不规则障碍物的避障路径规划

传统的多智能体避障算法在考虑障碍物形状时存在路径冗余、能耗高等现象,不具备普适性。为此,首先采用自动识别凸形化的方式对不规则障碍物进行形状规则化的转变;其次,受子目标思想的启发,将智能体行走的路径转化成规则化后障碍物的多个登陆点路径的叠加,从而保证每段路径的最优化,再选取全局最优路径;最后,利用MATLAB进行仿真,对比与分析了另外两种算法执行的结果,验证了算法的可行性和有效性。     

用核型多角病毒载体在昆虫细胞中表达人白细胞介素-4

将编码人白细胞介素-4（IL－4）的cDNA插入苜蓿银纹夜蛾单核多角病毒（Autogranhacalifor－nicanuclearpolyhedrosisvirus，AcNPV）的多角体蛋白基因启动子下游，构建表达IL－4的重组病毒。感染该重组病毒的细胞可表达较高水平的IL－4多肽。所表达的重组IL－4具有较高的生物学活性，分子量为16KDa。     

有机-无机杂化纳米结构体——多面体低聚硅倍半氧烷研究进展

多面体低聚硅倍半氧烷是基于化学键合作用形成的分子内杂化体系,其改性后的材料是一类具有广泛潜在应用价值的新型有机-无机杂化材料。介绍了多面体低聚硅倍半氧烷单体的结构、性能、单体及其衍生物的合成,以及其改性聚合物材料在航空、航天、生物、电子等高科技领域内的应用前景。针对国内的研究现状,指出低聚硅倍半氧烷-聚合物杂化体系研究所存在的问题。     

一类近于凸函数子族的研究

C.Selvaraj研究了单叶解析函数的一个子族K',在此基础上引进了新的函数族K'β{f(z):f(0)=f'(0)-1=0,其中f(z)在E内解析,g(z)∈C,且zf'(z)/g(z)∈P{β},它是近于凸函数的一个子集,是单叶的.探讨此类函数族的系数估计和半径问题,K'β在积分运算下的一些性质.     

广义η-偏差函数的一些性质

将η-偏差函数ηK(t)和线性偏差函数λ(K)的几个结果推广到了广义η-偏差函数ηK(a,t)和广义线性偏差函数λ(a,K),并得到了它们满足的几个不等式.     

Towards a new framework for domination

Dominating concepts constitute a cornerstone in Graph Theory. Part of the efforts in the field have been focused in finding different mathematical frameworks where domination notions naturally arise, providing new points of view about the matter. In this paper, we introduce one of these frameworks based in convexity. The main idea consists of defining a convexity in a graph, already used in image processing, for which the usual parameters of convexity are closely related to domination parameters. Moreover, the Helly number of this convexity may be viewed as a new domination parameter whose study would be of interest.     

Robust output feedback control against disturbance filter uncertainty described by dynamic integral quadratic constraints

Motivated by a robust disturbance rejection problem, in which disturbances are described by an uncertain filter at the plant input, a convex solution is presented for the robust output feedback controller synthesis problem for a particularly structured plant. The uncertainties are characterized by an integral quadratic constraint (IQC) with general frequency‐dependent multipliers. By exploiting the structure of the generalized plant, linear matrix inequality (LMI)‐synthesis conditions are derived in order to guarantee a specified ??₂‐gain or ??₂‐norm performance level, provided that the IQC multipliers are described by LMI constraints. Moreover, it is shown that part of the controller variables can be eliminated. Finally, the rejection of non‐stationary sinusoidal disturbance signals is considered. In a numerical example, it is shown that specifying a bound on the rate‐of‐variation of the time‐varying frequency can improve the performance if compared with the static IQC multipliers. Copyright © 2009 John Wiley & Sons, Ltd.     

Constructing strongly convex hulls using exact or rounded arithmetic

One useful generalization of the convex hull of a setS ofn points is the -strongly convex -hull. It is defined to be a convex polygon with vertices taken fromS such that no point inS lies farther than outside and such that even if the vertices of are perturbed by as much as , remains convex. It was an open question as to whether an -strongly convexO()-hull existed for all positive . We give here anO(n logn) algorithm for constructing it (which thus proves its existence). This algorithm uses exact rational arithmetic. We also show how to construct an -strongly convexO( + )-hull inO(n logn) time using rounded arithmetic with rounding unit . This is the first rounded-arithmetic convex-hull algorithm which guarantees a convex output and which has error independent ofn.     

Fast model predictive control for linear periodic systems with state and control constraints

The design of stabilizing model predictive control laws for discrete‐time linear periodic systems with state and control constraints is considered. Two algorithms are presented. The first one is based on interpolation between several unconstrained periodic controllers. Among them, one controller is chosen for the performance while the rest are used to extend the domain of attraction. The second algorithm aims to improve the performance by combining model predictive control and interpolating control. The proposed approaches not only guarantee recursive feasibility and asymptotic stability but also are optimal for states near the origin. Copyright © 2017 John Wiley & Sons, Ltd.