Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

Using a Discrete-Event System Specifications (DEVS) for designing a Modelica compiler

We introduce a new architecture for the design of a tool for modeling and simulation of continuous and hybrid systems. The environment includes a compiler based on Modelica, a modular and a causal standard specification language for physical systems modeling (the tool supports models composed using certain component classes defined in the Modelica Standard Library, and the instantiation, parameterization and connection of these MSL components are described using a subset of Modelica). Models are defined in Modelica and are translated into DEVS models. DEVS theory (originally defined for modeling and simulation of discrete event systems) was extended in order to permit defining these of models. The different steps in the compiling process are show, including how to model these dynamic systems under the discrete event abstraction, including examples of model simulation with their execution results.     

四川盆地上三叠统划分对比研究

四川盆地上三叠统对比长期存在混乱，给盆地整体评价带来困难。通过岩石地层、地震地层、事件地层及高分辨率旋回地层等多种方法讨论了须家河组与香溪群各岩性段的对比关系，得出了全盆地上三叠统的对比关系；指出须四段底可近似看成等时界面；须家河组下部地层自西向东、向南逐层超覆在雷口坡组之上，上部地层在盆地西北部自东南向西北方向剥蚀层位渐次变老。文章建议四川盆地上三叠统废除“香溪群”，统一使用“须家河组”，以利于对全盆地上三叠统进行油气资源整体评价与深化研究。     

网络安全事件的关联分析方法的比较研究

随着当前攻击手段和技术的日益复杂化,一次入侵事件往往需要多个步骤才能完成,这些步骤都是彼此相关的。但是传统的入侵检测集中于检测底层的入侵或异常,所检测到的结果也仅仅是一次完整入侵的一部分,所以不能将不同的报警结合起来以发现入侵的逻辑步骤或者入侵背后的攻击策略。关联分析技术将不同分析器上产生的报警进行融合与关联分析,极大地减少了报警的数量,降低了入侵检测的误报率,并且适当的减少了入侵检测的漏报率。文中在对网络安全事件关联分析方法的系统结构进行分析后,着重介绍了当前比较流行的几种网络安全事件关联分析方法,最后对各种方法进行了比较研究。     

辽河防洪应急工程中的加筋粉细砂筑坝技术

加筋粉细砂筑坝是一门新兴技术,通过在辽河防洪应急工程右岸李家堡段应用表明,该项技术在技术上是可行的、在经济上是合理的。本文介绍了该技术在辽河防洪应急工程右岸李家堡段的应用。     

Life is pleasant--and memory helps to keep it that way!

People's recollections of the past are often positively biased. This bias has 2 causes. The 1st cause lies in people's perceptions of events. The authors review the results of several studies and present several new comparative analyses of these studies, all of which indicate that people perceive events in their lives to more often be pleasant than unpleasant. A 2nd cause is the fading affect bias: The affect associated with unpleasant events fades faster than the affect associated with pleasant events. The authors review the results of several studies documenting this bias and present evidence indicating that dysphoria (mild depression) disrupts such bias. Taken together, this evidence suggests that autobiographical memory represents an important exception to the theoretical claim that bad is stronger than good. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

网络管理中事件关联检测机制的研究

网络事件的关联检测是网络管理需要解决的一个关键问题,本文根据分布式网络管理的特点,首次明确定义了网络事件的基本关联关系,在此基础上提出了一种基于Petri Net的事件关联检测机制,实现了基于事件内容的细粒度关联检测,并且在事件检测中充分考虑了时间因素,有效地提高了事件关联检测的准确性。     

CD++: a toolkit to develop DEVS models

The features of a toolkit for modeling and simulation based on the DEVS formalism are presented. The tool is built as a set of independent software pieces running on different platforms. Not only are the main characteristics of the environment presented, a focus on its use is also considered by inclusion of application examples for a variety of problems. Many models can be defined in an automated fashion, simplifying the construction of new models and easing their verification. The use of this formal approach has allowed the development of safe and cost‐effective simulations, significantly reducing development time. Copyright © 2002 John Wiley & Sons, Ltd.     

水库突发事件应急预案研究现状与关键技术初探

水库突发事件应急预案是大坝风险管理中非常重要的一个环节,是降低水库大坝风险的非工程措施.本文总结了国内水库突发事件应急预案的研究现状,并结合我国实际国情,初步提出了开展应急预案的关键技术,供大坝安全管理及科研人员参考.     

基于Delphi的报童模型的实现与动态仿真

已往库存论中的决策模型,它是把现实过程用数学的方法进行分析,得到决策值,但不能看到决策的过程,不能反映出现实生活中的不确定性、动态性。运用Delphi 7.0和SQL server 2000对销售过程进行了动态仿真,利用Newsboy模型的推广(S,s)订购策略来监控库存并做出决策,这样就体现出此过程的不确定性、动态性;且举出了一个仿真商品销售的实例,对其中的一些关键技术,如何仿真、算法的实现等进行了阐述。