一种引入通信的多移动机器人编队方法*

提出以视觉跟踪为基础并引入通信进行多机器人的编队控制方法,根据需要编写了一种新的通信协议,采用闭环l-Φ实现编队算法.这种多机器人编队控制避免了视觉系统的局限,能够更好地在复杂未知环境中协作完成任务,解决了编队控制的无反馈和实时性不高的问题,使得机器人能够准确迅速地进行跟踪和通信编队,一起顺利达到目标点.试验结果证明了该方法的有效性.     

基于粒子群算法的移动机器人全局最优路径规划*

以栅格法和粒子群算法为基础,提出了一种新的机器人实时全局最优路径规划方法.该方法包括采用栅格法对环境进行建模和直接运用粒子群算法在环境模型中搜索全局最优路径.在计算机上进行了仿真,仿真结果证明了该方法的可行性和有效性.     

新型环保智能型熟料火车散装系统的开发设计

为满足国家环保要求及现代化企业智能化的要求,解决现有熟料火车散装存在的问题和缺陷,开发设计了新型环保智能型熟料火车散装系统。本文对新型环保智能型熟料火车散装系统进行了介绍,阐述了系统设计理念和工作原理,通过计量系统、装车系统和收尘系统连锁反馈手段,实现了实时在线计量,智能移动装料,达到了作业效率高,智能化程度高,收尘效果好的目的。     

移动agent在远程医疗诊断系统中的应用

随着网络技术的发展,作为一种新的分布式计算模式,移动agent已经成为当前的一个研究热点。介绍了移动agent的相关技术,并利用移动agent的技术优势,针对远程医疗诊断系统的现状,提出了一个基于移动agent技术的远程医疗诊断系统的设计,并给出了具体的思路和解决方案,较好地解决了远程医疗诊断中智能性、灵活性等问题。     

Learning in a mobile age: an investigation of student motivation

The purpose of this single‐case study was to explore the lived experiences of a grade 6 teacher and students who used tablets as part of their classroom instruction. Malone and Lepper's taxonomy of intrinsic motivations for learning is used as a framework for examining whether and how this particular theory of motivation applies equally well for mobile learning. This study reports on the grade 6 teacher's and students' perceptions regarding the motivational affordances of using these mobile devices for learning. The findings are consistent with those of Malone and Lepper that motivation can be enhanced through challenge, curiosity, control, recognition, competition and cooperation. This model is helpful in informing our understanding of the motivating features of using mobile devices for learning and how mobile technologies can be used to enhance learners' motivation.     

Manipulability of leader–follower networks with the rigid-link approximation

This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. Effectiveness is interpreted to characterize how the movements of the leader nodes translate into responses among the remaining follower nodes. This notion of effectiveness is a function of the interaction topologies, the agent configurations, and the particular choice of inputs used to influence the network. In fact, classic manipulability is an index used in robotics to analyze the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader–follower networks, we use a rigid-link approximation of the follower dynamics and, under this assumption, we prove that the instantaneous follower velocities can be uniquely determined from that of the leaders’, which allows us to define a meaningful and computable manipulability index for the leader–follower networks. This paper examines the property of the proposed index in simulation and with real mobile robots, and demonstrates how the index can be used to find effective interaction topologies.     

THROO: a Tracked Hybrid Rover to Overpass Obstacles

In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with track and legs to overpass obstacles to move on uneven terrain. The leg mechanism is composed of a four-bar linkage, which has been synthesized according to the desired features. In particular, the Burmester problem, which aims at finding the geometric parameters of a four-bar linkage required for a prescribed set of finitely separated poses are solved for the case understudy. Dynamic simulations have been carried out and a prototype has been built. The proposed results show the hybrid rover ability to overpass obstacles, for which size is comparable or greater than the track high.     

离子取代凝胶——ACA离子取代动力学模型

用动边界模型描述了海藻酸-壳聚糖-海藻酸(ACA)离子取代凝胶对2价离子的取代动力学过程.模型具有较好的可靠性，ACA离子取代凝胶对2价离子的取代属于颗粒扩散控制.ACA离子取代凝胶对Pb²⁺的反应级数是0.76.     

基于虚拟磁盘的携带型操作系统加密方案

针对移动硬盘的加密系统分区无法被正确辨识而导致误格式化的问题,应用文件系统过滤驱动技术,结合硬盘主引导程序及分区表机理,对现有的基于虚拟磁盘的移动硬盘加解密方案进行了改进,在加密分区包含可运行操作系统的情况下,增加了盘符自动隐藏及恢复的功能。以开源加密软件Truecrypt为例,利用安装了视窗操作系统的固态移动硬盘进行测试。结果表明,在不影响加密操作系统正常运行的同时,盘符自动隐藏及恢复功能避免了用户的误格式化操作,从而提高了移动硬盘加密系统分区的安全性和隐蔽性。     

基于工作流和智能手机的城市综合管理平台

为适应现代城市综合管理的需要,提高城市管理水平,提出利用GIS技术的二三维一体化联动提高管理平台可视化;基于工作流的管理使事件处理更加自动化;利用智能手机的方便使管理人员与系统进行动态交互;利用模糊数学提高任务完成质量评价的科学性。整个平台在Windows7下进行开发,基于B/S(浏览器/服务器)和C/S(客户端/服务器)结合的架构,运用JavaEE、工作流、模糊数学、无线通信、视频融合等技术,实现平台对交通灯、人员、车辆、消防、事件和任务的管理。