基于参数方差调节萤火虫算法的三维路径规划

为了提高萤火虫算法大范围搜索时的速度和精度,提出了一种参数方差调节萤火虫算法。首先分析基本萤火虫算法,在此基础上提出了参数方差调节萤火虫算法的核心思想：计算种群亮度的方差评估种群的敛散性,根据进程调节参数,进而达到改进萤火虫算法的目的,并给出了算法的实现步骤和流程;然后在四个优化测试函数中将参数方差调节萤火虫算法与基本萤火虫算法、遗传算法、粒子群算法进行比较和分析,发现参数方差调节萤火虫算法在测试中能迅速的找到符合精度要求的解,且成功率是100%,具有较好的稳定性,较之其他算法优势明显;最后通过构建计算能量消耗的目标函数在有实际背景和地理参数的自主式水下潜器三维路径规划的仿真实验中应用参数方差调节萤火虫算法,在三维海底环境中规划出符合要求的路,从而证明了参数方差调节萤火虫算法在三维路径规划中的实用性。     

给水管网抗震对策的重要度分析方法研究

针对城市给水管线不同管段在灾后对于管网整体可靠度影响的差异性,为了能够较好地评价不同管段对管网系统连接可靠度的贡献,引入失效概率重要度和关键重要度,建立了基于历史经验方法的管网可靠度及管线失效概率重要度、关键重要度计算模型。实例计算结果表明,该模型计算的管网连接可靠度结果与其他文献方法的计算结果基本一致,验证了模型的合理性、有效性。进而应用该模型计算出各段管线的失效概率重要度、关键重要度,对管线防灾等级划分,给出了管网分割方法与管网震后恢复策略。研究结果为编制给水管网抗震防灾规划、震后管网恢复计划及制定出相应的抗灾应急措施提供依据。     

概率模型检测技术在机器人路径规划中的应用

在机器人路径规划的实际应用中,针对机器人移动行为可能会受到外界环境影响的难题,提出了一种采用概率模型检测技术进行路径规划的新方法。首先,分析环境中的主要影响因素,将机器人的移动行为看作一个不确定事件,构建马尔可夫决策过程(MDP)模型。然后,采用概率计算树逻辑(PCTL)公式描述模型属性,表达机器人复杂多样的目标任务。最后,运用PRISM平台对模型进行分析和验证,得到满足属性的全局优化路径和定量数据。仿真结果表明,上述方法不仅能够保障机器人在障碍物环境中无碰撞移动,而且可以避开环境相对复杂的区域,保证机器人以最大概率完成任务。对比试验证明上述方法的正确性和有效性。     

基于能耗优化的六足机器人摆动腿轨迹规划

以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑.     

中职学校基建档案科学化管理

中职学校基建档案是中职学校整体规划和建设管理的重要组成部分,是学校实行各项评估的重要内容之一,因此,加强中职学校档案管理工作是十分重要的。详细阐述了中职学校基建档案的特质和效能,分析了如何实现中职学校基建档案的科学化管理,提出了加强基建档案科学化管理的相关建议。     

Construction-specific spatial information reasoning in Building Information Models

In recent years, there have been significant advances in modeling technology for object-oriented building products. However, the building models are still lacking of providing construction-specific spatial information required for construction planning. Consequently, construction planners visually analyze building product models and derive geometric characteristics such as bounded spaces and exterior perimeter to develop detailed construction plans. Such a process presents fragmented information flows, from building product information to construction planning, that rely on subjective decisions of construction planners. In order to overcome these drawbacks, this research proposes a geometric reasoning system that analyzes geometric information in building designs, derives the construction-specific spatial information, and uses the information to assist in construction planning. The scope of presented work includes detecting work packages formed by faces during construction, such as large work faces and bounded spaces, and using information in the work packages directly to support planning of selected indoor construction activities. The main features of the proposed system named Construction Spatial Information Reasoner (CSIR) include a set of relationship acquisition algorithms, building component relationship data structure, and interpretation of the relationship to support detailed construction activity planning. The relationship acquisition algorithms identify adjacency between building components that is stored in the relational data structure. Then, acquired adjacency relationships are transformed into a set of graphs that represent work packages. To implement the proposed approach, CSIR utilized a commercially-available Building Information Modeling (BIM) platform and the algorithms were imbedded to the BIM platform. For validation, CSIR was tested on a real commercial building. For interior ceiling grid installation activities, CSIR successfully detected existing work packages and analyzed the spatial characteristics impacting construction productivity. The major contribution of the presented research would be to enable a realistic analysis of building geometric condition that is not possible in current BIM and a seamless information flow from building product information to construction process plans. These can potentially reduce current manual and error-prone construction planning processes. Limitations and future research suggestions are also presented.     

Patchy solution of a Francis–Byrnes–Isidori partial differential equation

The solution to the nonlinear output regulation problem requires one to solve a first‐order partial differential equation, known as the Francis–Byrnes–Isidori equations. In this paper, we propose a method to compute approximate solutions to the Francis–Byrnes–Isidori equations when the zero dynamics of the plant are hyperbolic and the exosystem is two dimensional. With our method, we are able to produce approximations that converge uniformly to the true solution. Our method relies on the periodic nature of two‐dimensional analytic center manifolds. Copyright © 2012 John Wiley & Sons, Ltd.     

Designing multimodal tracks for mobile users in unfamiliar urban environments

While there have been many studies of navigation design guidelines for integrating maps in mobile devices, we argue that the research focus should turn more towards the design of multimodal navigation aids, which would reflect the impact of typical human wayfinding behaviour. Therefore, we suggest an interdisciplinary design approach, i.e. building on urban design practice that focuses on supporting the navigation of pedestrians in urban areas. The design implications are explored in this study with the subjects being pedestrians accomplishing wayfinding tasks in an unfamiliar, urban area. The main areas that this paper contributes to are: investigating the design implications of multimodal navigation aids; evaluating these in the context of mobile wayfinding tasks; and reflecting the results according to the user's wayfinding strategies and spatial anxiety. It is concluded that through designing multimodal tracks into mobile navigation applications we can help users to find their way in unfamiliar, urban environments.     

基于新技术条件的城市“智慧水网”发展规划初探

在回顾＂十一五＂期间上海城市精细化管理＂数字水务＂建设现状和分析当今信息技术发展趋势的基础上,针对城市水利及涉水事务管理和服务的应用需求,探讨了新技术条件下业务流程再造的发展方向,研究提出了城市＂智慧水网＂建设理念,设计了新技术条件下的信息化建设技术结构框架,并以＂十二五＂上海涉水事务信息化建设为例作了＂智慧水网＂发展规划的探索设计,初步提出了建设任务、目标内容和保障措施。