轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。     

基于残差决策的自动飞行控制系统远程实时故障诊断

针对自动飞行控制系统结构复杂、关联部件众多,发生故障时诊断时间长,从而影响飞机运行效率的问题,提出一种基于飞机通信寻址报告系统(ACARS)的远程实时故障诊断方案。首先,分析自动飞行控制系统的故障特点,设计搭建检测滤波器;然后,利用ACARS数据链实时发送的自动飞行控制系统的关键信息进行相关部件的残差计算,并根据残差决策算法进行故障诊断及定位;最后,针对不同故障部件残差间的差异大、决策门限无法统一的缺点,提出基于二次差值的残差决策改进算法,减缓了检测对象的整体变化趋势,降低了随机噪声和干扰的影响,避免了将瞬态故障诊断为系统故障的情况。实验仿真结果表明,基于二次差值的改进残差决策算法避免了多决策门限的复杂性,在采样时间为0.1 s的情况下,故障检测所需时间大约为2 s,故障检测时间大幅降低,有效故障检测率大于90%。     

机载通信电台通电老炼检测系统设计与实现

为保证航材备件的完好率，解决仓储机载通信电台长期不通电导致的装备性能下降甚至出现故障的问题，综合运用自动测试、虚拟仪器、面向信号设计等技术，以计算机为核心，以PXI仪器、GPIB仪器为依托，以多种总线接口为纽带，构建了一种可靠性高、通用性好、操作简便、可扩展性强的自动化通电老炼平台。通过在航材仓库中使用，证明该电台老炼检测系统降低了仓储通信电台的失效率，提高了仓储电台的完好率。     

基于查询的新闻多文档自动摘要技术研究

针对新闻文本领域,该文提出一种基于查询的自动文本摘要技术,更加有针对性地满足用户信息需求。根据句子的TF-IDF、与查询句的相似度等要素,计算句子权重,并根据句子指示的时间给定不同的时序权重系数,使得最近发生的新闻内容具有更高的权重,最后使用最大边界相关的方法选择摘要句。通过与基于TF-IDF、Text-Rank、LDA等六种方法的对比,该摘要方法ROUGE评测指标上优于其他方法。从结合评测结果及摘要示例可以看出,该文提出的方法可以有效地从新闻文档集中摘取核心信息,满足用户查询内容的信息需求。     

Moderate lameness leads to marked behavioral changes in dairy cows

Lameness is one of the most prevalent diseases affecting the welfare of cows in modern dairy production. Lameness leads to behavioral changes in severely lame cows, which have been investigated in much detail. For early detection of lameness, knowledge of the effects of moderate lameness on cow behavior is crucial. Therefore, the behavior of nonlame and moderately lame cows was compared on 17 Swiss dairy farms. On each farm, 5 to 11 nonlame (locomotion score 1 of 5) and 2 to 7 moderately lame (locomotion score 3 of 5) cows were selected for data collection in two 48-h periods (A, B) separated by an interval of 6 to 10 wk. Based on visual locomotion scoring, 142 nonlame and 66 moderately lame cows were examined in period A and 128 nonlame and 53 moderately lame cows in period B. Between these 2 periods, the cows underwent corrective hoof trimming. Lying behavior, locomotor activity, and neck activity were recorded by accelerometers (MSR145 data logger, MSR Electronics GmbH, Seuzach, Switzerland), and feeding and rumination behaviors by noseband sensors (RumiWatch halter, ITIN + HOCH GmbH, Liestal, Switzerland). Furthermore, visits to the brush and the concentrate feeder, and the milking order position were recorded. In comparison with nonlame cows, moderately lame cows had a longer lying duration, a longer average lying bout duration, and a greater lateral asymmetry in lying duration. Average locomotor activity, locomotor activity during 1 h after feed delivery or push-ups, and average neck activity were lower in moderately lame cows. Eating time and the number of eating chews (jaw movements) were reduced in moderately lame compared with nonlame cows, whereas no effect of moderate lameness was evident for ruminating time, number of ruminating chews and boluses, and average number of ruminating chews per bolus. Moderately lame cows visited the concentrate feeder and the brush less frequently, and they were further back in the milking order compared with nonlame cows. In conclusion, nonlame and moderately lame cows differed in a biologically relevant way in many of the behavioral variables investigated in this study. Therefore, the use of these behavioral changes seems to be promising to develop a tool for early lameness detection.     

现场总线在冶炼烟气制酸系统中的应用实践

分析了冶炼烟气制酸工艺的特点，介绍了由PROFIBUS-DP现场总线构建的冶炼厂烟气制酸监控系统，详细介绍了其硬件配置及相应的软件设计。     

数字化蓄热式钢包烘烤器及自动控制系统

蓄热式燃烧技术和脉冲燃烧技术是新型的节能环保燃烧技术。数字化蓄热式钢包烘烤器控制系统利用数字化脉冲控制把这两项技术结合在一起。这大大降低了能耗，减少环境污染。本文针对数字化蓄热式钢包烘烤器，提出升温阶段采用自寻优算法，不断调整换向时间，并能记忆最优参数，保证经过几次烘烤后系统整体最优；保温阶段即采用脉冲控制的方法。     

Scalable and Structured Scheduling

Scheduling a program (i.e. constructing a timetable for the execution of its operations) is one of the most powerful methods for automatic parallelization. A schedule gives a blueprint for constructing a synchronous program, suitable for an ASIC or VLIW processor. However, constructing a schedule entails solving a large linear program. Even if one accepts the (experimental) fact that the Simplex is almost always polynomial, the scheduling time is of the order of a large power of the program size. Hence, the method does not scale well. The present paper proposes two methods for improving the situation. First, a large program can be divided into smaller units (processes), which can be scheduled separately. This is structured scheduling. Second, one can use projection methods for solving linear programs incrementally. This is specially efficient if the dependence graph is sparse.     

灰色预测模型在油气操作成本预测中的应用

油气操作成本是油气田生产消耗的主要项目，为了有效地控制油气操作成本，必须制定准确的油气操作成本计划。而油气操作成本在我国是最近几年才提出来的，数据项比较少，给油气操作成本预测带来一定的难度。为此，文章根据灰色预测的基本原理，采用灰色系统理论进行油气操作成本预测，就可以弥补对预测所需的数据少，而且也无须剔除不可比因素，只要所建模型能满足精度要求，预测结果就可以信赖。     

井喷失控预警的远距离自动调焦控制研究

井喷失控是石油及天然气钻井、完井过程可能出现的灾难性事故，给人类生命财产造成严重伤害，污染环境，破坏地下资源以及在城市火灾、森林火灾、环境变化等监测工作中常需要远距离目标监测，为了获得高清晰的实时图像数据，需要实时自动调焦。通过系统分析远距离相机离焦的原因，建立了一个实时调焦数学模型，并以此为基础研制了一种新的对应距离和温度变化的离焦补偿控制系统。该系统采用微型步进电机实现智能控制，通过监测目标距离确定监测相机的初始焦距，以及环境温度变化的实时反馈实现焦距的实时控制，使相机可以在－40～125 ℃范围内获得清晰、稳定的远距离图像。该系统适用于井喷失控石油及天然气火灾、城市火灾、森林火灾、环境变化等远距离目标的实时监测。