Learning fuzzy controllers in mobile robotics with embedded preprocessing

The automatic design of controllers for mobile robots usually requires two stages. In the first stage, sensorial data are preprocessed or transformed into high level and meaningful values of variables which are usually defined from expert knowledge. In the second stage, a machine learning technique is applied to obtain a controller that maps these high level variables to the control commands that are actually sent to the robot. This paper describes an algorithm that is able to embed the preprocessing stage into the learning stage in order to get controllers directly starting from sensorial raw data with no expert knowledge involved. Due to the high dimensionality of the sensorial data, this approach uses Quantified Fuzzy Rules (QFRs), that are able to transform low-level input variables into high-level input variables, reducing the dimensionality through summarization. The proposed learning algorithm, called Iterative Quantified Fuzzy Rule Learning (IQFRL), is based on genetic programming. IQFRL is able to learn rules with different structures, and can manage linguistic variables with multiple granularities. The algorithm has been tested with the implementation of the wall-following behavior both in several realistic simulated environments with different complexity and on a Pioneer 3-AT robot in two real environments. Results have been compared with several well-known learning algorithms combined with different data preprocessing techniques, showing that IQFRL exhibits a better and statistically significant performance. Moreover, three real world applications for which IQFRL plays a central role are also presented: path and object tracking with static and moving obstacles avoidance.     

抽油井不压井作业装置及抽油泵底阀设计

江苏油田的部分油井存在油管短路、地层高压低渗、漏失严重等问题,这些问题造成压井作业困难,并且压井作业过程中的井控与环境污染风险较大。为了进行不压井检泵作业,同时缩短检泵之后的产量恢复周期,进行了不压井作业技术研究,并研制了不压井作业装置。为解决起下抽油杆过程中的防喷问题,改进了抽油泵底阀结构,该结构可实现起下抽油杆过程中油管不带压、无溢流,并保障起下油管过程中的井控安全。该技术在江苏油田现场应用9井次,效果良好。     

Adaptive fuzzy control for nontriangular form systems with time-varying full-state constraints

This article investigates an adaptive fuzzy tracking control problem for a class of nontriangular form systems with asymmetric time-varying full state constraints. Unknown functions are approximated by the fuzzy logic systems. A domination approach is employed to tackle the nontriangular form structure. Time-varying asymmetric barrier Lyapunov functions (ABLFs) are adopted to ensure full-state constraints satisfaction. Based on the backstepping technique and time-varying ABLFs, an adaptive controller is proposed and guarantees that all the signals in the closed-loop system are ultimately bounded and the time-varying full state constraints are met. Simulation examples are presented to further demonstrate the effectiveness of the proposed approach.     

Adsp-21060的主机接口在实时图像处理中的应用

简要介绍了数字信号处理器Adsp 2 10 6 0和大规模可编程逻辑器件EP1K5 0。详细讨论了Adsp 2 10 6 0的主机接口工作模式以及一个实时图像跟踪处理器的硬件组成原理 ,在这个系统中EP1K5 0充当了主机。调试结果表明 ,所提出的硬件结构设计思想工作效率高 ,完全能够胜任实时图像处理的实际需要。     

基于进化算法的常减压装置模拟

提出了基于优选优生进化算法（Select—best and prepotency evolution algorithm，SPEA）的常减压装置模拟方法。以各塔的温度分布为目标，基于生产过程和分析数据，采用SPEA确定各塔板Murphree效率，从而精确描述各塔板平衡偏离程度。在实际应用中，获得具有良好精度的常减压装置模型。系统分析了SPEA算法的关键参数——优选领域大小与计算复杂性及寻优性能之间的关系，结果显示其取值为群体规模的10％最为合适。     

番禺30-1砂岩强水驱气藏储层非均质性研究

针对垂向非均质性严重且边底水能量强的番禺30-1气田面临的潜在开发问题，通过岩心分析及测井二次解释，对其夹层特征及储层非均质性等进行了研究，划分出19个流动单元并定量描述了各流动单元的特征参数，建立了该气田的精细地质模型。综合评价表明，新建的地质模型具有较高的精度，为该气藏合理开发提供了坚实的地质基础。     

国有科研单位人才流失原因分析及对策

近年来,国有科研单位,尤其是地处经济不发达地区的国有科研单位,出现了较为严重的人才流失现象,一定程度上影响和制约了国有科研单位的发展。通过对国有科研单位人才流失原因的分析,提出了相应的对策。     

基于改进模糊综合评价法的水利工程社会评价研究

通过对水利工程社会评价及模糊综合评价法的介绍,讨论了模糊层次分析法中的一致性检验问题,并采用改进的模糊综合评价法对江垭水利枢纽工程进行社会评价,得到综合评价结果。     

2.4GHz动态CMOS分频器的设计

对现阶段的主流高速CMOS分频器进行分析和比较,在此基础上设计一种采用TSPC(truesingle phase clock)和E-TSPC(extended TSPC)技术的前置双模分频器电路.该分频器大大提高了工作频率,采用0.6μm CMOS工艺参数进行仿真的结果表明,在5V电源电压下,最高频率达到3GHz,功耗仅为8mW.     

信息安全风险评估的模糊多准则决策方法

基于ISO/IEC17799标准建立了一个综合的信息系统风险分析框架,并运用模糊多准则决策(FMCDM)方法计算信息安全风险,根据风险等级矩阵(RLM)对信息资产风险进行级别划分,最终建立评估信息资产相关风险的完整模型。