Learning from crowds with decision trees

Knowledge and Information Systems - Crowdsourcing systems provide an efficient way to collect labeled data by employing non-expert crowd workers. In practice, each instance obtains a multiple noisy...     

平面平台型Stewart并联机构的奇异性分析

提出一种研究平面平台型Stewart并联机构奇异性问题的新方法.采用四元数描述旋转矩阵,并将矢量的坐标扩展为4维形式,通过分析动平台位置与姿态变量之间的耦合关系以及四元数的性质,得到采用8个二次方程式表达的运动方程组.应用该运动方程组进一步导出平面平台型Stewart并联机构的一种新的雅可比矩阵,通过对该新雅可比矩阵求取行列式,得到了奇异性轨迹关于位置姿态变量的解析表达式.根据奇异轨迹解析表达式就可以确定奇异轨迹在空间的分布情况,无论是位置奇异还是姿态奇异都是适用的.通过一个具体的计算实例来验证新方法的正确性.提出的新方法可用于所有具有平面平台的Stewart并联机构的奇异性分析.     

A Kinematic Model and Identification of Geometric Parameters of Robots

0INTRODUCTIONConsiderableattentionhasbeenpaidintherecentyearstotheproblemofrobotaccuracy,whichdependsontheprecisionofmotioncontrolandtherepresentationaceuracyofmanipulator'sgeometricparameters.Inordertoupgradetheaccuracyofrobotwemayidentifyrobotgeometricparametersbyacalibrationprocessandusetheseparametersinthecontrolsystem.TherearealotofpapersdedicatedthecalibrationofrobotsandidentificationOftheirparamet.rs["'].IthasbeenshownthatsmallvariationsinkinematicparametersofthemodelscanpIDducesu…     

街道环境V2V通信信道建模与容量分析

针对街道3D散射环境下的车载通信信道,考虑到道路两边高楼、树木等散射体,且收发两端处于移动状态,采用多天线技术,建立椭圆柱散射模型。运用几何分析法,推导了时间自相关函数（ACF）、空间互相关函数（CCF）,比较视距（LOS）和非视距（NLOS）情况下ACF和CCF的差异,验证仿真方法的可行性;研究了信道容量在不同天线阵列和散射环境下的区别,突出了3D模型更加精确。测量结果与理论分析的一致性表明该3D模型的可用性,拓宽了车载通信系统的研究。     

面向中文的修辞结构关系分类体系及无歧义标注方法

修辞结构理论是一种重要的篇章结构理论,其核心是修辞结构关系。该文基于修辞结构理论,结合中文文本特点,提出面向中文的层次化修辞结构关系分类体系及多元定义。同时,针对标注者遇到的歧义问题,提出了无歧义标注方法。为了便于标注,设计并实现了基于Java图形界面的标注工具RSTTagger,该工具以句子的主谓结构关键词构成的元组作为基本标注单位,自底向上逐级标注,最终标注成一棵完整的修辞结构关系树。为验证标注结果的一致性,选取160篇中文外贸领域语料进行标注,不同标注者同时标注其中50篇,标注一致性达到76.63%。该标注框架可以应用到其他领域语料标注中,已标注的160篇语料可以作为篇章结构理论研究的基础语料库。     

410L和430L泡沫钢性能的比较

以410L和430L不锈钢粉为基体,以CaCl₂为造孔剂,采用粉末冶金烧结溶解法制备出不同孔隙率的410L和430L泡沫钢并分析比较其组织和性能。结果表明：410L和430L泡沫钢的基体组织都是α-Fe;在相同的腐蚀条件下430L不锈钢的抗腐蚀性更强;在烧结过程中410L泡沫钢孔壁表面的氧化程度比430L泡沫钢严重;在准静态压缩变形过程中孔隙率为73%~83%的410L泡沫钢屈服应力为22.06~5.45 MPa,相同孔隙率的430L泡沫钢其屈服应力为56.77~10.44 MPa,430L泡沫钢的抗压强度是410L泡沫钢的2~3倍;应变量为50%时,孔隙率为73%~83%的410L泡沫钢单位体积的能量吸收值为6.12~2.90 MJ/m³。应变量为50%时,孔隙率为72%~83%的430L泡沫钢其单位体积的能量吸收值为40.35~8.25 MJ/m³。430L泡沫钢的单位体积能量吸收值约为410L泡沫钢的3~5倍。     

Optimal Bayesian maintenance policy for a gearbox subject to two dependent failure modes

Most maintenance optimization models of gear systems have considered single failure mode. There have been very few papers dealing with multiple failure modes, considering mostly independent failure modes. In this paper, we present an optimal Bayesian control scheme for early fault detection of the gear system with dependent competing risks. The system failures include degradation failure and catastrophic failure. A three‐state continuous‐time–homogeneous hidden Markov model (HMM), namely the model with unobservable healthy and unhealthy states, and an observable failure state, describes the deterioration process of the gear system. The condition monitoring information as well as the age of the system are considered in the proposed optimal Bayesian maintenance policy. The objective is to maximize the long‐run expected average system availability per unit time. The maintenance optimization model is formulated and solved in a semi‐Markov decision process (SMDP) framework. The posterior probability that the system is in the warning state is used for the residual life estimation and Bayesian control chart development. The prediction results show that the mean residual lives obtained in this paper are much closer to the actual values than previously published results. A comparison with the Bayesian control chart based on the previously published HMM and the age‐based replacement policy is given to illustrate the superiority of the proposed approach. The results demonstrate that the Bayesian control scheme with two dependent failure modes can detect the gear fault earlier and improve the availability of the system.     

Synergistic Effect of Aligned Graphene Nanosheets in Graphene Foam for High‐Performance Thermally Conductive Composites

Graphene shows a great potential for high‐performance thermally conductive composite applications because of its extremely high thermal conductivity. However, the graphene‐based polymer composites reported so far only have a limited thermal conductivity, with the highest thermal conductivity enhancement (TCE) per 1 vol% graphene less than 900%. Here, a continuous network of graphene foam (GF), filled with aligned graphene nanosheets (GNs), is shown to be an ideal filler structure for thermally conductive composite materials. Compared to previous reports, a clear thermal percolation is observed at a low graphene loading fraction. The GNs/GF/natural rubber composite shows the highest TCE of 8100% (6.2 vol% graphene loading) ever reported at room temperature, which gives a record‐high TCE per 1 vol% graphene of 1300%. Further analyses reveal a significant synergistic effect between the aligned GNs and 3D interconnected GF, which plays a key role in the formation of a thermal percolation network to remarkably improve the thermal conductivity of the composites. Additionally, the use of this composite for efficient heat dissipation of light‐emitting diode (LED) lamps is demonstrated. These findings provide valuable guidance to design high‐performance graphene‐based thermally conductive materials, and open up the possibility for the use of graphene in high‐power electronic devices.     

带参数摄动的时延分段仿射系统事件触发控制

针对带有参数摄动以及状态时延的网络化分段仿射系统,提出了基于周期事件触发机制的鲁棒控制器设计方法,引入周期事件触发机制来减少通讯网络中信号的传输次数从而降低网络带宽占用。通过构建分段Lyapunov函数,结合李雅普诺夫稳定性定理,将系统的控制器设计问题转换为求线性矩阵不等式可行解问题,实现周期事件触发机制与鲁棒控制器的协同设计。仿真结果说明了该方法的有效性。