MetateM: An introduction

In this paper a methodology for the use of temporal logic as an executable imperative language is introduced. The approach, which provides a concrete framework, calledMetateM, for executing temporal formulae, is motivated and illustrated through examples. In addition, this introduction provides references to further, more detailed, work relating to theMetateM approach to executable logics.     

一种降低电离层梯度影响的Hatch滤波算法

目前,地基增强系统（Ground-Based Augment System,GBAS）中的主要问题是：尽管使用载波平滑降低了伪距噪,利用差分技术消除了用户和基准站间的大部分共同误差,从而减少了差分改正值中的误差。但是电离层时间梯度和空间梯度于这两个过程中产生了额外的误差,阻碍了差分改正值质量的进一步提高。基于对电离层时间和空间梯度引起的额外误差的分析,并考虑平滑伪距噪声,文章提出了一种新的Hatch滤波方法,该滤波器的时间常数是随卫星仰角、电离层时间和空间梯度以及用户与参考站之间的距离而实时变化的。该方法降低了差分改正值误差,提高了定位精度。并且通过差分定位仿真并对比传统的单频Hatch滤波方法,发现使用该方法后,减小了差分校正值的误差。     

采用时间差分算法的九路围棋机器博弈系统

围棋机器博弈是机器博弈中重要的分支之一,其庞大的博弈空间给机器博弈研究者带来了巨大挑战.目前围棋机器博弈多采用静态估值搜索与蒙特卡洛树搜索,故将时间差分算法引入至九路围棋机器博弈系统中,提出基于时间差分算法的围棋机器博弈系统模型,该博弈系统具有一定的自学习能力,能在不断的对弈中逐步提高博弈能力.通过与采用α-β搜索算法的博弈系统进行实际对弈,证明了该方法的可行性.     

Complexity of synthesis of composite service with correctness guarantee

How to compose existing web services automatically and to guarantee the correctness of the design (e.g. temporal constraints specified by temporal logic LTL, CTL or CTL*) is an important and challenging problem in web services. Most existing approaches use the process in conventional software development of design, verification, analysis and correction to guarantee the correctness of composite services, which makes the composition process both complex and time-consuming. In this paper, we focus on the synthesis problem of composite service; that is, for a given set of services and correctness constraint specified by CTL or CTL* formula, a composite service is automatically constructed which guarantees that the correctness is ensured. We prove that the synthesis problem for CTL and CTL* are complete for EXPTIME and 2EXPTIME, respectively. Moreover, for the case of synthesis failure, we discuss the problem of how to disable outputs of environment (i.e. users or services) reasonably to make synthesis successful, which are also proved complete for EXPTIME and 2EXPTIME for CTL and CTL*, respectively.     

基于组反馈融合机制的视频超分辨率模型

视频超分辨率（video super-resolution,VSR）的目的是利用多个相邻帧的信息来生成参考帧的高分辨率版本。现有的许多VSR工作都集中在如何有效地对齐相邻帧以更好地融合相邻帧信息,而很少在相邻帧信息融合这一重要步骤上进行研究。针对该问题,提出了基于组反馈融合机制的视频超分辩模型（GFFMVSR）。具体来说,在相邻帧对齐后,将对齐视频序列输入第一重时间注意力模块;然后,将序列分成几个小组,各小组依次通过组内融合模块实现初步融合。不同小组的融合结果经过第二重时间注意力模块;然后,各小组逐组输入反馈融合模块,利用反馈机制反馈融合不同组别的信息,最后将融合结果输出重建。经验证,该模型具有较强的信息融合能力,在客观评价指标和主观视觉效果上都优于现有的模型。     

