Adaptive prescribed time control for quadrotor formation with stochastic links failure

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.     

Dynamic response of Kevlar®29/epoxy laminates under projectile impact-experimental investigation

This authors of this article investigated the dynamic response of woven Kevlar®29/epoxy laminates subjected to the impact loading. The cylindrical aluminum foam projectile and steel projectile were used to exert the impulse on the laminates. Deformation/failure modes, deflections, strain histories, and failure mechanisms were obtained and discussed. The results showed that with the high toughness of Kevlar fiber, the deformation modes of the laminates exhibited some characteristics similar to the metal panel, such as large global deformation. The failure mechanisms like matrix failure, fiber splitting, and fibrillation were observed. These micron failures led to the macroscopic delamination and fracture of the laminates.     

The renaming problem in shared memory systems: An introduction

Exploring the power of shared memory communication objects and models, and the limits of distributed computability are among the most exciting research areas of distributed computing. In that spirit, this paper focuses on a problem that has received considerable interest since its introduction in 1987, namely the renaming problem. It was the first non-trivial problem known to be solvable in an asynchronous distributed system despite process failures. Many algorithms for renaming and variants of renaming have been proposed, and sophisticated lower bounds have been proved, that have been a source of new ideas of general interest to distributed computing. It has consequently acquired a paradigm status in distributed fault-tolerant computing.In the renaming problem, processes start with unique initial names taken from a large name space, then deciding new names such that no two processes decide the same new name and the new names are from a name space that is as small as possible.This paper presents an introduction to the renaming problem in shared memory systems, for non-expert readers. It describes both algorithms and lower bounds. Also, it discusses strong connections relating renaming and other important distributed problems such as set agreement and symmetry breaking.     

基于ACO和SPN的FMS故障诊断和可用性评价方法

提出一种柔性制造系统(FMS)的故障诊断和可用性评价方法;针对传统的随机Petri网在解决FMS故障诊断上极大受限于底层马尔科夫链规模而容易产生状态爆炸的问题,首先,将蚁群优化算法(ACO)融入随机有色网(SPN)中,提出并定义了一种能对柔性制造系统的故障进行诊断的诊断器;然后,通过马尔科夫链计算制造单元的可用性,得到FMS到诊断器的映射,从而可以得到FMS中所有可能生产过程;最后,在经典FMS可用性评价方法的基础上,引入覆盖因子,提出了一种新的对FMS生产过程进行可用性评价的方法;仿真实验显示了覆盖因子对系统可用性的影响,通过与传统方法进行比较,表明覆盖因子越大,FMS的可用性越高。     

轧机自动位置控制系统混沌特性研究

针对轧机自动位置控制系统(APC)控制后的钢板不能准确停车,出现类似振动的现象,在考虑轧辊与钢板间的阻尼力、弹性力和轧辊偏心力的基础上,建立了一个轧机自动位置控制系统停车后的非线性模型.阐述了Lyapunov特性指数的计算方法,将Lyapunov指数作为APC系统非线性运动的混沌的判据.给出了Lyapunov指数与AP...     

闪光焊机液压伺服系统故障诊断的研究

为了提高闪光焊机液压伺服系统故障诊断的准确性、实时性,在对液压伺服故障机理分析的基础上,运用计算机技术、数字信号处理技术、模糊故障诊断理论,设计出焊机液压故障诊断系统.对液压伺服系统模糊故障诊断算法进行了研究,并将其应用到焊机液压故障诊断系统.实际故障诊断结果表明,故障诊断系统能准确判断出液压伺服系统的故障部位、故障类...     

地方高校计算机应用人才培养的困难与对策研究

介绍在计算机科学与技术专业规范指导下,我校以理论素质培养与技术能力掌握为导向,对计算机科学与技术两个方向的教学培养计划、课程改革、教学组织设计和课程评价等方面进行的一些探索,希望能为其他地方院校提供参考。     

Anisotropic diffusion with generalized diffusion coefficient function for defect detection in low-contrast surface images

In this paper, an anisotropic diffusion model with a generalized diffusion coefficient function is presented for defect detection in low-contrast surface images and, especially, aims at material surfaces found in liquid crystal display (LCD) manufacturing. A defect embedded in a low-contrast surface image is extremely difficult to detect, because the intensity difference between the unevenly illuminated background and the defective region is hardly observable and no clear edges are present between the defect and its surroundings.The proposed anisotropic diffusion model provides a generalized diffusion mechanism that can flexibly change the curve of the diffusion coefficient function. It adaptively carries out a smoothing process for faultless areas and performs a sharpening process for defect areas in an image. An entropy criterion is proposed as the performance measure of the diffused image and then a stochastic evolutionary computation algorithm, particle swarm optimization (PSO), is applied to automatically determine the best parameter values of the generalized diffusion coefficient function. Experimental results have shown that the proposed method can effectively and efficiently detect small defects in various low-contrast surface images.     

Delay‐dependent LMI condition for global asymptotic stability of discrete‐time uncertain state‐delayed systems using quantization/overflow nonlinearities

A delay‐dependent criterion for the global asymptotic stability of a class of uncertain discrete‐time state‐delayed systems using various combinations of quantization and overflow nonlinearities is presented. The proposed criterion is in the form of a linear matrix inequality and, hence, computationally tractable. A numerical example highlighting the usefulness of the proposed criterion is given. Copyright © 2010 John Wiley & Sons, Ltd.     

基于联合迭代重建技术的超声CT重建算法

在研究超声CT成像原理的基础上,对阵列检测方法进行了探讨。通过对探头布置方式的改进,增加了成像所需的数据量。基于最小二乘方准则,利用联合迭代重建算法,采用四边扫描算法求解相关系数矩阵,通过不断修正误差逼近真实值,进而实现速度矩阵的求取。数值仿真表明：采用上述方法能够明显减小重建误差,改善层析成像效果。