四腿机器人步态参数自动进化研究与实现

采用进化算法和基于自主视觉的适应度评估方法,实现了四腿机器人在RoboCup机器人足球比赛现场的行走步态在线自动进化．我们引入内推法作为交叉方法,利用PC基站进行进化算法计算和流程主控,并采用了一些学习时间缩减策略．实现了进化学习的连续性和可扩展性,使得学习过程可以在4060min内完成,这样就能在比赛现场对ERS-7四足机器人进行行走再学习,提高了行走控制的适应性．算法最终结果使ERS-7型四足机器人的行走速度从27cm/s提升到43cm/s．     

StreamJacobi： Efficient implementation of 2-D Jacobi on a stream processor

Stream processors, with the stream programming model, have demonstrated significant performance advantages in the domains signal processing, multimedia and graphics applications. In this paper we examine the applicability of a stream processor to 2-D Jacobi iteration which is widely used to solve partial differential equations, an important class of scientific programs. We first map 2-D Jacobi iteration in FORTRAN version to the stream processor in a straightforward way. In a stream processor system, the management of system resources is the programmers＇ responsibility. We then present several optimizations, which avail the stream program for 2-D Jacobi iteration, called StreamJacobi, of various aspects of the stream processor architecture. Finally, we analyze the performance of StreamJacobi, with different scales, and the presented optimizations. The final stream program StreamJacobi is from 2.31 to 6.42 times faster than the corresponding FORTRAN programs on a Xeon 5100 processor, with the optimizations playing an important role in realizing the performance improvement.     

面向协同设计链管理的产品4D信息建模技术研究

根据产品设计过程的动态进化特征,在广义协同设计平台基础上,以设计进程为纽带,将产品设计与客户、供应商、制造商三者紧密结合起来,探讨产品设计过程中多信息模式下发掘知识的方法,形成基于协同设计链管理模式的产品设计4D信息模型（4DCDCORM）,以促进产品设计的优化。     

Redox proteomics identification of 4‐hydroxynonenal‐modified brain proteins in Alzheimer's disease: Role of lipid peroxidation in Alzheimer's disease pathogenesis

Numerous studies have shown that neuronal lipids are highly susceptible to oxidative stress including in those brain areas directly involved in the neurodegenerative process of Alzheimer's disease (AD). Lipid peroxidation directly damages membranes and also generates a number of secondary biologically active products (toxic aldehydes)that are capable of easily attacking lipids, proteins, and DNA. Accumulating evidence has demonstrated regionally increased brain lipid peroxidation in patients with AD; however, extensive studies on specific targets of lipid peroxidation‐induced damage are still missing. The present study represents a further step in understanding the relationship between oxidative modification of protein and neuronal death associated with AD. We used a proteomics approach to determine specific targets of lipid peroxidation in AD brain, both in hippocampus and inferior parietal lobule, by coupling immunochemical detection of 4‐hydroxynonenal‐bound proteins with 2‐D polyacrylamide gel electrophoresis and MS analysis. We identified 4‐hydroxynonenal‐bound proteins in the hippocampus and inferior parietal lobule brain regions of subjects with AD. The identified proteins play different biological functions including energy metabolism, antioxidant system, and structural proteins, thus impairing multiple molecular pathways. Our results provide further evidence for the role of lipid peroxidation in the pathogenesis of AD.     

Thymosin β4 is differentially expressed in the cerebrospinal fluid of Creutzfeldt‐Jakob disease patients: a MALDI‐TOF MS protein profiling study

