实时多任务操作系统响应性能预估和测试

本文给出了作者开发的一个单处理机实时多任务操作系统的响应性能（响应时间，同步时间）的实验结果和／或估算。与国外同期文献发表的数据相比，指标先进。     

Safe and effective navigation of autonomous robots in hazardous environments

The development of autonomous mobile machines to perform useful tasks in real work environments is currently being impeded by concerns over effectiveness, commercial viability and, above all, safety. This paper introduces a case study of a robotic excavator to explore a series of issues around system development, navigation in unstructured environments, autonomous decision making and changing the behaviour of autonomous machines to suit the prevailing demands of users. The adoption of the Real-Time Control Systems (RCS) architecture (Albus, 1991) is proposed as a universal framework for the development of intelligent systems. In addition it is explained how the use of Partially Observable Markov Decision Processes (POMDP) (Kaelbling et al., 1998) can form the basis of decision making in the face of uncertainty and how the technique can be effectively incorporated into the RCS architecture. Particular emphasis is placed on ensuring that the resulting behaviour is both task effective and adequately safe, and it is recognised that these two objectives may be in opposition and that the desired relative balance between them may change. The concept of an autonomous system having “values” is introduced through the use of utility theory. Limited simulation results of experiments are reported which demonstrate that these techniques can create intelligent systems capable of modifying their behaviour to exhibit either ‘safety conscious’ or ‘task achieving’ personalities.     

Proactive resource allocation for asynchronous real-time distributed systems in the presence of processor failures

We present two proactive resource allocation algorithms, RBA^*-FT and OBA-FT, for fault-tolerant asynchronous real-time distributed systems. The algorithms consider an application model where task timeliness is specified by Jensen's benefit functions and the anticipated application workload during future time intervals is described by adaptation functions. In addition, we assume that reliability functions of processors are available a priori. Given these models, our objective is to maximize aggregate task benefit and minimize aggregate missed deadline ratio in the presence of processor failures. Since determining the optimal solution is computationally intractable, the algorithms heuristically compute sub-optimal resource allocations, but in polynomial time. Experimental results reveal that RBA^*-FT and OBA-FT outperform their non-fault-tolerant counterparts in the presence of processor failures. Furthermore, RBA^*-FT performs better than OBA-FT, although OBA-FT incurs better worst-case and amortized computational costs. Finally, we observe that both algorithms robustly withstand errors in the estimation of anticipated failures.     

基于非锐化掩模的实时自适应图像增强算法

针对传统的非锐化掩模算法的局限性,依据图像中各像素点及以其为中心的若干相邻像素点的均方差值,提出了自适应图像增强算法的原理,并分析其硬件实现方法,然后给出了该算法与其它算法应用于图像增强的对比结果,最后在FPGA（field programmable gate array）实验板上进行验证.实验结果表明,此算法有效的增强图像的细节区域,防止图像边缘区域出现过冲现象,抑制图像平坦区域的噪声放大.因此,该算法取得了良好的视觉效果,硬件实现简单,适合于实时条件下图像的增强.     

CCD应用中的高速图象数据采集技术

介绍了一种可用于精密光学测量的高速线阵ＣＣＤ图象数据采集系统，给出了系统组成、各单元设计考虑和主要技术指标。     

光电摆角动态测量原理及其测量系统

本文阐述了用于测量物体摆角及摆心浮动量的光电动态实时测量原理,以及根据此原理研制的光电导弹喷管摆角动态测量系统。     

多功能滚齿机的数字控制系统

本文叙述了以ＳＴＤＰＣ／ＸＴ（或ＰＣ／ＡＴ）机为主要核心构成的滚齿机数字控制系统的结构，软件设计和特点，系统采用混合语言编程，极大地提高了软件设计的灵活性与快速性，也分析了ＣＮＣ系统的加工过程，提出了加工中的软件预处理控制方法，并给出了轴伺服控制的并行算法分析与实现。     

灌溉水库水资源优化调度

以榆社云簇水库为例、以水库灌区多种作物所能达到的最大产值为目标函数，本文研究了一套灌溉水库用水优化调度模型。它包括计划调度模型和实时调度模型两部分，适用于干旱半干旱地区灌溉水量不足的水库的用水调度。     

快速Hartley变换在实时相关器中的应用

快速Ｈａｒｔｌｅｙ变换（ＦＨＴ）是离散Ｈａｒｔｌｅｙ变换（ＤＨＴ）的快速算法，它是一种实序的变换，其正反变换具有完全相同的形式。利用ＦＨＴ进行实数据相关可以避免复数运算，特别适用于采和可编程数字信号处理器（ＤＳＰ）来实现的实时相关器。和ＦＦＴ相关算法相比，在保持同样数据吞吐率的情况下，采用ＦＨＴ方法，可显著减少系统所需的高速存贮器，从而，可降低系统的成本。本文讨论了ＤＨＴ的有关性质和ＦＨＴ算法和运