确定流动汽液平衡釜总压的直接法

本文提出了两种由体系温度(T)及汽液相组成(y,x)推算总压(P)的直接法。对二元体系,如果忽略气相非理想性,计算总压的公式如下: 式中P_1~0、P_2~0分别为组分1、2的饱和蒸汽压,P为在y_1~0组成下的总压。 P=y_1x_1P_1~0+y_2x_2P_2~0 式中:y_1、y_2分别为组分1、2的活度系数,可由图解积分法求得。用T、x、y、P均已知的体系数据,对上述两方法进行验算,结果计算值与实验值吻合。此法可直接确定用流动平衡釜测汽液平衡时的总压;对同时测定了T、x、y、P的体系可进行逐点的P检验。     

Hierarchical inversion‐based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter

In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance.     

四维混沌系统及其在图像加密中的应用

传统基于低维混沌系统的图像加密算法往往具有密钥空间较小、安全性较差的问题。针对这些问题,首先提出了一类新的平衡点不稳定的四维离散混沌系统,通过数值仿真对该类系统进行了动力学行为分析,正的Lyapunov指数的个数可以达到三个。同时并基于该类混沌系统设计了一个新的图像加密方案,并进一步对明密文的分布直方图、相关系数、信息熵以及加密方案对参数的敏感性进行了分析。分析结果表明,该加密方案抵抗外来攻击的能力强,密钥空间可达2996△,具有较高的安全性。     

打车软件混合随机均衡模型时间可靠性研究*

为了探究打车软件出现后对乘客打车行为的影响,揭示是否使用打车软件对乘客候车时间长短的变化规律,基于路网混合随机均衡模型理论,在考虑打车软件对出租车司机搜索行为影响和随机变化的OD对需求条件下,构建基于弹性需求的打车软件随机用户均衡模型;然后结合乘客等车、司机空驶时间和可靠性计算模型,引入连续平均（MSA）算法和随机路径流量分配（Dial）算法进行求解;最后通过算例验证了所建模型和算法的有效性。研究结果表明不同需求弹性下、是否使用打车软件对会乘客候车时间及候车时间可靠性产生明显的差异。     

Implementation and performance evaluation of a scheduling algorithm for divisible load parallel applications in a cloud computing environment

Cloud computing is an emerging technology in which information technology resources are virtualized to users in a set of computing resources on a pay‐per‐use basis. It is seen as an effective infrastructure for high performance applications. Divisible load applications occur in many scientific and engineering applications. However, dividing an application and deploying it in a cloud computing environment face challenges to obtain an optimal performance due to the overheads introduced by the cloud virtualization and the supporting cloud middleware. Therefore, we provide results of series of extensive experiments in scheduling divisible load application in a Cloud environment to decrease the overall application execution time considering the cloud networking and computing capacities presented to the application's user. We experiment with real applications within the Amazon cloud computing environment. Our extensive experiments analyze the reasons of the discrepancies between a theoretical model and the reality and propose adequate solutions. These discrepancies are due to three factors: the network behavior, the application behavior and the cloud computing virtualization. Our results show that applying the algorithm result in a maximum ratio of 1.41 of the measured normalized makespan versus the ideal makespan for application in which the communication to computation ratio is big. They show that the algorithm is effective for those applications in a heterogeneous setting reaching a ratio of 1.28 for large data sets. For application following the ensemble clustering model in which the computation to communication ratio is big and variable, we obtained a maximum ratio of 4.7 for large data set and a ratio of 2.11 for small data set. Applying the algorithm also results in an important speedup. These results are revealing for the type of applications we consider under experiments. The experiments also reveal the impact of the choice of the platforms provided by Amazon on the performance of the applications under study. Considering the emergence of cloud computing for high performance applications, the results in this paper can be widely adopted by cloud computing developers. Copyright © 2014 John Wiley & Sons, Ltd.     

水上无人机自主着水控制系统设计

针对水上无人机在高海况下的着水问题,本文在分析了不同着水阶段特性的基础上,提出了一种自主着水控制系统设计方案.该方案将整个系统分为速度控制子系统和姿态控制子系统.速度控制子系统包含速度动态逆控制器和油门切换模块,姿态控制子系统包含海浪滤波器俯仰角反步控制器、高度PID控制器、俯仰角切换模块和T-S模糊推理模块.其中,海浪滤波器能有效滤除受扰姿态角中的海浪高频扰动,避免了着水之后舵面的频繁抖动;俯仰角反步控制器采用指令滤波的反步法设计,有效缓解了高海况下的舵面饱和问题.最后,在不同海况条件下进行了仿真.仿真结果表明所设计的控制系统具有良好的控制性能.     

LDPC码在基于FH-FSK的AUV水声通信系统中的应用

水声信道严重的多途干扰和频率选择性衰落,将增加水声FH-FSK系统的平均误码率.此外,由于自主式水下交通工具(AUV)平台的运动特性,接收信号易产生时间选择性衰落,在接收端产生成串的突发错误甚至导致通信的中断.以上两方面因素将降低移动FH-FSK系统的可靠性,针对此问题,将多元低密度奇偶校验(LDPC)码与FH-FSK系统相结合,提出了一种基于多元LDPC码的水声FH-FSK系统.对比了基于二元LDPC码的FH-FSK系统与基于卷积码的FH-FSK系统的抗干扰性能,实验结果表明:前者具有更强的抗干扰能力.对比了基于多元LDPC码的FH-FSK系统与基于二元LDPC码的FH-FSK系统,仿真与实验结果表明:基于多元LDPC码的FH-FSK系统具有更强的抗干扰能力,可以进一步提高FH-FSK系统的可靠性.     

基于PNDSC 的欠驱动AUV编队控制器设计

针对含有模型不确定与未知海洋环境扰动下的欠驱动自主水下航行器(AUV)的编队控制问题, 提出一种基于预估器的神经网络动态面(PNDSC) 控制算法. 将动态面法引入控制器的设计中, 采用神经网络逼近AUV模型中的不确定项与海洋环境的扰动, 并结合预估器设计了神经网络权值的离散迭代更新率. Lyapunov 稳定性分析表明, 闭环系统所有信号是一致最终有界的. 仿真结果验证了所提出方法的有效性.

     

合成气甲烷化过程热力学分析

以化学热力学为基础,利用FactSage软件对2种典型的煤气化合成气甲烷化反应过程进行了热力学计算和分析。研究了合成气的组分、氢气的配比、反应温度、压力等条件对甲烷化过程的影响,特别是氢气的配比研究,区别于常规对H_2/CO分析而是以氢气的理论配比H_2/(3CO+4CO_2)进行分析。结果表明:反应器操作压力对甲烷化过程的影响不明显,合成气的组分、氢气的配比、反应温度的选择对甲烷化过程的影响较大。得出:合成气甲烷化过程应采用多段反应器,最终控制温度为(300~350)℃;操作压力一般为(3.0~3.5)MPa;H_2的配比采用理论配比时生产出的CH_4浓度高。     

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。