Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments

In this paper, we consider multiple mobile manipulators grasping a common object in contact with a rigid surface, and propose a new version of adaptive robust control extended to the actuator level for multiple mobile manipulators carrying a common object in a cooperative manner. The proposed controls are robust not only to parametric uncertainties including mass variation and electrical parameters but also to external disturbances. Simulation results are presented to validate that the motion/force tracking errors converge to zero whereas the internal force tracking error remains bounded and can be made arbitrarily small.     

基于FPGA的CAN总线控制器SJA1000软核的设计

分析了CAN控制器SJA1000的特点及CAN协议通信格式.设计了控制器SJA1000的IP软核,能为应用提供一个性能优良的、易于移植的控制器SJA1000,实现了对步进电机的控制.     

基于CPCI总线的测井数据采集板卡的设计

介绍了一种基于CPCI总线的测井数据采集智能IO板卡的设计,包括数据采集、数据处理、板卡自诊断等功能。板卡结合具体应用环境设计滤波电路对敏感干扰信号进行有效的滤除,使用高性能A/D、FPGA和DSP做数据采集处理,高带宽CPCI总线进行传输数据,为测井数据采集设计提供了一套可行的硬件设计方案。     

法院数字档案领域模型设计

由于法院数字档案的信息化尚没有比较具体的国家标准,导致目前市场上的法院档案数字化软件各行其是,软件设计千差万别。在数年开发法院数字档案管理系统的基础上,通过对相关资料的分析,采用rationalrose软件设计出法院诉讼档案的领域模型,为法院数字档案的开发提供支持。     

统一数据管理空间在大规模并行作业计算中的应用

大规模并行作业的计算通常涉及海量的计算数据和众多的高性能计算设备.随着网格计算技术帮助人们进行计算的同时,大规模并行作业的数据规模的增长也越来越快,对计算速度的要求也越来越高,为了充分利用网格等计算平台上的资源,提高作业的计算效率,人们通常需要将待计算的数据进行分组,然后分别上传至不同的平台上进行计算,这对科学研究和数据管理造成了极大的不便.本文提出了一个针对大规模并行作业计算的统一数据管理空间,实现了异构网格和计算平台上数据的逻辑整合,从而大大提高了对计算数据的管理效率,加快了科学活动的进程.本文最后通过统一数据管理空间在大规模虚拟筛选中的应用,对该统一空间的数据传输效率和数据管理能力进行了分析.     

Numerical analysis and physical simulations for the time fractional radial diffusion equation

We do the numerical analysis and simulations for the time fractional radial diffusion equation used to describe the anomalous subdiffusive transport processes on the symmetric diffusive field. Based on rewriting the equation in a new form, we first present two kinds of implicit finite difference schemes for numerically solving the equation. Then we strictly establish the stability and convergence results. We prove that the two schemes are both unconditionally stable and second order convergent with respect to the maximum norm. Some numerical results are presented to confirm the rates of convergence and the robustness of the numerical schemes. Finally, we do the physical simulations. Some interesting physical phenomena are revealed; we verify that the long time asymptotic survival probability ∝t^−α, but independent of the dimension, where α is the anomalous diffusion exponent.     

Predicting protein secondary structure using a mixed-modal SVM method in a compound pyramid model

Accurate protein secondary structure prediction plays an important role in direct tertiary structure modeling, and can also significantly improve sequence analysis and sequence-structure threading for structure and function determination. Hence improving the accuracy of secondary structure prediction is essential for future developments throughout the field of protein research.In this article, we propose a mixed-modal support vector machine (SVM) method for predicting protein secondary structure. Using the evolutionary information contained in the physicochemical properties of each amino acid and a position-specific scoring matrix generated by a PSI-BLAST multiple sequence alignment as input for a mixed-modal SVM, secondary structure can be predicted at significantly increased accuracy. Using a Knowledge Discovery Theory based on the Inner Cognitive Mechanism (KDTICM) method, we have proposed a compound pyramid model, which is composed of three layers of intelligent interface that integrate a mixed-modal SVM (MMS) module, a modified Knowledge Discovery in Databases (KDD1) process, a mixed-modal back propagation neural network (MMBP) module and so on.Testing against data sets of non-redundant protein sequences returned values for the Q₃ accuracy measure that ranged from 84.0% to 85.6%,while values for the SOV99 segment overlap measure ranged from 79.8% to 80.6%. When compared using a blind test dataset from the CASP8 meeting against currently available secondary structure prediction methods, our new approach shows superior accuracy.Availability: http://www.kdd.ustb.edu.cn/protein_Web/.     

表达式求值在通用数据模拟器设计中的应用

针对某空间飞行器子系统的地面测试中所使用的数据模拟器的数据量可变性、数据类的可变性和公式系数的可变性,以及传统的编程解决方案设计、维护量大的问题,通过对算符优先算法的改进,递归下降语法分析器的扩展及其两者结合,给出了一个集成语法分析与表达式求值的新的表达式求值算法。以此为基础设计了一个多赋值表达式解释器,将此解释器嵌入到数据模拟器设计中,同时结合数据库技术,实现了通用的数据模拟器软件的设计,并成功应用到飞行器子系统的地面测试中。     

Customized kernel execution on reconfigurable hardware for embedded applications

To conserve space and power as well as to harness high performance in embedded systems, high utilization of the hardware is required. This can be facilitated through dynamic adaptation of the silicon resources in reconfigurable systems in order to realize various customized kernels as execution proceeds. Fortunately, the encountered reconfiguration overheads can be estimated. Therefore, if the scheduling of time-consuming kernels considers also the reconfiguration overheads, an overall performance gain can be obtained. We present our policy, experiments, and performance results of customizing and reconfiguring Field-Programmable Gate Arrays (FPGAs) for embedded kernels. Experiments involving EEMBC (EDN Embedded Microprocessor Benchmarking Consortium) and MiBench embedded benchmark kernels show high performance using our main policy, when considering reconfiguration overheads. Our policy reduces the required reconfigurations by more than 50% as compared to brute-force solutions, and performs within 25% of the ideal execution time while conserving 60% of the FPGA resources. Alternative strategies to reduce the reconfiguration overhead are also presented and evaluated.