柔性机械手系统的动力学方程

本文应用动力学普遍方程,导出了单链柔性机械手系统的动力学方程;并以递推形式分析该方程的求解过程,递推的每一步只须解低维的方程组,因而便于计算.还讨论了多链柔性树状系统动力学方程的求解方案,它与单链柔性机械手系统具有相似性,便于编制程序.     

机械结构与系统精度通用计算法及其应用——机器人机构误差分析与计算

本文详细论述了机械结构与系统精度的通用计算法,并以 PUMA 型机器人机构和圆柱型空间缩放机构为例,进行了误差分析,建立了相应的误差数模,证明了用精度通用计算法分析机器人机构误差是简单而适用的。     

Parallel associative combinator evaluation II

A new evaluation model for SK combinator expressions is presented and used as a basis for the design of a novel processor. The resulting machine architecture resembles a dataflow ring, but executions are constrained to be fully lazy. An automatic dynamic load sharing mechanism for a distributed multiprocessor architecture is suggested, and initial simulation results are presented.     

“勇士号”遥控移动式作业机器人

介绍了８６３智能机器人型号之一－以核工业为应用背景的“勇士号”遥控移动式机器人的作业内容及其主要功能指标，分析了该型号的总体设计思想，同时概括总结了其操作性能，移动性能及计算机系统等方面的技术特点。     

A clustering method to distribute a database on a grid

Clusters and grids of workstations provide available resources for data mining processes. To exploit these resources, new distributed algorithms are necessary, particularly concerning the way to distribute data and to use this partition. We present a clustering algorithm dubbed Progressive Clustering that provides an “intelligent” distribution of data on grids. The usefulness of this algorithm is shown for several distributed datamining tasks.     

Signals,timers, and continuations for multithreaded user‐level protocols

Precise timing and asynchronous I/O are appealing features for many applications. Unix kernels provide such features on a per‐process basis, using signals to communicate asynchronous events to applications. Per‐process signals and timers are grossly inadequate for complex multithreaded applications that require per‐thread signals and timers that operate at finer granularity. To respond to this need, we present a scheme that integrates asynchronous (Unix) signals with user‐level threads, using the ARIADNE system as a platform. This is done with a view towards support for portable, multithreaded, and multiprotocol distributed applications, namely the CLAM (connectionless, lightweight, and multiway) communications library. In the same context, we propose the use of continuations as an efficient mechanism for reducing thread context‐switching and busy‐wait overheads in multithreaded protocols. Our proposal for integrating timers and signal‐handling mechanisms not only solves problems related to race conditions, but also offers an efficient and flexible interface for timing and signalling threads. Copyright © 2006 John Wiley & Sons, Ltd.     

基于PVM的并行调试环境

并行软件开发环境的研究已日益成为并行计算和并行处理的重点。本文简介了可移植的消息传递环境ＰＶＭ，讨论了以此为目标的图形监视环境ＸＰＶＭ，阐明ＸＰＶＭ环境与实际需要的ＰＶＭ并行调试环境之间的差距，并在此基础上探讨了并行调试环境开发中的技术难点及其设计要求。     

Echolocation — From range to outline segments

A ring of ultrasonic sensors mounted on a mobile robot is used to map a room. The sensors are modelled with an arc model: the object causing the reflection lies on an arc with radius equal to the range and arc angle equal to twice the beam angle. By fusing sensing with motion, a surface is displayed as a sequence of arcs. In this paper, the algorithm for obtaining outline segments from the arcs is presented.     

Metaheuristic downhill simplex method in combinatorial optimization

The concept of combinatorial objects is formalized. It allows strict definition of a combinatorial optimization problem (COP). An efficient metaheuristic method to solve COPs (H-method) is considered. It includes stochastic local search algorithms as a built-in procedure. A parallel implementation of the H-method is set forth and analyzed. The results from a numerical experiment and solution of some well-known COPs on personal computers and on the SKIT cluster supercomputer are presented. The study was supported by INTAS (Project 06-1000017-8909). __________ Translated from Kibernetika i Sistemnyi Analiz, No. 6, pp. 70–79, November–December 2007.