Anisotropic mesh adaption by metric‐driven optimization

We describe a Gauss–Seidel algorithm for optimizing a three‐dimensional unstructured grid so as to conform to a given metric. The objective function for the optimization process is based on the maximum value of an elemental residual measuring the distance of any simplex in the grid to the local target metric. We analyse different possible choices for the objective function, and we highlight their relative merits and deficiencies. Alternative strategies for conducting the optimization are compared and contrasted in terms of resulting grid quality and computational costs. Numerical simulations are used for demonstrating the features of the proposed methodology, and for studying some of its characteristics. Copyright © 2004 John Wiley & Sons, Ltd.     

Mesh data structure selection for mesh generation and FEA applications

The data structure representing a mesh and the operators to create and query such a database play a crucial role in the performance of mesh generation and FE analysis applications. The design of such a database must balance the conflicting requirements of compactness and computational efficiency. In this article, 10 different mesh representations are reviewed for linear tetrahedral and hexahedral meshes. A methodology for calculating the storage and computational costs of mesh representations is presented and the 10 data structures are analysed. Also, a system for ranking different data structures based on their computational and storage costs is devised and the various mesh representations are ranked according to this measure. Copyright © 2002 John Wiley & Sons, Ltd.     

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.     

不锈钢网架(壳)技术及其应用

本文总结了多年来不锈钢网架的研究成果 ,并介绍了部分不锈钢网架的工程应用     

自治Agents的面向服务的协商模型

提出了一个基于自治Agents的面向服务的协商模型。模型主要包括两大模块：首先定义了一系列的战略和战术过程，使得Agents可以产生初始建议，评价对方的建议，以及在此基础上做出反建议；其次，定义了两个层次的Agent通信机制。二者相辅相成，实现了Agents间合作的动态形成和随机协调，使得Agents可以承担因环境的不确定性而需动态协作的复杂任务。     

Self-calibration based on invariant view recognition: Dynamic approach to navigation

We extend a dynamic approach of behavior generation to the representation of spatial information. Two levels of dynamics integrate dead-reckoning, dominant far from home bases, and piloting, dominant near home bases. When the view-based piloting system recognizes a home base, visual place information recalibrates the dead-reckoning system, inverting the hierarchical ordering of the two dynamic levels by time scale inversion. Reference views taken at discrete home bases are recognized invariantly under rotation of views. This process yields compass information. Continuous translational information is obtained as a neural place representation built from view correlations with a scattered set of local views. This self-calibrating cognitive map couples into a dynamics of heading direction integrating the behaviors of obstacle avoidance and target acquisition. Targets can be designated in terms of the cognitive map. We demonstrate the dynamical model in simulation.     

Distributed multi-join query processing in data grids

Query processing in data grids is a difficult issue due to the heterogeneous, unpredictable and volatile behaviors of the grid resources. Applying join operations on remote relations in data grids is a unique and interesting problem. However, to the best of our knowledge, little is done to date on multi-join query processing in data grids. An approach for processing multi-join queries is proposed in this paper. Firstly, a relation-reduction algorithm for reducing the sizes of operand relations is presented in order to minimize data transmission cost among grid nodes. Then, a method for scheduling computer nodes in data grids is devised to parallel process multi-join queries. Thirdly, an innovative method is developed to efficiently execute join operations in a pipeline fashion. Finally, a complete algorithm for processing multi-join queries is given. Analytical and experimental results show the effectiveness and efficiency of the proposed approach.     

解读维克斯纳视觉艺术中心

维克斯纳视觉艺术中心在彼得·艾森曼的理论与实践中具有里程碑的地位,试图通过解读视觉艺术中心,探寻艾氏设计思维的核心体系。     

Seasonal variation in light penetration and subsurface chlorophyll-α in southern Lake Michigan observed by a glider

The Cooperative Institute for Great Lakes Research (CIGLR) in collaboration with the Great Lakes Observing System and National Oceanic and Atmospheric Administration, Great Lakes Environmental Research Laboratory (NOAA GLERL) deployed an autonomous underwater glider in southern Lake Michigan several times per year between 2012 and 2019 to collect offshore (>30 m depth) limnological measurements, including temperature, photosynthetically active radiation (beginning during 2015), and chlorophyll-α fluorescence. From these data, we calculated mixed layer depth, several measures of light penetration (diffuse attenuation coefficient, first optical depth, euphotic zone depth), and depth of the subsurface chlorophyll-α maxima. During summer, mean offshore mixed layer depth was typically 10–15 m, K_d for PAR was 0.1–0.17 m^?1, first optical depth was 6–9 m, euphotic zone depth was 35–40 m, and depth of subsurface chlorophyll-α maxima was 30–35 m. We also observed substantial spatial and temporal variation in these values across the basin and within and among seasons. Glider-based observations provide a wider horizontal and vertical perspective than other methods (e.g., ship- and satellite-based observations, buoys, and fixed moorings), and are therefore a valuable, complementary tool for Great Lakes limnology. The set of observations reported here provide seasonal and basin-scale information that may help to identify anomalies useful for future glider-assisted investigation into the role of biophysical processes in Great Lakes limnology and ecology.     

无人机空中加油控制设计与仿真

无人机空中加油控制精度问题,无人受油机模型的各种不确定性与来自外部的各种干扰归结为扰动,造成控制精度差。为解决上述问题,提出一种免疫粒子群优化算法的自抗扰无人机自主空中加油飞行控制律设计方法。利用自抗扰控制能够自动检测并补偿内部与外部干扰影响的特点,并利用扩张状态观测器进行估计与补偿,从而增强了所设计飞行控制律的鲁棒性,用免疫粒子群优化算法对自抗扰控制器参数进行了优化研究,以提高设计效率。仿真结果表明,所设计的自抗扰自主空中加油控制系统具有优良的控制性能与较高的控制精度,能够满足无人机自主空中加油的要求。