中的天线数量巨大，很难完成对信道的有效计算与估值。借助于高阶多输入多输出（MIMO）系统的可靠性，提出了一种基于压缩感知的信道估值高阶MIMO系统。设计了一种简单的导频结构，以降低计算复杂度；利用导频序列长度可以随着信道稀疏度变化情况自适应的调整，从而节省了导频资源的开销。仿真实验表明，与传统的信道估计算法比较，在相同的信道估计精度条件下，HMCE-CS算法可以降低平均导频序列长度；或者在相同的导频序列长度条件下，HMCE-CS算法可以提高信道估计精度，验证了该算法的有效性。     

超细无机复合修复材料性能优化研究

超细无机复合修复材料主要用于细微裂缝的修复,因而不仅要保证良好的可灌性,同时较强的抗干缩性能和足够的力学强度也是其主要的工作性能指标。采用正交试验方法研究了水灰比和3种矿物掺合料等四个因素对材料力学性能的影响;通过四元线性方程表征试样干缩率与各因素之间的定量关系。研究表明:材料的优化配合比为,水灰比0.55,混合水泥掺量73%,粉煤灰掺量15%,偏高岭土掺量7%,硅灰掺量5%,减水剂和消泡剂掺量分别为0.6%和0.3%;根据相关数学模型可预测一定条件下材料配比所对应的干缩率值。     

A double oracle algorithm for allocating resources on nodes in graph-based security games

Multimedia Tools and Applications - In the graph-based security game, the defender allocates security resources strategically to protect targets against the adversary. In this paper, firstly, we...     

四川盆地东南地区龙马溪组页岩气有效保存区综合评价

受差异构造边界的制约,四川盆地东南地区(简称川东南)中新生代发生差异构造变形,使得保存条件成为控制该区下古生界页岩气富集的主要因素。为此,从制约保存条件的直接原因——构造作用出发,对该区页岩气保存条件进行了综合评价。首先以构造研究为先导,立足于中新生代差异构造变形方式和强度,将评价区划分为7个构造形变带,并对各构造形变带的断裂规模、断裂密度、顶底板岩性和厚度、目的层埋深、构造形态和裂缝间距指数等影响因素进行系统揭示,确立页岩气有效保存区的评价指标和标准,建立页岩气保存条件综合评价体系。在此基础上,依据该区页岩气保存条件最优评价参数标准,对7个构造形变带下志留统龙马溪组页岩气的保存条件进行了宏观评价。结果表明:齐岳山断裂以西地区的保存条件整体上好于东侧;齐岳山断裂以东地区,以武隆断褶带的保存条件为最好,其次为彭水断褶带和黔江断褶带,道真叠加断褶带、务川叠加断褶带和沿河叠加断褶带相对较差。     

Poly(lactic acid) plasticized by biodegradable glyceryl lactate

The esterification of glycerol with lactic acid was carried out to synthesize glyceryl lactate, which was used as a as a plasticizer with different contents and blended with poly(lactic acid) (PLA) to get a completely biodegradable material with potential applications because of its biodegradability. The structural, morphological, thermal, and mechanical properties of the plasticized PLA were studied to evaluate the plasticizing effects. The results show that the PLA plasticized with glyceryl lactate had a lower glass‐transition temperature and a better ductility. With increasing plasticizer content, the crystallinity of PLA increased. The elongation at break reached 380%, and the impact strength was 1.7 times that of neat PLA. Simultaneously, the migration rate measurements showed that glyceryl lactate presented relatively low migration toward the surface compared with glycerol and citrate esters. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43460.     

The conjugated plane formed in polyacrylonitrile during thermal stabilization

The formation process and mechanism of the pseudo‐graphite sheets of polyacrylonitrile (PAN) during thermal treatment in inert atmosphere were investigated by thermo‐gravimetry (TG) and X‐ray diffraction (XRD). According to the results, the conjugated plane originally formed during stabilization was proposed as the basic planar structure of the pseudo‐graphite sheets, and it was connected and stacked to form pseudo‐graphite microcrystal through chain scission reaction and non‐carbon atoms elimination reaction in 280–450 °C and 800–1300 °C respectively. The in situ measurements for time dependence of ultraviolet‐visible (UV‐vis) and Fourier transform infrared spectra (FTIR) were applied to study the conjugated plane of PAN during isothermal stabilization. It was found that with the higher temperature the conjugated plane forms more rapidly, and it has higher conjugated extent with the extending of heating time. The FTIR data showed that both cyclization and dehydrogenation are beneficial to the evolution of conjugated plane in the first 3 h, but only cyclization continues after 3 h at 250 °C. Further investigation indicated that stabilized PAN with large quantity and high conjugated extent of the conjugated plane would contribute to get large size of pseudo‐graphite microcrystal after carbonization, which is consistent with the former assumption. © 2016 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016 , 133, 43890.