多机器人覆盖技术研究进展

系统地总结了当前覆盖问题的定义、分类和应用前景.对多机器人覆盖中关于通信、环境地图、路径规划算法及效果评价等方面的研究进展情况进行了阐述.分析并指出若干多机器人覆盖研究中的重点和难点问题:体系结构、通信技术、协商协作、地图表示、路径规划及效果评价,并对未来的研究发展方向进行了探讨.     

Analogy and duality of texture analysis by harmonics or indicators

According to the classic harmonic approach, an orientation density function (odf)f is expanded into its corresponding Fourier orthogonal series with respect to generalized spherical harmonics, and a pole density function (pdf) into its corresponding Fourier orthogonal series with respect to spherical harmonics. While pdfs are even (antipodally symmetric) functions, odfs are generally not. Therefore, the part of the odf which cannot be determined from normal diffraction pdfs can be mathematically represented as the odd portion of its series expansion. If the odff is given, the even part can be mathematically represented explicitly in terms off itself. Thus, it is possible to render maps ofharmonic orientation ghosts, and to evaluatevariants of mathematical standard odfs resulting in identical pdfs independent of pdf data. However, if only normal diffraction pdfs are known, the data-dependentvariation width of feasible odfs remained unaccessible, and within the harmonic approach a measure of confidence in a solution of the pdf-to-odf inversion problem does not exist.According to any discrete approach, an odff defined on some setG of orientations is expanded into its corresponding Fourier orthogonal series with respect to indicator functions of the elements of a partition ofG, and a pdf defined on the upper (lower) unit hemisphereS ₊ ^{3 3} into its corresponding Fourier orthogonal series with respect to indicator functions of the elements of a partition ofS ₊ ³ . The ambiguity of the pdf-to-odf inversion problem is discussed in terms of column-rank deficiency of the augmented projection matrix. The implication of the harmonic approach to split an odf into auniquely determined and anundetermined part does no longer seem to be reasonable. However, it is possible to numerically determine data-dependent confidence intervals for the Fourier coefficients with respect to the indicator functions which can be immediately interpreted as mean orientation densities within the elements of the partition ofG. Doing so for all Fourier coefficients in the finite series expansion, i.e. for all elements of the partition of the setG, eventually results in the data-dependent variation width of odfs feasible with respect to given pdf data, and to the partitions ofG andS ₊ ³ .Thus it is confirmed that the appearance of orientation ghosts, in particular correlations oftrue andghost orientation components, depends on the representation of an odf. It may be questioned whether in practical applications the implicit assumption of the harmonic method that the even part can be determined uniquely and free of error is generally a reasonable initial condition to develop ghost correction procedures.     

基于ATLG混合模型的股票价格预测

股市是金融市场的重要组成部分,对股票价格预测有着重要的意义.同时,深度学习具有强大的数据处理能力,可以解决金融时间序列的复杂性所带来的问题.对此,本文提出一种结合自注意力机制的混合神经网络模型(ATLG).该模型由长短期记忆网络(LSTM)、门控递归单元(GRU)、自注意力机制构建而成,用于对股票价格的预测.实验结果表明:(1)与LSTM、GRU、RNN-LSTM、RNN-GRU等模型相比, ATLG模型的准确率更高;(2)引入自注意力机制使模型更能聚焦于重要时间点的股票特征信息;(3)通过对比,双层神经网络起到的效果更为明显.(4)通过MACD (moving average convergence and divergence)指标进行回测检验,获得了53%的收益,高于同期沪深300的收益.结果证明了该模型在股票价格预测中的有效性和实用性.     

基于IGD+指标的两阶段选择高维多目标进化算法

针对在高维空间下多目标进化算法难以维持种群收敛性和多样性平衡的问题, 本文提出一个基于IGD+指标的两阶段选择高维多目标进化算法(MaOEA–ITS). 在第1阶段, 算法基于IGD+指标选择收敛性良好的精英个体, 其所需的参考点通过引入切割平面截距法构建. 在第2阶段, MaOEA–ITS使用模糊c均值算法对参考向量进行聚类, 聚类后的参考向量引导种群分解策略对剩余个体进行环境选择, 从而维持种群的多样性. 另外, 为了保护能够提高种群多样性的极值解, 本文提出一个参考点分布自适应策略. 最后, 通过仿真实验来验证MaOEA–ITS的有效性和优越性.     

