一种基于ROS 的分布式安防巡逻机器人系统

针对目前安防巡逻机器人系统中对机器人主控机负载能力要求较高的问题,设计一种基于机器人操作系 统(robot operating system,ROS)的分布式安防巡逻机器人系统。将同时定位与建图(simultaneous localization and mapping,SLAM)节点以及视觉识别节点分布于局部ROS 网络中的机器人主控机和远程监控端,SLAM 方面采用 gmapping 算法实现动态环境中的地图构建以及机器人的定位;视觉识别方面采用TensorFlow 深度学习框架,利用 TensorFlow Object Detection API 实现场景里多个物体的识别。结果表明,该系统为基于ROS 的分布式安防巡逻机器 人系统的设计提供了参考。     

滤波器在单相PWM整流器中的应用

为消除混叠在PWM单相整流器交流电流反馈信号中的高次谐波分量和直流电压控制外环中的2次谐波分量,在交流电流反馈通道中设置低通滤波器,并使用陷波滤波器衰减直流2次谐波分量;通过在建立电流控制系统模型中发现的内环低通滤波器可有效消除混叠的高次谐波信号的方法保障系统稳定,而对截止频率过高将引起反馈信号相移,改变系统中低频特性,进而影响系统稳定性,则给出了滤波器参数的设定要求;采用直流环节中的陷波滤波器,相比低通滤波器不仅易于在计算精度有限的底层控制芯片中实现,同时更有效消除2次谐波分量,保障系统的高输入功率因数和低谐波分量,同时拥有良好的动态特性。相关仿真分析及搭建4.5kVAPWM整流器样机平台的实验结果验证了以上推论。     

A Study of an Intelligent Battlefield Damage Assessment System Based on a Multi-agent System

Battlefield damage assessment is the key to Battlefield Damage Assessment and Repair (BDAR).We present an Intelligent Battlefield Damage Assessment System (IBDAS) based on multi-agent system technology. We first establish the system framework, and then study the interior structure and workflow of a problem allocation agent. The result shows that, there are many advantages to resolve the problem of battlefield damage assessment by applying multi-agent system technology, and it will bring significant military benefit.     

Research on a New Hybrid System of a Tyre Crane Using Supercapacitors

Research on a hybrid system of a crane is a focus which considers environmental protection and energy saving.A new environmental protection and energy saving hybrid system of tyre crane.which utilizes supercapacitors as the energy store device,is presented.Analyzing the pdneiple of supercapacitors,the model of the crane's hybrid system is set up in this paper,and the model of main blocks are established.Through simulation analyzing,the energy saving result of the new hybrid system is obtained,and the good application value of the new hybrid system is explained.     

高速切削振动的形成及其控制

基于系统工程理论,阐述了高速机床结构、工具系统构成、工件材料特性、切削参数选用和加工环境状况是导致高速切削加工振动形成的主要原因。探讨了高速加工振动形成的机制,并针对高速加工系统各部位控制的特点,提出了主动控制高速加工振动的主要控制策略及改进途径。     

测量学多媒体教材在传播优质课程资源中的地位与作用

文章介绍了编著附随书光盘的系列测量学多媒体教材的做法与经验,教材发行5年来的实践证明,多媒体教材是传播测量学优质课程资源的有效途径。     

The Role of Psychobiotics in Supporting the Treatment of Disturbances in the Functioning of the Nervous System—A Systematic Review

Stress and anxiety are common phenomena that contribute to many nervous system dysfunctions. More and more research has been focusing on the importance of the gut–brain axis in the course and treatment of many diseases, including nervous system disorders. This review aims to present current knowledge on the influence of psychobiotics on the gut–brain axis based on selected diseases, i.e., Alzheimer’s disease, Parkinson’s disease, depression, and autism spectrum disorders. Analyses of the available research results have shown that selected probiotic bacteria affect the gut–brain axis in healthy people and people with selected diseases. Furthermore, supplementation with probiotic bacteria can decrease depressive symptoms. There is no doubt that proper supplementation improves the well-being of patients. Therefore, it can be concluded that the intestinal microbiota play a relevant role in disorders of the nervous system. The microbiota–gut–brain axis may represent a new target in the prevention and treatment of neuropsychiatric disorders. However, this topic needs more research. Such research could help find effective treatments via the modulation of the intestinal microbiome.     

基于暂态零模电流的配电网故障区段定位

为降低小电流接地系统通信过程中小波扰动(噪声)对暂态电流法的干扰,减小因采样频率增加造成的通信网络负担,解决故障两侧馈线终端不同步的问题,提出了一种小电流接地系统的故障区段定位方法.通过检测故障区段两侧的暂态零模电流,提取其中的极值,并计算其衰减程度,利用其极性进行辅助定位.数值仿真的结果验证了所提方法的有效性,该方法...     

基于免疫的动态垃圾邮件过滤研究

本文基于生物免疫系统防御机制,探讨了将人工免疫原理应用于垃圾邮件过滤系统(IDSFS),通过动态生成垃圾邮件疫苗,提高系统的检出率.另外,针对传统邮件过滤系统存在的错误肯定率、错误否定率等不足及用户对邮件个性化处理的要求,引入用户反馈机制,使得系统精确率、正确率进一步提高.实验结果表明,该系统具有较强的自学习、自适应能力.     

区域电网调度系统中维护信息对称性特征识别

为提升对区域电网调度系统维护信息对称性特征的识别效率及准确率,文中首先通过小波变换方法提取区域电网调度系统中维护信息的特征,然后运用模糊C均值算法分析特征数据的分布情况,并以此为基础,获取维护信息对称性故障特征的波形,根据Ucosθ波形特征识别结果,实现对区域电网调度系统中维护信息对称性特征的识别.实验结果表明:在不同...