未知环境下基于约束点的移动机器人路径规划

针对未知环境中障碍物种类多样性和位置不确定性的特点,提出了基于约束点的路径规划方法。首先对机器人在未知环境中检测到的局部障碍物信息进行分类和几何特征属性描述,得其约束点信息,然后引入改进后的A*算法,将其搜索范围局限于约束点上,计算约束点的评价函数值后得到子目标点,机器人到达子目标点后,若陷入死区,则采取回溯路径策略,重新选择子目标点,否则根据该点所属的障碍物种类采取跨越或绕行避障策略,最后移动机器人在未知环境中顺利到达目标点。仿真研究说明本文提出的路径规划方法具有可行性和有效性。     

Credit rating with a monotonicity-constrained support vector machine model

Deciding whether borrowers can fulfill their obligations is a major issue for financial institutions, and while various credit rating models have been developed to help achieve this, they cannot reflect the domain knowledge of human experts. This paper proposes a new rating model based on a support vector machine with monotonicity constraints derived from the prior knowledge of financial experts. Experiments conducted on real-world data sets show that the proposed method, not only data driven but also domain knowledge oriented, can help correct the loss of monotonicity in data occurring during the collecting process, and performs better than the conventional counterpart.     

On the performance of economic model predictive control with self-tuning terminal cost

In this paper, we analyze the closed-loop performance of a recently introduced economic model predictive control (MPC) scheme with self-tuning terminal cost. To this end, we propose to use a generalized terminal region constraint instead of a generalized terminal equality constraint within the repeatedly solved optimization problem, which allows us to obtain improved closed-loop asymptotic average performance bounds. In particular, these bounds can be obtained a priori. We discuss how the necessary parameters for the generalized terminal region setting can be calculated, and we illustrate our findings with two numerical examples.     

图的点可区别边染色算法研究

针对一般图设计了一种新型的点可区别边染色算法。该算法把概率思想和图染色相结合, 根据点可区别边染色的约束规则确立目标函数, 利用交换规则逐步寻优, 当目标函数的值满足要求时染色成功。给出详细算法步骤并进行了测试和分析, 实验结果表明该算法可以求出满足猜想的点可区别边色数。     

基于梯度投影法与随机优化算法的约束优化方法

针对带有线性等式和不等式约束的无确定函数形式的约束优化问题,提出一种利用梯度投影法与遗传算法、同时扰动随机逼近等随机算法相结合的优化方法。该方法利用遗传算法进行全局搜索,利用同时扰动随机逼近算法进行局部搜索,算法在每次进化时根据线性约束计算父个体处的梯度投影方向,以产生新个体,从而能够严格保证新个体满足全部约束条件。将上述约束优化算法应用于典型约束优化问题,其仿真结果表明了所提出算法的可行性和收敛性。     

基于约束关系的变强度组合测试用例集生成算法

针对传统的变强度组合测试方法对系统中各因素之间的约束关系考虑不足,从而可能导致测试用例冗余的问题,论文提出了一种基于one-Test-at-a-time策略的变强度组合测试用例集生成算法,该算法充分考虑了因素间的约束关系,从而在一定程度上减少了测试用例集的规模。最后通过实验验证了算法的可行性和有效性。     

刚体动力学初值问题的拟变分原理及其应用

随着科学技术的发展,对刚体动力学提出新的要求.应用变积方法,建立了刚体动力学初值问题的拟变分原理.推导出刚体动力学初值问题的拟变分原理的拟驻值条件.建立了刚体动力学初值问题的广义拟变分原理,说明了应用广义拟变分原理求得问题的解析解和数值解的途径.借助算例说明了应用变分方法来研究刚体动力学初值问题的优越性.     

纳米管合成研究进展

当今纳米科学技术飞速发展，其中纳米管已构成了纳米材料的一个非常重要的类别。本文介绍近几年来由化学键结合的纳米管以及由分子间力形成的一些纳米或具有中观尺度的管状结构材料的合成研究进展。     

Guaranteeing performance for uncertain nonlinear systems with bounded state constraint and mismatching condition

The control design problem for the uncertain nonlinear system with bounded state constraint and mismatching condition is considered in this paper. The uncertainty in the system, which may be due to unknown system parameters and external disturbance, is nonlinear and time‐varying. The state of the system is constrained to be bounded. The system does not satisfy the (global) matching condition. A creative one‐to‐one state transformation is proposed by converting the bounded states into the unbounded ones. A step‐by‐step state transformation is proposed to convert the mismatched system into a matched system. The robust control is then proposed based on the transformed system. The control is demonstrated to be able to guarantee the uniform boundedness and uniform ultimate boundedness of the system in the presence of uncertainty, while the state constraint can be always guaranteed.     

边界约束对弯曲-伸展元三轴波速试验的影响

利用弯曲-伸展元开展干砂小应变剪切波试验和除气水压缩波试验,研究了三轴试样的不同约束边界对弯曲-伸展元量测剪切波速和压缩波速的影响,并对波速试验结果进行分析。研究结果表明:以干砂为试验对象的剪切波速试验结果介于砂土中剪切波速与边界材料的剪切波速之间,受到约束边界的材质、长度和壁厚的显著影响;而以除气水为试验对象的压缩波速试验结果受样品约束边界的影响较小。在不同约束材质下,剪切波在干砂中的传播速度与约束材料的刚度有关,材料的刚度越小对干砂剪切波速测试结果影响越小。弯曲-伸展元激发频率的相关性与边界约束无关,只与测试材料有关。研究成果有助于获取准确的弯曲-伸展元波速试验结果。