基于模糊神经网络的深海集矿机路径规划

探讨了深海多金属结核集矿机在作业过程中的实时局部路径规划问题,旨在解决在深海复杂特殊环境下多金属结核集矿机的自适应实时路径规划问题。采用了能实现模糊控制规则的基于强化学习方法的自学习和自调整算法来实现深海集矿机的实时运动规划,并提出了能实现模糊控制规则的基于强化学习的自学习和自调整的规划算法。设计了深海集矿机实时运动规划器结构、规划器操作过程以及相应的算法。集矿机试验样机池试试验表明该方法的有效性．可广泛应用于类似路径规划问题。     

深海集矿机模型车避障系统设计

考虑深海底集矿机的未知、复杂工作环境以及在集矿机上做试验的不便,设计并实现了深海集矿机模型车避障系统;该系统先用超声波传感器检测障碍物信息,然后用高性能单片机AT89S52对信息进行处理后传送到水下工控机,在此基础上,运用改进势场法进行行走避障,规划出深海集矿机模型车作业路径;此算法适应于动态未知复杂环境下的深海集矿机实时导航和避障,且在目标点附近存在障碍物时也能达到目标;仿真和试验结果验证了该算法的有效性。     

基于动力学分析的深海集矿机轨迹跟踪研究

分析深海集矿机轨迹跟踪的研究现状,研究集矿机的动力学模型,进行合理的简化,面向深海底采矿环境的特殊性、深海集矿机液压系统固有的强非线性、行走阻力随调节强度伴生变化等特征。基于非线性剪切力—位移关系的线性化方法和对动态阻力项引入一个前馈补偿项来消除伴生阻力方式,设计了一个基于带有前馈阻力补偿的线性反馈的控制器,较好地实现了集矿机轨迹跟踪;仿真结果验证了该算法的有效性。     

CAN总线在深海集矿机嵌入式控制系统中的应用

深海集矿机以CAN总线为通信平台,集成三块LPC2292构成多处理器控制系统.本文重点介绍了CAN总线在该控制系统中的应用,以及在嵌入式实时操作系统μ C/OS-Ⅱ环境下CAN总线驱动程序设计技术.     

多处理器调度算法实现及其Petri网建模与仿真

多处理器调度算法在嵌入式实时系统领域中起着关键的作用。根据多处理器的特点,提出一种实时多处理器动态分割并行调度算法SPara。该算法解决了此前多处理器算法,如Myopic、EDPF等仅依据截止期对任务调度产生的问题,实现了增加任务紧迫度限制的调度策略,以及针对执行时间长、截止期紧迫任务的有效调度方法。同时算法结合高级颜色时间Petri网理论进行建模并仿真。测试结果表明,SPara算法在处理器利用率以及调度成功率方面较Myopic等算法有较大提高。     

多处理器混合关键性系统中的划分调度策略

多核处理器正越发广泛地应用到现代嵌入式系统的设计与实现当中,其强大的计算能力为将多个不同关键性级别的功能子系统集成到统一的共享资源平台提供了支持.混合关键性系统的调度问题即便在单处理器平台中都极具挑战性,在多处理器平台则更为困难.将目前资源利用率最高的单处理器混合关键性调度算法EY-VD扩展到多处理器平台中.首先,结合传统的划分调度策略提出了适用于多处理器混合关键性系统的MC-PEDF(mixedcriticality partitioned earliest deadline first)划分调度算法.尽管比之前的算法有更好的可调度性能,但传统的划分策略不能有效地平衡不同关键性级别下的负载,故其不完全适用于混合关键性系统.为了克服传统策略的不足,提出了划分调度策略OCOP(one criticality one partition).OCOP允许系统在关键性模式切换时对实时任务集进行重新划分,进而更好地平衡各个处理器在不同关键性模式中的资源利用率.基于OCOP,提出了第2种划分调度算法MC-MP-EDF(mixed-criticality multi-partitioned EDF).基于随机生成任务集的仿真实验结果表明,与MC-PEDF和已有的算法相比,MC-MP-EDF能够显著地提高系统的可调度性,尤其是在处理器数量较多的系统中.     

深海集矿机行走的交叉耦合控制

深海集矿机作业过程,受到作业环境和集矿机自身的影响,具有未知性、随机性、非线性和模糊时变等特性。针对深海集矿机这些特点,本论文提出轨迹误差定义,建立集矿机运动方程和误差模型,基于模糊调节的交叉耦合误差补偿器在不改变深海集矿机内部速度控制环结构的条件下,通过向各履带提供附加补偿控制量,进而提高深海集矿机轨迹跟踪的精度,并以深海集矿机模型车为实验对象,对算法的有效性进行了验证。     

多处理器单调速率任务分配算法性能评价

多处理器任务分配调度算法是一类经典实时调度算法，然而目前研究在如何根据任务集特征选择任务分配算法方面少见指导性原则，不利于提高多处理器任务分配算法的可调度率及使用尽可能少的处理器达到最优调度结果。基于两种多处理器任务调度策略的比较，本文给出划分策略下的多处理器RM调度的可调度条件和任务分配算法夏分析。仿真结果表明，各任务分配算法所需处理器数与任务集总利用率成正比。同时，分析总结出各算法适用范围及如何根据任务集利用率选择合适算法的指导原则。最后结果还表明，实际算法性能与理论性能界存在差异。     

深海底采矿机器车运动控制研究与虚拟仿真

采矿机器车是一种在水深5000-6000米的海底采集锰结核的智能机械.由于深海环境复杂,单一的控制无法达到集矿机行走的要求.针对集矿机的履带速度控制,设计了模糊PID的履带速度内环控制器.针对集矿机行走偏差,设计了模糊的外环控制器,并加入一智能积分器与模糊控制并联以消除静差和极限环振荡.利用虚拟现实技术仿真,证明了该控制系统是可靠的.     

实时多处理器动态调度算法的研究与应用

实时多处理器系统的动态调度算法一直是实时系统研究中的重要课题。该文首先介绍了实时多处理器动态调度的几种方法,并对这些方法进行了分析、对比和研究。然后针对水下航行器制导系统多任务特点,讨论了水下航行器制导系统的动力学、运动学模型及控制、导引方程,并对其任务进行详细划分。最后结合任务的偏序关系、运行时间及截止期,对水下航行器多任务模型进行了实时多处理器动态调度,给出最佳调度方案。     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.