Research on Circular Area Search algorithm of multi-robot service based on SOA cloud platform

Considering autonomous mobile robots with a variety of specific functions as a kind of service, when there are many types and quantities of services and the density of regional services is large, proposing an algorithm of Circular Area Search (CAS) because of the problem of multi-robot service scheduling in various areas. Firstly, Django is used as the web framework to build the Service-Oriented Architecture (SOA) multi-robot service cloud platform, which is the basic platform for multi-service combination. Then, the service type, the latitude and longitude and the scoring parameters of the service are selected as the service search metrics to design the CAS algorithm that based on the existing service information registered in MySQL and the Gaode Map for screening optimal service, and then providing the service applicant with the best service. Finally, the service applicant applies for the self-driving tour service as an example to perform performance simulation test on the proposed CAS algorithm. The results show that the CAS algorithm of the multi-robot service cloud platform proposed in this paper is practical compared to the global search. And compared with the Greedy Algorithm experiment, the service search time is reduced about 58% compared with the Greedy Algorithm, which verifies the efficiency of CAS algorithm.     

An iterative method for suboptimal control of linear time-delayed systems

This article presents a new approach for solving the Optimal Control Problem (OCP) of linear time-delay systems with a quadratic cost functional. The proposed method can also be used for designing optimal control time-delay systems with disturbance. In this study, the Variational Iteration Method (VIM) is employed to convert the original Time-Delay Optimal Control Problem (TDOCP) into a sequence of nonhomogeneous linear two-point boundary value problems (TPBVPs). The optimal control law obtained consists of an accurate linear feedback term and a nonlinear compensation term which is the limit of an adjoint vector sequence. The feedback term is determined by solving Riccati matrix differential equation. By using the finite-step iteration of a nonlinear compensation sequence, we can obtain a suboptimal control law. Finally, Illustrative examples are included to demonstrate the validity and applicability of the technique.     

Owner’s Risk Allocation and Contractor’s Role Behavior in a Project: A Parallel-mediation Model

Risk allocation decisions are of critical importance in project management. The present study proposes an explanation for how risk allocation in a contract motivates a contractor to cooperate with a project owner. Theories of risk allocation and trust were used to motivate the research. Using a survey methodology, we collected data concerning 124 construction projects in China. We found that risk allocation influenced the contractor’s role behavior through the contractor’s feeling of being trusted but not the contractor’s trust in the owner. Feeling of being trusted partially mediated the effect of risk allocation on the contractor’s in-role (i.e., contractual) behavior and fully mediated the effect on extra-role behavior. The study introduces a social and psychological view of the impacts of risk allocation to the project and engineering management literature. We contribute to theory by arguing and demonstrating the mediating effect of trust on the relationship between risk allocation and contractor behavior. From a practical standpoint, we conclude that contractual risk allocation has a significant impact on building a trusting relationship between owners and contractors and that contractors who feel trusted perform both contractually mandated actions and actions external to the contract more diligently, resulting in the likelihood of improved outcomes for both parties.     

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.     

基于感知评价的Internet语音终端流量控制

分析了影响因特网语音通信质量的主要因素，根据实时传输控制协议计算延迟、丢包率等网络参数，并利用RBF神经网络将参数映射为语音质量评分，根据评分值的变化动态地调整语音终端的编码速率，在保证一定语音质量的同时，缓解网络拥塞。实验证明了该方法的有效性。     

恢复邢台百泉泉水流量可行性研究

通过百泉泉区天然状态与超采状态下的水环境对比分析,并对岩溶水补给量和开采量进行计算,阐述恢复邢台百泉泉水流量的可行性,随着“引朱济邢”和“南水北调”供水工程的实施,邢台百泉水生态环境的恢复将变为现实。     

不同管距时玉米渗灌效果的试验研究

在运城市夹马口灌区和红旗灌区进行了1996,1997两个年度的玉米渗灌试验,研究了不同毛管间距条件下渗灌对其产量及水分生产率等的影响。结果表明,玉米渗灌毛管间距采用0.8~1.0 m较为适宜。毛管间距愈大,产量愈低;渗灌较地面灌平均减产7.23%,较旱地平均增产30.8%;玉米生长期内总耗水量地面灌最大,渗灌次之,旱地最小。渗灌可明显提高玉米水分生产率,渗灌处理水分生产率平均为1.65 kg/m3,是地面灌的1.2倍,是旱地的1.33倍;两年度渗灌较地面灌平均节水44.4%。     

随钻扩眼工具及技术研究

基于随钻扩眼技术优势的分析，研究了机械式、液压式和偏心式随钻扩眼工具执行机构和扩眼总成的机构原理，并介绍了国内所开展的相关研究。文章提出应加强现有工具的适应性和匹配性研究，发掘各类工具的优势。优化执行机构、扩眼总成和水力机构、重视底部钻具组合力学特性的分析是今后发展和完善随钻扩眼工具及技术的几个重要内容。实践表明，随钻扩眼技术在处理井下复杂情况、降低钻井综合成本、提高钻井速度、提高建井质量和安全性等方面具有显著的优势，随钻扩眼工具也正逐渐成为一种重要的石油钻井配套工具。     

简体接管边缘应力区局部减薄处应力特征

参考《压力容器定期检验规则》第40条,采用有限元方法计算了筒体接管边缘应力区局部减薄处的应力分布,得到了局部减薄处凹坑的尺寸与位置对应力的影响趋势,讨论了应力集中系数随尺寸变化的规律,为筒体接管边缘应力区局部减薄处的强度评定提供了一定的计算依据。     

现场总线在冶炼烟气制酸系统中的应用实践

分析了冶炼烟气制酸工艺的特点，介绍了由PROFIBUS-DP现场总线构建的冶炼厂烟气制酸监控系统，详细介绍了其硬件配置及相应的软件设计。