基于模糊控制的自主机器人路径规划策略研究

结合人类的经验及模糊控制理论研究移动机器人的局部路径规划问题，采用步长的转向角控制的方法模拟驾车减速的自然过程，同时采用了虚拟目标点的方法处理局部路径规划中经常出现的陷阱问题．仿真结果验证了所提方法的有效性和可行性．     

Predatory response of brown tree snakes to chemical stimuli from human skin

The brown tree snake (Boiga irregularis) is an exotic pest species on Pacific islands, most notably on Guam where it has caused considerable ecological and economic damage. On Guam, the snake commonly associates with people and can be found near or in human habitations. Bites are common, approximately 1 of 1200 emergency room visits to Guam hospitals were reported to be the result of B. irregularis bites; 80% of these victims were attacked while sleeping. Most of the attacks occurred on fingers and hands and the attacks appeared to be predatory, rather than defensive, in nature. In order to characterize the mechanism releasing this unusual behavior, we measured the predatory response of B. irregularis to chemical stimuli from humans and controls using a lab population that originated from Guam and a wild population from the species' native range in Queensland, Australia. To quantify behavior we measured the proportion of snakes displaying predatory behavior to each of the stimuli, the latency to attack, and the number of tongue-flicks displayed. We quantified predatory behavior using the tongue-flick attack score for repeated measures [TFAS(R)], a common method for quantifying predatory behavior in squamate reptiles. Captive brown tree snakes responded to human skin stimuli with feeding behavior, including predatory attacks, at the same frequency as they did to prey stimuli derived from mice, while never responding to controls with such behavior. Captive snakes also responded to human skin stimuli and prey stimuli with significantly higher TFAS(R) scores than to controls, although there were no differences between the human and mouse stimuli. Wild-caught animals in Australia also responded with predatory attacks to human skin stimuli, while not showing predatory behavior to a blank control and with higher TFAS(R) scores to human skin stimuli than to the control. As B. irregularis is a generalized predator that relies heavily on chemical signals to recognize prey, we hypothesize that the snakes recognize compounds on human skin that may be shared with other prey.     

一种基于动物捕食行为的机器人气味源定位策略

提出了一种基于动物捕食行为的机器人味源定位策略;该策略融合了气体传感器、风向传感器、超声传感器等传感器信息,考虑了搜寻味源过程中的避障及重复搜索问题,并给出了确认味源的条件.在动态的室内环境下,令机器人搜寻酒精泄漏源,结果表明,这种策略具有较高的搜寻效率和成功率.     

太阳帆航天器地球逃逸轨道解析最优控制律

针对太阳帆航天器地球逃逸轨道控制问题,给出一种新的解析最优控制律.该控制律可使航天器在逃逸过程中轨道能量变化速率最大,从而保证逃逸时间最短.考虑到地球逃逸轨道形状,引入改进春分点轨道根数对航天器运动学方程进行描述,并给出了地球逃逸轨道最优控制律的推导过程.仿真分析表明,该控制律计算速度较快,而且可以根据航天器状态实时计算姿态控制角,因此比较适用于未来太阳帆航天器在轨自主控制系统.     

一种基于AT89C52单片机的智能报警逃生门锁系统

设计了一种智能报警逃生门锁系统,在火灾发生时能自动打开逃生门锁并发出报警信号。在机械结构方面,引入一种连杆机构,实现推压式开锁,缩短开锁时间;设计阻挡闩代替玻璃罩实现防止随意出入功能;并具备备用开启功能。在控制系统方面,基于AT89C52单片机并用多信息融合技术综合分析温度、烟雾、CO情况,结合远程报警技术,提高了报警的准确性和有效性。通过制作系统模型且实验证明能够实现预定功能。     

Effects of neonatal handling on play behavior and fear towards a predator odor in juvenile rats (rattus norvegicus).

The effects of brief daily separation, also known as "handling," during the first 2 weeks of life on play behavior and fearfulness toward a predatory odor were assessed in juvenile rats. Handled rats were more playful than nonhandled control rats, and while handling had no effect on the direct response of these rats toward a predatory odor, handled rats did not exhibit a conditioned suppression of play when tested later in the same context where they had been exposed to the predatory odor. Handled rats were still wary of the environment in that they continued to show a heightened level of risk assessment behavior. These data suggest that early postnatal experiences may play a significant role in determining how an animal deals with predatory threats later in life. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

激光无线输能系统光伏特性及最大功率跟踪研究

针对激光无线输能系统接收端激光光伏阵列由于激光强度不均匀和不稳定而导致其输出P-U特性曲线呈现多峰、波动性强、稳定性差的问题,首先结合砷化镓激光光伏电池的输出特性,建立激光光伏电池阵列模型,分析其多峰产生的原因。然后利用捕猎搜索算法动态调节粒子群算法中粒子的搜索空间,改进粒子的控制机制,提高了算法的收敛速度、跟踪精度和稳定性,且可有效避免算法陷入局部最优解。最后基于交错并联Boost电路,通过Matlab/Simulink仿真验证了该算法在激光无线输能系统输出最大功率跟踪方面应用的有效性和可行性。     

氨法脱硫中的氨逃逸和硫酸铵气溶胶现象

分析在氨法脱硫工程中出现氨逃逸和硫酸铵气溶胶的机理,提出防止或减轻氨逃逸和硫酸铵气溶胶现象的办法。     

涡管螺旋流排沙技术及其应用

在综合分析国内外涡管螺旋流排沙技术主要研究成果的基础上，对螺旋流的形成及排沙机理、涡管泄流比和排沙率以及涡管设计和实际应用情况，作了全面而综合的介绍，并提出了自已的观点，指出了有待进一步深入研究的问题。