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.     

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.     

变频调速技术在定量包装机中的应用

介绍一种基于变频调速控制的全自动定量包装机，结构简单，组态灵活，性价比高，可广泛应用于食品饲料等行业，现场运行实践证明其通用性好，准确度和可靠性高、速度快、稳定性好。并论述变频器控制系统的设计及使用中的注意问题。     

聚烯烃催化剂硅胶载体的制备和表征

采用并流共沉淀法制备了适用于聚烯烃催化剂的硅胶载体,为减少颗粒的聚集,在制备过程中添加一种表面活性剂。利用透射电子显微镜(TEM)、比表面积测定(BET)和X射线粉末衍射(XRD)法对制备的硅胶载体进行了表征;考察了在制备硅胶载体过程中原料硅酸钠溶液的浓度、溶液pH以及焙烧温度对产物硅胶载体的物理性能的影响。实验结果表明,硅酸钠溶液的浓度影响硅胶的初始粒子的大小,溶液pH直接影响硅酸钠的水解速率,焙烧温度影响硅胶的孔结构和比表面积。当硅酸钠溶液的浓度为0．2mol／L、溶液pH为8-9、反应温度为70℃、焙烧温度为700℃时,硅胶载体的BET比表面积为242．22m2／g、最可几孔径为16．45 nm、堆密度为0．492 1g/mL,与进口硅胶(Silica Gel 955)的物理性能相近。     

Understanding silica-supported metal catalysts: Pd/silica as a case study

Supported metal catalysts, particularly noble metals supported on SiO₂, have attracted considerable attention due to the importance of the silica–metal interface in heterogeneous catalysis and in electronic device fabrication. Several important issues, e.g., the stability of the metal–oxide interface at working temperatures and pressures, are not well-understood. In this review, the present status of our understanding of the metal–silica interface is reviewed. Recent results of model studies in our laboratories on Pd/SiO₂/Mo(1 1 2) using LEED, AES and STM are reported. In this work, epitaxial, ultrathin, well-ordered SiO₂ films were grown on a Mo(1 1 2) substrate to circumvent complications that frequently arise from the silica–silicon interface present in silica thin films grown on silicon.     

负载型复合载体及其镍基催化剂的性能

采用溶胶-凝胶法制备了负载型ZrO_2/Al_2O_3和ZrO_2/Al_2O_3-SiO_2复合载体,研究了不同复合载体对Ni基催化剂CO_2重整甲烷反应和性能的影响,并用XRD、IR、TPR、TPD和BET等方法对复合载体及催化剂进行了表征。结果表明,ZrO_2负载在基载体后比表面积、碱性、活性组分Ni的分散度和Ni与ZrO_2的相互作用增大。NiO在复合载体表面的分散容量与ZrO_2的负载量有关,ZrO_2的负载量为37．5%时NiO的分散容量达最高值(24．0%)。与Ni/ZrO_2相比,Ni/ZrO_2/Al_2O_3-SiO_2和Ni/ZrO_2/Al_2O_3催化剂对CO_2的吸附能力增大,CO_2吸附量增加,酸强度降低,CO_2重整CH_4反应活性提高,其中以Ni/ZrO_2/Al_2O_3催化剂的活性最好。     

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。     

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。     

基于矢量平均的信道估计算法

提出一种适用于DS-CDMA无线通信系统的低计算量而性能良好的信道估计算法。在DS-CDMA系统中，当接收信号经过解扩或多用户检测等时域预处理后，可以认为干扰大大减弱、期望信号在处理后的信号中占主要地位。这样，用预处理后信号相关阵的最大特征值对应的特征矢量可以很好地近似期望信号的信道矢量。但是，直接特征分解需要很大的计算量，特征跟踪计算量较低，但瞬态性能较差。本文提出一种基于相关矩阵列矢量平均的信道估计算法，该算法不需要特征分解或跟踪。仿真结果表明：新算法在降低计算量的情况下可以获得同直接特征分解方法几乎相同的性能。     

An Improved Immune Genetic Algorithm for Solving the Optimization Problems of Computer Communication Networks

1　IntroductionIndesigningacomputercommunicationnet work ,thenetworkaveragedelayisanimportantpa rameterinthenetworkperformance .Inthispaper,weonlyconsiderM /M/1networks,whichmeansthatthemessageprocessingtimeisaprobabilisticdensityfunctionwithnegativepower,thegroupar rivalandsendingisofPoissiondistributionwithasinglequeue .Supposethatthenetworktopologicalstructureandtheestimatesoftheexternaltrafficrequirementsaregiven ,howtoselecttheoptimalroutestobeusedbythecommunicatingnodesinthenetworksoast…