基于虚拟现实技术的无人机转角控制仿真

无人机飞行状态具有较强的非线性特征,机体绕X轴的转动惯量较小,副翼的舵效相对较高,受到扰动后滚转角速率变化很快,使得无人机的横侧向控制成为转角控制的难点问题.传统采用转角跟踪器的无人机转角控制方法中,反馈线性化过程较为繁琐,对于模型精度要求较高,无法适应不断变化的无人机飞行状态.提出一种应用虚拟现实技术的无人机转角控制方法,用三维实景仿真塑造虚拟的无人机飞行区域实景,在无人机运动过程中,辅助操纵手在目视距离内,由增稳控制或人工遥控方式对飞机转角进行操作,并通过三维建模来对无人机机体模型和舵面模型进行构建,并导人到相应的环境中,再通过相应程序对无人机的运动和舵面的转角进行有效的控制,从而实现无人机转角的准确控制.仿真结果表明,相比传统控制方法,所提方法控制下的无人机转角的响应速度更快,具有高的控制效率,在各种扰动的情况下,均可以实现无差的控制跟踪.     

PEAK-INSENSITIVE NON-PARAMETRIC SPECTRUM ESTIMATION

Abstract. We study the problem of non-parametric spectrum estimation of a stationary time series that might contain periodic components. In this case the periodogram ordinates have a significant amplitude at frequencies near the frequencies of the periodic components. These can be regarded as outliers in an asymptotically exponential sample. We develop a non-parametric estimator for the spectral density that is insensitive to these outliers in the frequency domain. This is done by robustifying the usual kernel estimator (smoothed periodogram) by means of M-estimation in the frequency domain. We propose to use data-tapered periodograms, which yield a drastic improvement of the procedure, typically for the contaminated situation. This is both shown theoretically and supported by means of simulation. We show consistency of the resulting estimator in the general case, and asymptotic normality in the special case of a Gaussian time series, whether contamination is present or not. Finally we illustrate the finite sample performance of the estimating procedure by some simulation results and by application to the Canadian lynx trappings data.     

奠定终身学习基础 培养拔尖创新人才

以往的研究更多地认为实践是培养创新能力的途径,但持续的创新离不开终身学习能力。探索了加强数理基础、开阔国际视野和培养探究精神的拔尖创新人才培养模式。实践结果表明,学生的创新能力显著增强。     

Fitts＇定律实验的设计与实现

首先,介绍了Fitts＇定律,然后,设计了验证Fitts＇定律的实验,最后,使用Matlab7.0.1对数据进行了统计和分析.实验结果有效地验证了Fitts＇定律,并且Fitts＇ Law（错误率为4％）得到的预测模型精度高于通过“effective width”Fitts＇ Law得到的预测模型.     

化学铣切槽液中Na2S的分析

本文采用“碘量法”测定化铣液中的硫化钠，分析结果的准确度和精密度完全能够满足生产要求。     

广东省石油和化学工业现状发展趋势和人才需求的分析报告

我省石油和化学工业2002年产值1500亿元，至2010年发展显著，产值将成倍增长。本文分析了我省石化工业在我省经济发展中的地位。工业发展伴随人才的需求，我省的人才培养，高等技术人才可以满足发展的需要，唯中级技术人才明显不足。为此，在今后几年中要认真巩固和发展我省石化中级技术人才的培养基地。     

HTTP-SoLDiER: An HTTP-flooding attack detection scheme with the large deviation principle

HTTP-flooding attack is a much stealthier distributed denial of service （DDoS） attack, challenging the survivability of the web services seriously. Observing the web access behavior, we find that the surfing preference of normal users is much more consistent with the webpage popularity than that of malicious users. Based on this observation, this paper proposes a novel detection scheme for HTTP-flooding （HTTP-SoLDiER）. Specifically, HTTP-SoLDiER first quantifies the consistency between web users surfing preference and the web- page popularity with large-deviation principle. Then HTTP-SoLDiER distinguishes the malicious users from normal ones according to the large-deviation probability. In practice, the webpage popularity plays a key role in attack detection of HTTP-SoLDiER. Due to the never-ending updating of the webpage content and the disturbance induced by attackers, the webpage popularity often varies over time. Thus, it is critical for HTTP-SoLDiER to dynamically update the webpage popularity. We design a reversible exponentially weighted moving average （EWMA） algorithm to solve the problem. Finally, we evaluate the effectiveness of this scheme in terms of true positive （TF） and false positive （FP） probabilities with NS-3 simulations. The simulation results show that HTTP-SoLDiER can detect all random HTTP-flooding attackers and most of the perfect-knowledge HTTP-flooding attackers at little false positive.     

改性环氧带锈涂料的研究

研究了以改性环氧树脂和聚乙烯醇缩丁醛为基料的钢铁带锈涂料 ,通过对成膜物质、转化剂、渗透剂、颜料等的研究 ,得到了集稳定、转化、渗透为一体的多功能涂料。经过实验测试 ,该涂料的各项性能指标均达到了设计要求 ,并且本工艺方案简单易行、省时高效 ,具有较高的实用价值。     

安卓系统手机应用的趋势研究

经过一段时间激烈的竞争,目前市场上的主流智能手机操作系统分别为IOS、Android以及Windows Phone三类。据统计资料表明,安卓系统在移动操作系统中占据了大部分的位置,所占比例达到了58.8%,而苹果只占了32.2%。本文针对安卓系统中手机应用的发展进行了研究、分析,指出了未来安卓手机应用的发展趋势。     

Adaptive neural network control for a class of continuous stirred tank reactor systems

In this paper, the control problem of continuous stirred tank reactors （CSTR） is studied. The considered CSTR are required to contain unknown functions and unknown dead zone input. An adaptive controller that uses the neural networks （NNs） is provided to solve the unknown terms. The proposed approach overcomes the effect of the dead zone input. The dead zone input in the systems is compensated for by introducing a new Lyapunov form and Young＇s inequality. The backstepping procedure is exploited to implement controller design with adaptation laws. The stability is analyzed using Lyapunov method. The performance is examined for CSTR to confirm the effectiveness of the proposed approach based on computer simulation.