A binary approximating method for graspable region determination of biped climbing robots

For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed.     

Delay time compensation based on coefficient of restitution for collision hybrid motion simulator

A hybrid motion simulator embeds a hardware experiment in a numerical simulation loop. However, it is often subjected to the inherent problem of an energy increase in the collision of two pieces of hardware in a loop because of the delay time. This paper proposes a delay time compensation method based on contact dynamics model for a collision hybrid motion simulator under delay time and establishes a compensation method for coupled translational and rotational motion. The model developed in this paper describes linear uniform motion of a floating object during the period of the delay time until the force and torque are observed and non-linear motion according to environmental stiffness after the initial delay time period in contact. By using the above model, compensation parameters are designed based on desired coefficient of restitution with iterative calculation. The proposed method achieves accurate delay time compensation and simultaneously realizes a variable desired coefficient of restitution over a wide range of frequencies. Furthermore, the compensation method for multi-dimensional motion is established under the assumption that the friction effect is very small. The efficiency of the proposed method is verified through collision experiments for the coupled motion in two dimensions.     

Study of collective user behaviour in Twitter: a fuzzy approach

The study of collective user behaviours in social networking sites has become an increasing important topic in social media mining. Understanding such behaviours has its potential to extract actionable patterns that can be beneficial to develop effective marketing strategies, optimise user experiences and maximise website revenues. With the rapid development of micro-blogging, Twitter has become a richer source of intelligence that can be used to study collective user behaviour, due to its efficient and meaningful user-to-user interactions. However, the classical statistical methods have some drawbacks in bridging the gap between user-generated data and human analysts who mostly use linguistic terms to analyse data and model/summarise knowledge learned. To address this gap, this work proposes a new approach, which employs the mass assignment theory-based fuzzy association rules algorithm (MASS-FARM), for the first time, to extract useful interaction behaviour of Twitter users. The influential factors (including activity time, number of friends/followers and the number of tweets) are represented as fuzzy granules, and the associations amongst are studied by employing MASS-FARM. The collective user behaviours are analysed in the Reply category and the Non-Reply category, respectively. The applicability and usefulness of the proposed method are demonstrated via an empirical study on a collected Twitter data set. The derived results are also discussed and compared with existing works.     

Memristor crossbar-based unsupervised image learning

This letter presents a new memristor crossbar array system and demonstrates its applications in image learning. The controlled pulse and image overlay technique are introduced for the programming of memristor crossbars and promising a better performance for noise reduction. The time-slot technique is helpful for improving the processing speed of image. Simulink and numerical simulations have been employed to demonstrate the useful applications of the proposed circuit structure in image learning.     

关联基础设施系统脆弱性分析

鉴于基础设施系统对社会生产和人民生活的重要性,分析基础设施系统的脆弱性,提出相应的抗干扰措施和改进策略,提高基础设施系统的可靠性,成为了当前研究的一个热点课题。基于此,在对基础设施系统脆弱性分析成果的基础上,从方法论的角度探讨了关联基础设施系统的脆弱性,并以华中地区某城市电力—供水网络为例分析了网络在节点级联故障下的脆弱性,为控制基础设施系统的级联故障、增强系统的抗干扰能力提供决策支持。     

基于文档文字特征的碎纸机碎片拼接算法

针对经碎纸机粉碎的文档碎片,提出拼接复原的模型并研制了相应的算法。首先研究文档碎片边界像素特征,据此提出碎片横向拼接的两种算法;然后,研究行高、字体间间距以及字体大小等文本特征,据此提出针对经横向拼接形成的水平残条的纵向拼接算法。最后根据算法编写Matlab程序,并进行实验,结果表明该算法效果良好。     

基于视频数据和传递熵的鱼群信息传递网络构建

鱼群中的个体如何通过信息传递从而达到一致的群体运动状态,至今还没有刻画这一现象的统一数学模型.本文阐述了一种利用视频数据和传递熵构建鱼群中个体间信息传递网络的方法.首先用实验获取斑马鱼集群的视频数据,并采用计算机视觉跟踪的方法获取鱼群中每个个体的位置和运动速度,然后利用传递熵计算个体两两之间的信息传递关系,在此基础上构建了鱼群信息传递网络.通过网络分析,揭示了鱼群中个体间的信息交互个数与信息传播速度之间的关系,进一步发现了鱼群信息传递网络中的频繁子结构.本文提供了一种利用探测时间序列间因果关系建立鱼群信息传递网络的方法,为鱼群信息传递研究提供了一种新的思路.     

相空间重构在语音情感识别中的研究

为了更为全面地表征语音情感状态,弥补线性情感特征参数在刻画不同情感类型上的不足,将相空间重构理论引入语音情感识别中来,通过分析不同情感状态下的混沌特征,提取Kolmogorov熵和关联维作为新的情感特征参数,并结合传统语音特征使用支持向量机（SVM）进行语音情感识别。实验结果表明,通过引入混沌参数,与传统物理特征进行识别的方案相比,准确率有了一定的提高,为语音情感的识别提供了一个新的研究途径。     

高铁车厢内部紧急情况下人员疏散仿真研究

在引入元胞自动机理论的基础上,模拟分析了紧急情况下人员生理及心理的不同对疏散过程的影响,通过人员动态调整自身行为,并引入人员竞争力,对人员疏散过程建立模型。在疏散过程中,根据存在着一定程度的外部干扰因素,提出疏散干扰度概念。计算机仿真的结果表明,考虑人员竞争力,以及出口疏散干扰的问题,可以更加真实地模拟人员紧急疏散过程和疏散状况。     

TETRA数字集群系统SNDCP层的设计与实现

为了满足TETRA数字集群用户对分组数据业务的需求,提出了一种TETRA数字集群交换机子网相关汇聚协议（SNDCP）的实现方案。在描述TETRA数字集群通信系统分组交换域架构的基础上,给出了SNDCP层的设计方案,并详细阐述了SNDCP层的实现过程中的关键技术;基于Telelogic TAU G2集成开发平台和Linux c开发环境,利用UML语言与C语言开发了SNDCP实体,实现了SNDCP层的功能。在TETRA数字集群通信系统中对SNDCP实体进行测试,测试结果符合TETRA数字集群系统空中接口协议标准,满足设计需求。