Head Orientation Stability of Underwater Snake-Like Robot Swimming

In prior research,the orientation of head of the snake-like robot is changed according to the sinusoidal wave. To solve this problem,we propose Central Pattern Generator( CPG)-based control scheme with head-controller to stabilize the head of the underwater snake-like robot. The advantage of the CPG-based control scheme with head-controller is that the head of the underwater snake-like robot is direct to the target orientation during swimming. The relation between CPG parameters and orientation stability of head is discussed.The adaptation of the proposed method to environment changes is tested. The influences of CPG parameters and hydrodynamic forces on the orientation offset of head are investigated. The target orientation( the input of headcontroller) with an experimental optimization is calculated through a convenient method. To prove the feasibility of the proposed methodology,the different swimming modes have been implemented in our simulation platform.The results show that the oscillation of head’s orientation is inhibited effectively,and the proposed method has strong adaptation to environment and CPG parameters changes.     

基于灰度图像的秘密分享方案

目前像素的扩展问题成为可视秘密分享方案的重要问题。利用布尔运算给出一个可视的秘密分享方案,并且没有像素的扩展,恢复出的秘密图像质量很好。     

复杂情况下蒸汽管路的设计与施工

根据蒸汽管路的设计与施工及实际运行情况,介绍了在复杂环境下蒸汽管路的设计与施工应该注意的事项,为同行类似的蒸汽管路设计与施工提供参考.     

工作流管理系统的解决方案

本文以SZZX3000工作流管理系统为例,从系统的总体设计、系统框架设计、工作流建模工具设计、工作流执行服务、数据库设计等方面,说明工作流管理系统解决方案。     

自然崩落法放矿排产优化的数学模型

在自然崩落法相关研究的基础上，探讨了自然崩落法放矿控制的排产优化问题；给出了正向优化和逆向优化的数学模型，为实现均匀放矿提供了一种理想的理论方法。对充分发挥自然崩落法的优越性和提高矿产资源的回收率具有重要的理论和现实意义     

白石水库泥沙淤积与减淤方法的研究

白石水库泥沙淤积严重,牤牛河与大凌河交汇区的淤积尤其严重,将形成"拦门沙坎"把库区分成上下两部分,影响白石水库正常运行。文章分析认为水库初设时的异重流排沙和泄空排沙的减淤方法,受各种客观因素制约,无法实施,并对牤牛河交汇区挖槽减淤方案进行了试验研究,证明挖槽减淤对减缓库区淤积效果十分显著。     

白家河水库溢洪道侧槽水力设计

以白家河水库侧槽溢洪道为例,介绍其设计方案比选、总体布置、水力计算等,给出了其泄流能力、堰面曲线、泄槽临界水深、侧槽末端水深、侧槽末端底高程和侧槽水面线等水力计算方法和成果,为白家河水库侧槽溢洪道的设计提供了依据。     

Perfect secret sharing scheme based on vertex domination set

Due to the fast development in data communication systems and computer networks in recent years, the necessity to protect the secret data has become extremely imperative. Several methods have been proposed to protect the secret data; one of them is the secret sharing scheme. It is a method of distributing a secret K among a finite set of participants, in such a way that only predefined subset of participant is enabled to reconstruct a secret from their shares. A secret sharing scheme realizing uniform access structure described by a graph has received a considerable attention. In this scheme, each vertex represents a participant and each edge represents a minimum authorized subset. In this paper, an independent dominating set of vertices in a graph G is introduced and applied as a novel idea to construct a secret sharing scheme such that the vertices of the graph represent the participants and the dominating set of vertices in G represents the minimal authorized set. While most of the previous schemes were based on the principle of adjacent vertices, the proposed scheme is based upon the principle of non-adjacent vertices. We prove that the scheme is perfect, and the lower bound of the information rate of this new construction is improved when compared to some well-known previous constructions. We include an experiment involving security threats to demonstrate the effectiveness of the proposed scheme.     

Numerical solution of nonlinear system of Klein–Gordon equations by cubic B-spline collocation method

A technique to approximate the solutions of nonlinear Klein–Gordon equation and Klein–Gordon-Schrödinger equations is presented separately. The approach is based on collocation of cubic B-spline functions. The above-mentioned equations are decomposed into a system of partial differential equations, which are further converted to an amenable system of ODEs. The obtained system has been solved by SSP-RK54 scheme. Numerical solutions are presented for five examples, to show the accuracy and usefulness of proposed approach. The approximate solutions of both the equations are computed without using any transformation and linearization. The technique can be applied with ease to solve linear and nonlinear PDEs and also reduces the computational work.     

Real-time nonlinear MPC and MHE for a large-scale mechatronic application

Progress in optimization algorithms and in computational hardware made deployment of Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) possible to mechatronic applications. This paper aims to assess the computational performance of NMPC and MHE for rotational start-up of Airborne Wind Energy systems. The capabilities offered by an automatic code generation tool are experimentally verified on a real physical system, using a model comprising 27 states and 4 inputs at a sampling frequency of 25 Hz. The results show the feedback times less than 5 ms for the NMPC with more than 1500 variables.