Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

辽宁省节水工作存在问题及对策

辽宁省是水资源严重短缺的省份之一，水资源不足已成为制约全省经济社会可持续发展的瓶颈。通过对全省大型取用水户的调查分析，找出了辽宁省节水工作中存在的问题，提出了节约用水工作的对策和建议。     

天线方向图的复射线仿真

根据复射线理论，利用复源点高斯波束场来模拟天线的远场方向图。本文提出三种模拟方法，即主瓣匹配法，峰值匹配法和逐点匹配法，给出了多种方向图的仿真结果。数值分析和优化结果表明，复射线峰值匹配法是一种精确实用的天线方向图仿真技术。     

计算抛物面天线支杆对方向图影响的简化方法

本文基于物理光学球面波展开法，提出一种计算抛物面天线支杆对其方向图影响的简化方法，文中导出了计入支杆散射的天线辐射方向图的解析表达式，并给出了支杆对其方向图旁瓣电平影响的计算实例，数值结果表明，本文所提出的新方法不仅计算结果精度高，而且所需计算机容量小，运算速度快，可应用于天线工程设计。     

叠栅图在碳化物沉淀相研究中的一些应用

借助于叠栅图观察了合金钢中细小沉淀相的形貌和分布特征，确定了沉淀相的点阵常数及其同母相（或另一沉淀相）的错配度，并确认了沉淀相或母相中存在的位错及其滑移面。     

全双极WTA模型的改进及其实现

提出了一种相似度的新定义，使双极ＷＡＴ模型的实现更加简洁明了。增加一个阈值使系统能判别非存储模式或因其信息量过低而无法鉴定的输入模式，阈值的大小与要求的容错能力有关。双极相似度及阈值通过光学方法实现。阈值的光学实现使系统仍具有照明不变性。通过电路实现取及ＷＴＡ网络的迭代运算。     

Measurement selection for parametric IC fault diagnosis

This article presents experimental results which show feedforward neural networks are well-suited for analog IC fault diagnosis. Boundary band data (BBD) measurement selection is used to reduce the computational overhead of the FFN training phase. We compare the diagnostic accuracy between traditional statistical classifiers and feedforward neural networks trained with various measurement selection criteria. The feedforward networks consistently perform as well as or better than the other classifiers in term of accuracy. Training using BBD consistently reduces the FFN training efforts without degrading the performance. Experimental results suggest that feedforward networks provide a cost efficient method for IC fault diagnosis in a large scale production testing environment.This work is supported by NSF-IUC CDADIC, Project 90-1.     

基于DFT插值的宽带波束形成器设计

本文提出一种基于DFT插值的宽带波束形成器设计方法。首先推导了具有频率不变波束图的连续线阵的灵敏度函数与离散线列阵加权系数之间的关系；接着给出了基于DFT插值的宽带波束形成器设计的两个步骤：（1）使用窄带波束形成器的设计方法计算在参考频率下基阵的加权系数；（2）根据参考频率下基阵的权系数与其它子带权系数之间的关系，利用DFT插值的方法求出其它子带的加权系数。最后，给出了一个设计实例说明本文方法的有效性。     

用投影预变换提高自适应波束形成的稳健性

在快拍数较少和（或）存在系统误差时，自适应波束形成的性能会变差，特别是会引起方向图副瓣电平升高——波束畸变。本文提出的投影变换法利用干扰方向的初略估计，在未精确预知阵列流形的条件下，可以显著改善自适应方向图的副瓣性能，并提高自适应算法的收敛性，计算机仿真结果验证了这一优点。     

Substance use as a robust correlate of school outcome measures for ethnically diverse adolescents of Asian/Pacific Islander ancestry.

School psychologists are generally not provided with the knowledge and skills to address both educational and psychosocial issues of Asian American and Pacific Islander students. The present study is the first of its kind in examining 36 independent (i.e., demographic, social, cultural, psychological) variables in association with four school outcomes (i.e., grade point average, absences, suspensions, and school infractions) with a large sample of Caucasian, Filipino, Native Hawaiian, Japanese, mixed/non-Hawaiian, and "other" Hawai'i high school students (N = 2,833). Given the relatively unique sample in question and the sheer number of variables, an exploratory approach was utilized with the goal of determining the most robust independent variables, with the unique inclusion of Hawaiian cultural identification. A cross-validation technique was used, whereby stepwise regressions were performed for each of two cross-validation samples; only common variables were retained in a final stepwise model for each of the four school outcomes. The results indicated that, remarkably, substance use accounted for the most variance (i.e., 8.4% -16.1 %) in the four school measures. Further analyses detailed the relationship, including the finding that smoking cigarettes regularly, accounted for the most variance compared to the other five substance use items. Further research and implications of the findings are discussed, including the need for prevention and intervention programs that incorporate substance use as a component, both within and outside of school environments. (PsycINFO Database Record (c) 2011 APA, all rights reserved)