基于时空图卷积网络的多变量时间序列预测方法

为了扩大时空图卷积网络的预测范围,将它应用在关联关系未知场景下的多变量时间序列预测问题,提出一种附加图学习层的时空图卷积网络预测方法（GLB-STGCN）。图学习层借助余弦相似度从时间序列中学习图邻接矩阵,通过图卷积网络捕捉多变量之间的相互影响,最后通过多核时间卷积网络捕捉时间序列的周期性特征,实现对多变量的精准预测。为验证GLB-STGCN的有效性,使用天文、电力、交通和经济四个领域的公共数据集和一个工业场景生产数据集进行预测实验,结果表明GLB-STGCN优于对比方法,在天文数据集上的表现尤为出色,预测误差分别降低了6.02%、8.01%、6.72%和5.31%。实验结果证明GLB-STGCN适用范围更广,预测效果更好,尤其适合自然周期明显的时间序列预测问题。     

河道生态基流生态经济价值及其时间变化研究

为了解决普遍采用单方水资源价值计算河道生态基流价值的缺陷,以及探索河道生态基流价值定量化计算新方法,采用水力学方法将河道生态基流从径流量中分离出来,并确定河道生态基流对应水面面积,进而采用当量因子法计算河道生态基流价值和并探索分析了河道生态基流价值的时间变化特征。以渭河干流宝鸡段为例进行研究,结果表明:渭河干流宝鸡段的丰水年、平水年以及枯水年的年平均河道生态基流量分别为5.82 m~3/s、3.59 m~3/s和2.76 m~3/s。近21 a来,该段河道生态基流价值在时间上总体呈下降趋势,该价值多年平均值为5.61亿元,单方河道生态基流价值为6.27元/m~3,单方价值与价值总量变化趋势相反。河道生态基流价值年内变化具有明显的周期性,总体呈倒"V"字型,汛期河道生态基流价值比非汛期大,单方河道生态基流价值与之相反。通过相同区域以及相近区域的河道生态基流价值研究成果以及价值变化特征的对比分析,证明研究成果较为合理。该方法可为河道生态基流合理保障提供定量化依据。     

1957-2017年泾河流域降雨量及降雨侵蚀力时空变化分析

泾河流域受土壤侵蚀的影响,水土流失较为严重,为对流域水土流失风险评估和防治等提供参考依据,根据1957-2017年泾河流域5个气象站点的日降水资料,运用ArcGIS空间插值、小波分析、R/S分析等方法,分析了该时段降雨量及降雨侵蚀力时空变化规律。结果表明:泾河流域及各气象站点的降雨量与降雨侵蚀力均呈显著正相关关系;泾河流域降雨量与降雨侵蚀力年内分布不均,主要集中在夏季,分别占全年的67.80%和52.86%;泾河流域年均降雨量和降雨侵蚀力分别为496.83 mm和1 481.24 (MJ·mm)/(hm~2·h),年际总体呈波动上升趋势且未来降雨侵蚀力将延续增加趋势,两者均在1996和2009年出现突变点且第一主周期分别为27和17 a;泾河流域降雨量和降雨侵蚀力在空间上均呈从西北到东南递增的趋势。     

Safe and intuitive manual guidance of a robot manipulator using adaptive admittance control towards robot agility

Key areas of robot agility include methods that increase capability and flexibility of industrial robots and facilitate robot re-tasking. Manual guidance can achieve robot agility effectively, provided that a safe and smooth interaction is guaranteed when the user exerts an external force on the end effector. We approach this by designing an adaptive admittance law that can adjust its parameters to modify the robot compliance in critical areas of the workspace, such as near and on configuration singularities, joint limits, and workspace limits, for a smooth and safe operation. Experimental validation was done with two tests: a constraint activation test and a 3D shape tracing task. In the first one, we validate the proper response to constraints and in the second one, we compare the proposed approach with different admittance parameter tuning strategies using a drawing task where the user is asked to guide the robot to trace a 3D profile with an accuracy or speed directive and evaluate performance considering path length error and execution time as metrics, and a questionnaire for user perception. Results show that appropriate response to individual and simultaneous activation of the aforementioned constraints for a safe and intuitive manual guidance interaction is achieved and that the proposed parameter tuning strategy has better performance in terms of accuracy, execution time, and subjective evaluation of users.