多源信息融合的航空发动机异常检测方法研究

针对航空发动机中单参数表征性能不全面,且易受外部环境和飞行工况等因素影响的问题,提出一种基于谱回归和高斯混合模型的多源信息融合的健康因子构建方法。选取记录完整并与发动机健康性能关系密切的参数,以同架飞机左右发动机的性能参数差异值作为数据源,通过谱回归进行特征降维,采用高斯混合模型构建正常状态模型,再以基于贝叶斯推断的距离表征测试数据与高斯混合模型的全局距离判别发动机的异常状态。通过两个航空发动机异常事件案例中真实QAR数据进行验证,结果表明所提方法相较于航空公司能够更有效评估航空发动机的健康状态,提前识别出发动机的异常点,预留出足够的时间为发动机制定可靠的维修计划,提高飞机的安全性与经济性。     

九头狮子草红色素基膜的制备及动态响应特征

目的 制备了一种九头狮子草红色素基膜,即九头狮子草红色素结合马蹄淀粉的新型比色指示膜。同时利用紫外–可见吸收光谱和灰度平均值探究其动态响应特征。方法 从植物九头狮子草中提取九头狮子草红色素(HPJH),采用共混法将HPJH、马蹄淀粉、丙三醇共混制备比色指示膜。结果 引入九头狮子草红色素后,可以改变马蹄淀粉膜的抗氧化性。适量的九头狮子草红色素促进膜结构的均匀性,当添加质量分数为8%的九头狮子草红色素时,成膜效果最好,DPPH自由基清除率达到88.70%,膜颜色稳定性实验结束时ΔE值为1.649 7。以灰度平均值直观呈现比色指示膜在不同湿度条件下对三乙胺的响应情况,更具有说服力。结论 从植物九头狮子草中提取的HPJH可提高马蹄淀粉膜的指示效果,比色指示膜具有较强的抗氧化性,并对三乙胺具有颜色变化的响应性,在猪肉、鱼肉和莴笋新鲜度监测中具有动态响应特征。     

A numerical algorithm coupling a bifurcating indicator and a direct method for the computation of Hopf bifurcation points in fluid mechanics

This paper deals with the computation of Hopf bifurcation points in fluid mechanics. This computation is done by coupling a bifurcation indicator proposed recently (Cadou et al., 2006) [1] and a direct method (Jackson, 1987; Jepson, 1981) [2] and [3] which consists in solving an augmented system whose solutions are Hopf bifurcation points. The bifurcation indicator gives initial critical values (Reynolds number, Strouhal frequency) for the direct method iterations. Some classical numerical examples from fluid mechanics, in two dimensions, are studied to demonstrate the efficiency and the reliability of such an algorithm.     

短波地空通信站址布局评估方法

针对短波地空通信站址布局的评估问题,给出2个评估站址布局方案的指标——覆盖度和覆盖效率,分别运用网格扫描法和蒙特卡罗方法对这2个指标进行确定。通过仿真,对正方形和正六边形2种特殊站址布局结构进行评估和比较,得出正六边形结构更合理的结论,并验证了这2个评估指标和确定方法的可行性和有效性。     

基于MSP430的二线制高精度表头设计

针对传统的二线制表头在高温下测量精度差、温漂大的特点,提出了一种在高温下的高精度数显表头的设计方案。分别介绍了其软硬件的实现方法,即采用超低功耗微处理器MSP430F4250采集回路中的电流值,采用24位ADC转换器ADS1244进行模数转换,最后将经过运算的变送器输出信号值在LED数码管中加以显示。实测结果证明,该表头在高温下测量精度高、工作可靠、抗干扰性强、实用性强,势必会成为无源二线制仪表的发展方向。     

Checking determinism of XML Schema content models in optimal time

We consider the determinism checking of XML Schema content models, as required by the W3C Recommendation. We argue that currently applied solutions have flaws and make processors vulnerable to exponential resource needs by pathological schemas, and we help to eliminate this potential vulnerability of XML Schema based systems. XML Schema content models are essentially regular expressions extended with numeric occurrence indicators. A previously published polynomial-time solution to check the determinism of such expressions is improved to run in linear time, and the improved algorithm is implemented and evaluated experimentally. When compared to the corresponding method of a popular production-quality XML Schema processor, the new implementation runs orders of magnitude faster. Enhancing the solution to take further extensions of XML Schema into account without compromising its linear scalability is also discussed.