Workload Distribution in Fault Simulation

Simulation at the gate level is computationally very expensive.Parallel processing is one technique to reduce simulation time.Possessing knowledge of the distribution of computational activity insimulation can aid in parallelizing it efficiently. We present a newcharacterization of the distribution of the computational workload infault simulation. An empirical analysis shows that the workloaddistribution is circuit specific, and is largely independent of thevector set being simulated. An inexpensive method to predict theworkload distribution is also discussed.     

基于集群计算机的保护定值在线校核

采用分布式计算技术，研究并实现了基于集群计算机的保护定值在线校核并行计算方法。首先分析了保护定值校核计算的计算量和计算特点，接着对可能采用的并行计算方法进行比较，最后选择了基于电网分块的并行计算方法。采用协调机加计算子机的计算模式，在协调机上执行分块算法，通过基于主导节点的图划分方法把电网分成几块，每台计算子机只校核1块电网内的保护定值，最后由协调机收集汇总计算结果。现场应用证明，该并行计算方法正确、有效。     

多级并接型权电阻DAC的设计

多级并接型权电阻解码网络结构简单，分析方便，文章给出了普通的和BCD码多级并接型权电阻解码网络，推导出了各级与运放的连接电阻的通用公式，并用EWB软件进行了电路模拟，这种方法对自行设计权电阻DAC有一定的参考价值。     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

微分代数方程的一类并行算法

本文提出求解微分代数方程的一类并行算法,进行误差估计。对于一个模型问题进行稳定性分析,画出稳定区域。计算实例表明算法是有效的。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.     

步行机攀登横杆的受力模型及分析

针对４足步行机器人的横杆攀登过程，在考虑弹性变形的基础上利用刚度矩阵建立其受力模型，并通过计算机仿真对攀登过程的不同情况进行了分析，其结果为具有攀登功能的步行机构结构设计及控制算法确定提供了理论依据。     

新型可调剪切差平行分束偏光器设计

本文给出了一种新型可调的切差平行分束偏光器设计。它调节方便,可获得较大平行分束剪切差,并可一镜多用