力觉临场感遥操作系统的研究进展

力觉临场感遥操作机器人系统是一种新型的机器人控制系统，目前研究中系统存在的控制通信时延是严重影响系统的操作性能，甚至使系统不稳定的主要原因之一，当利用Internet网络传输信号时，时延是时变的，不确定的，对系统的影响更为明显，因此意在介绍国内外力觉临场感遥操作机器人系统的发展状况以及在克服时延对系统影响方面所取得的最新研究进展，同时指出研究中存在的问题，及对进一步研究提出一些看法。     

Polynomial approximation to clothoids via s-power series

Given an arbitrary segment of a clothoid over a finite interval, we propose a novel method for generating a polynomial approximation, based on employing s-power series, the two-point analogue of Taylor expansions. Truncating at the kth term the s-power series furnishes the order-k Hermite interpolant, i.e. the degree-(2k+1) polynomial curve that reproduces up to the kth derivative of the original curve at the endpoints of a given interval. By piecing these approximations we obtain a Hermitian spline that exhibits C^k continuity at the joints and enjoys almost arc-length parameterization. This is a more suitable alternative than the truncated Taylor series or the blending of Taylor expansions advocated by Wang et al. [Computer-Aided Design 33 (2001) 1049] in a recent article.     

Analyzing User-Perceived Dependability and Performance Characteristics of Voting Algorithms for Managing Replicated Data

User-perceived dependability and performance metrics are very different from conventional ones in that the dependability and performance properties must be assessed from the perspective of users accessing the system. In this paper, we develop techniques based on stochastic Petri nets (SPN) to analyze user-perceived dependability and performance properties of quorum-based algorithms for managing replicated data. A feature of the techniques developed in the paper is that no assumption is made regarding the interconnection topology, the number of replicas, or the quorum definition used by the replicated system, thus making it applicable to a wide class of quorum-based algorithms. We illustrate this technique by comparing conventional and user-perceived metrics in majority voting algorithms. Our analysis shows that when the user-perceiveness is taken into consideration, the effect of increasing the network connectivity and number of replicas on the availability and dependability properties perceived by users is very different from that under conventional metrics. Thus, unlike conventional metrics, user-perceived metrics allow a tradeoff to be exploited between the hardware invested, i.e., higher network connectivity and number of replicas, and the performance and dependability properties perceived by users.     

Topic Identification in Dynamical Text by Complexity Pursuit

The problem of analysing dynamically evolving textual data has arisen within the last few years. An example of such data is the discussion appearing in Internet chat lines. In this Letter a recently introduced source separation method, termed as complexity pursuit, is applied to the problem of finding topics in dynamical text and is compared against several blind separation algorithms for the problem considered. Complexity pursuit is a generalisation of projection pursuit to time series and it is able to use both higher-order statistical measures and temporal dependency information in separating the topics. Experimental results on chat line and newsgroup data demonstrate that the minimum complexity time series indeed do correspond to meaningful topics inherent in the dynamical text data, and also suggest the applicability of the method to query-based retrieval from a temporally changing text stream. This revised version was published online in June 2006 with corrections to the Cover Date.     

具有最大作业延迟的生产调度优化算法及仿真

成组作业优化调度问题中的作业根据其加工特点要求可分成若干作业类。同一类的作业连续加工，其后的作业不需要机器设置花费，而不同类的作业连续加工，其后的作业需要机器设置花费。当优化目标是最大作业延迟时，单机成组作业优化调度是HP—hard。本文在利用优化性质的基础上，提出了一种适于大规模优化调度问题的多项式时间算法。仿真实验表明该算法具有良好的性能。     

一种分布式DIS数据库的设计

该文通过分析DIS数据管理的特点和实时性要求，论述了分布式数据库在DIS中应用的必要性，并结合水中目标对抗数据库建设中的实际工作，提出了一种分布式DIS数据库的设计和实现方法。     

实现基于RTCP协议的参考图象法的探讨

目前视频图象在 IP分组网中的传输正被日益广泛地应用 (如 :视频电话、视频会议 ) .但是 ,由于 IP分组网固有的特点 ,致使 IP分组包丢失的现象不可避免 ,并极大地影响了视频传输的服务质量 .由于参考图象选择法RPS(Reference Picture Selection)是一种较好的视频图象差错复原的方法 ,因此 ,为了改善因分组包丢失而对视频传输带来的质量下降问题 ,利用 RTCP协议提供反馈信息和利用参考图象选择法进行视频图象复原 ,实现了一种在 IP分组网中进行视频传输的差错控制机制 .实践证明 ,通过这种方法不仅可减小因分组包丢失而对视频图象信息带来的损害 ,而且可提高视频图象的传输质量 ,此方法适用于基于分组网的视频传输系统 .     

FF高速以太网现场总线的时钟同步

介绍了现场总线基金会高速以太网协议(FF—HSE)，并主要分析了基于简单网络时钟同步协议(SNTP)的时钟同步基本原理，提出了两种可以采用的网络时钟同步体系结构，并给出了Winsock时钟同步通信客户端程序。     

Windows系统环境下的实时性控制

探讨了windows系统环境下的几种实时控制方案及它们的优缺点，给出了一种借助工业控制机和高速单片机系统来控制的更为有效的实时控制方法。     

抢渡长江的数学模型

利用物理学、微积分等知识可以得出问题1的解:由于2002年第一名的游泳速度u=1.541 6m/s,方向角θ=2.050 0 rad,当速度大小u=1.5 m/S时,应选择方向角θ=2.126 8 rad,估计出成绩为t=910.5000s给出问题2中成功游向终点的条件速度是u≥1.4315m/s,根据问题3中水速分为三段常量,注意其在两侧的对称性,选择游泳方向角θ_1=θ_3,路线为折线形式,估计出成绩为t=904.0228s.问题4中水速呈对称连续分布,本模型从简至繁,用3种方法为游泳者选择其游泳方向,在方法2中判断出游泳路线为两侧抛物曲线弧、中间为线段的轨迹,方法3中得出最优时间t=887.8000s.