MALDI‐TOF protein profiling analysis permits the detection of peptides and small proteins in complex protein mixtures with great accuracy. We applied this analysis to cerebrospinal fluid (CSF) from 15 patients affected by Creutzfeldt‐Jakob disease (CJD). We compared the levels of the normalized ion signals of 11 sporadic and 4 genetic CJD forms with those from ten healthy control subjects and eight non‐CJD relapsing‐remitting multiple sclerosis patients. In so doing, we detected 61 differentially expressed ion signals in CJD samples compared to controls. Among the 61 signals, 3 signals had significantly increased levels with high statistical significance (p <0.0001) and were located at 3238.3 m/z, 4963.7 m/z, and 8565.3 m/z. We characterized the 5.0 and 8.6 kDa proteins as thymosin β4 N‐acetylated and free ubiquitin, respectively, while the 3.2‐kDa peptide remained uncharacterized. Although elevated ubiquitin levels have previously been described in CJD, we have demonstrated for the first time the involvement of thymosin β4 in a neurodegenerative disease. To support the validity of thymosin β4 levels obtained by MALDI‐TOF analysis, an independent enzyme immunoassay analysis was performed. Moreover, a validation cohort consisting of CSF from three CJD patients, five healthy subjects, and six non‐CJD relapsing‐remitting multiple sclerosis patients was analyzed in a similar way, yielding superimposable results. We propose that thymosin β4 is a potential new candidate marker for the ante mortem diagnosis of CJD disease.     

Controller synthesis with guaranteed closed-loop phase constraints

In this paper, we present an analysis and synthesis approach for guaranteeing that the phase of a single-input, single-output closed-loop transfer function is contained in the interval [−α,α] for a given α>0 at all frequencies. Specifically, we first derive a sufficient condition involving a frequency domain inequality for guaranteeing a given phase constraint. Next, we use the Kalman–Yakubovich–Popov theorem to derive an equivalent time domain condition. In the case where , we show that frequency and time domain sufficient conditions specialize to the positivity theorem. Furthermore, using linear matrix inequalities, we develop a controller synthesis approach for guaranteeing a phase constraint on the closed-loop transfer function. Finally, we extend this synthesis approach to address mixed gain and phase constraints on the closed-loop transfer function.     

A -based optimal finite-word-length controller design

A novel optimal Finite Word Length (FWL) controller design is proposed in the framework of μ theory. A computationally tractable close-loop stability measure with FWL implementation considerations of the controller is derived based on the μ theory, and the optimal FWL controller realizations are obtained by solving the resulting optimal FWL realization problem using linear matrix inequality techniques.     

基于并行和预测的方向菱形运动估计算法

对MPEG-4视频编码中的块运动估计算法进行分析,得出算法中存在的并行性。将多核并行计算的思想应用于方向菱形模板的运动估计算法中,并引入一种预测机制来充分提高并行性,得到基于多核并行预测的方向菱形运动估计算法(PPDDME)。在PC机和Omap5910 两个平台上的验证表明,该算法相比串行算法在保证了压缩质量的前提下,有效提高了编码速度。     

基于秩4约束的遮挡点恢复方法

提出了一种基于秩4约束的遮挡点恢复方法.该方法 首先假设所有的遮挡点及深度因子已知,利用所有遮挡点及深度因子组成一个秩4矩阵的特 性,构造一个投影矩阵,并利用该投影矩阵求得所有的遮挡点及深度因子.然后将求得的遮 挡点及深度因子代替图像中的遮挡点和深度因子,再求投影矩阵.经过多次迭代,最后求得 遮挡点的真实图像位置.该方法的优点是平等地看待所有的图像及图像点.模拟实验和真实实 验表明,该方法具有鲁棒性好、收敛性好及误差小等优点.     

苯磺隆和2,4-D胁迫对土壤微生物影响的研究

以盆栽试验研究了除草剂苯磺隆、2,4-D对石灰性褐土中土壤微生物群落的影响。结果表明,在供试浓度下,土壤微生物对两种除草剂的感应存在一定的差异性。苯磺隆高浓度处理在最初3d极显著地抑制细菌生长,之后对土壤细菌具有刺激作用,特别是培养结束时激活率还高达917.6%,低浓度处理呈极显著的刺激作用;苯磺隆对土壤放线菌具有显著的刺激作用,对土壤真菌有强烈的抑制作用,最高抑制率达100%,到培养结束时(60d)真菌数量还未恢复到对照水平。2,4-D处理对土壤放线菌具有明显的抑制、激活的波动性,对土壤细菌、真菌有强烈的抑制作用。