加工时间线性递减的链约束单机排序问题

讨论了工件的加工时间是开工时间的线性递减函数、工件之间有平行链约束的单机排序问题.对于链可中断和不可中断两种情况,给出了极小化总完工时间的最优算法.     

基于链路状态的多约束路由预计算算法

作为下一代高速网络的核心问题之一,多约束的服务质量路由(QoSR)至今尚无有效算法,为此基于线性能量函数设计了预计算算法MEFPA.该算法将每个QoS度量的重要性均匀分成若干个等级,从而在多维QoS度量空间中构造出多个均匀分布的线性能量函数;算法通过能量函数将QoS链路状态转化成单一能量值,再使用Dijkstra算法计算最小能量树,最终产生QoS路由表.文章分析了多约束下的线性能量函数对算法性能的影响,给出了判定多维空间中QoS约束的可行区域和不可行区域的方法,最后基于这些理论为多约束QoSR问题给出了预计算算法.广泛深入的实验结果表明,高可扩展性、高性能、易实现的预计算算法MEFPA是一种值得在下一代网络中考虑的路由算法.     

Stabilization of Discrete-Time Switched Systems with Input Time Delay and Its Applications in Networked Control Systems

In this paper, we focus on investigating the asymptotic stabilizability of switched systems with input time delay and its applications in networked control systems (NCSs). First, based on an important lemma, a linear matrix inequality (LMI)-based asymptotic stabilizability criterion is established. Stabilizing switched state feedback controllers can be designed by solving a set of LMIs, which can be easily tested with efficient LMI algorithms. Then, for NCSs with communication constraints, the NCS is modelled as a discrete-time switched system with input time delay. Thus, the asymptotic stabilizability criterion of switched system with input delay can be applicable to such NCSs. Finally, an example is given to illustrate our main results. This work is supported by the National Natural Science Foundation of China under grants (No. 60704015), a grant of Liuhui Center for Applied Mathematics of Nankai University and Tianjin University in China.     

MIMO系统的约束广义预测控制

讨论了输出终端带不等式约束情形的多输入多输出系统，说明了这些约束可以通过修改输入柔化系数而使其得以满足，在柔化系数的选择范围确定过程中，为了避免矩阵求逆，采用利用已知数据辨识参数的方法来确定柔化系数，从而使得问题简化。降低了计算量且加快了收敛速度。     

MIMO场景下的低轨卫星选星算法

低轨(LEO)宽带星座卫星通信作为地面5G无线通信系统的重要补充,始终面临地面可视卫星数量大、传统选星算法计算复杂度高等难题。为实现高效的卫星分组选择算法,基于多输入多输出(MIMO)系统原理,以大尺度路径损耗模型为基础,结合递减卫星选择算法,从而以较低计算复杂度、更快收敛速度有效逼近最优容量性能。该算法在典型LEO星座系统构型下通过数值仿真得到了验证,为未来5G低轨卫星星座通信传输方案设计提供了一种参考思路。     

Leveraging Bioinspired Structural Constraints for Tunable and Programmable Snapping Dynamics in High-Speed Soft Actuators

Creating high-speed soft actuators will have broad engineering and technological applications. Snapping provides a power-amplified mechanism to achieve rapid movements in soft actuators that typically show slow movements. However, precise control of snapping dynamics (e.g., speed and direction of launching or jumping) remains a daunting challenge. Here, a bioinspired design principle is presented that harnesses a reconfigurable constraint structure integrated into a photoactive liquid crystal elastomer actuator to enable tunable and programmable control over its snapping dynamics. By reconfiguring constrained fin-array-shaped structure, the snapping dynamics of the structured actuator, such as launching or jumping angle and height, motion speed, and release force can be on-demand tuned, thus enabling controllable catapult motion and programmable jumping. Moreover, the structured actuators exhibit a unique combination of ultrafast moving speed (up to 2.5 m s⁻¹ in launching and 0.22 m s⁻¹ in jumping), powerful ejection (long ejection distance of ≈20 cm, 35 mg ball), and high jumping height (≈8 cm, 40 times body lengths), which few other soft actuators can achieve. This study provides a new universal design paradigm for realizing controllable rapid movements and high-power motions in soft matter, which are useful for building high-performance soft robotics and actuation devices.     

Performance analysis of time-hopping m-ary UWB wireless system using V-BLAST algorithm

Ultra WideBand (UWB) transmissions are attractive for low power, baseband asynchronous multiple access and peer-to-peer wireless communications. Multiple Input Multiple Output (MIMO) technology is useful in combating against multipath and at the same time improves system performance by using multielement antennas at both transmitter and receiver. This letter proposes a time hopping M-ary UWB systems using V-BLAST algorithm, and power control is considered for better performance. Simulations are provided to compare performance with different antennas.     

考虑关节角加速度约束的仿人机器人偏摆力矩控制方法

针对仿人机器人步行过程中存在的机器人关节角加速度约束影响控制性能的问题，提出一种考虑关节角加速度约束的仿人机器人偏摆力矩控制方法.该方法充分考虑了双臂在摆动过程中对偏摆力矩的影响，根据力矩平衡条件得到需要抵消的偏摆力矩的大小与方向，将偏摆力矩的控制问题转化为带约束条件的二次规划问题，并设计了一种在线变步长迭代算法计算得到优化后的双臂摆动轨迹.实验表明，该方法能有效抵消机器人步行中产生的偏摆力矩，避免控制过程中的"削峰"现象，有效提高机器人的步行稳定性.     

ATM交换结构的成组输入排队模型

本文提出一种新的ATM交换排队结构——成组输入排队结构(GIQ),其基本思想是将输入端分组,同一组的输入端共享排队缓存。GIQ不仅能提高缓存的利用率和系统的吞吐率(达到96.2％),而且还能大大改善交换结构的抗突发能力。采用计算机仿真模拟的方法,分析了GIQ在均匀连续业务流和突发业务流下的性能,并与其它输入排队结构的性能进行了比较。     

采用滚动伪谱优化的组合动力飞行器上升段制导方法

为满足多约束条件下组合动力飞行器上升过程对制导自适应能力的需求,研究了采用滚动伪谱优化的闭路制导方法。在双层滚动优化框架下进行制导,运用分段伪谱法在线实时计算制导指令,根据状态反馈实现指令的快速迭代更新; 引入了网格更新策略改进算法效率,基于实时偏差在线自适应调整制导周期。仿真结果表明,所提制导方法具有可行性,能有效抑制模型参数的不确定性及外界干扰的影响,制导精度满足任务需求; 单次指令解算时间在百毫秒量级,该方法具备一定的工程应用价值。