足球机器人的研究与发展

足球机器人与机器人足球是近几年在国际上发展起来的高技术对抗性活动．机器人足球比赛是一个有趣并且复杂的新兴的人工智能研究领域，它融合了实时视觉系统、机器人控制、无线通讯、多机器人控制等多个领域的技术。随着信息技术的飞速发展，多机器人的应用需求不断的增加，多主体动态不可预测环境中的问题求解已经成为信息一自动化领域基础研究和应用研究的重大挑战性课题。而机器人足球为此提供了一个典型的应用和测试平台．     

基于足球机器人个性的自组织路径规划研究

路径规划技术是足球机器人技术研究中的一个重要领域。本文针对足球机器人个性的自组织路径规划研究,模仿生物系统对多机器人系统提出了个性的概念,并且提出了多机器人系统个性演化的方式和数学表达。最后运用这种控制方式进行了仿真实验,验证了这种控制方式确实具有自组织的能力。     

基于ZigBee的闭环通讯足球机器人设计

足球机器人需要有稳定的控制、可靠的通讯.经过对FIRA小型组机器人比赛系统的研究和分析,参考国内外先进的设计,提出了一种新的具有闭环通讯的足球机器人系统.通过选用基于ZigBee的无线通讯技术、基于ARM的嵌入式系统技术,设计实现了新的足球机器人主板系统,不仅能加强足球机器人无线通信系统的可靠性、可测试性,而且为改进小车控制性能提供了更加强有力的支持.     

RoboCup机器人足球仿真比赛的关键技术

多智能体系统是分布式人工智能的一个主要领域。机器人足球仿真比赛是MAS的理想测试平台。该文总结了几个机器人足球仿真队的主要技术特点和对它们进行的研究，并提出了今后的研究方向，以促进机器人足球仿真技术的推广。     

分层技术在机器人足球中的应用研究

多智能体学习是多智能体系统和机器学习等研究领域的交叉。由于多智能体系统的复杂性，研究者们采用基于分层的机器学习的方法来解决。设计了一个基于分层技术的决策子系统，在此基础上，使用机器学习的方法对分层之后的决策学习和技能学习进行了研究实现。最后，指出了当前机器人足球中分层学习技术存在的不足，为以后机器人足球研究又增加了一个新的研究课题。     

仿真环境下的机器人足球决策系统

机器人足球系统是一类典型的多移动机器人合作的对抗系统．具有实时性要求高、环境高度动态、存在不可预测状态等特点．机器人足球系统是人工智能和智能控制领域的探究热点之一。主要研究在仿真环境下基于三层控制决策模型的机器人足球决策系统．为单个或多个足球机器人分配任务和执行任务。使机器人决策系统具有较好的应激性和协调性,实现有效攻防．探讨多智能机器人实时合作与对抗问题、以求验证和发展人工智能的有关理论和技术。     

用IGA优化的直流电机的仿人智能控制

讨论了当前足球机器人运动控制系统的控制算法对足球机器人运动性能的影响。在分析了足球机器人运动控制系统组成和电机数学模型的基础上,对足球机器人运动控制器采用多模态控制的仿人智能控制（Human-Simulated Intelligent Control,HSIC）算法,利用改进的遗传算法（Improved Genetic Algorithm,IGA）对仿人智能控制器参数进行优化。通过与目前普遍采用的常规PID控制器作对比实验,表明采用IGA参数整定后的HSIC控制器对电机具有更好的控制品质,并改善了足球机器人的运动性能。     

中型组足球机器人挑球系统的设计

中型组机器人足球比赛系统是进行多智能体研究的理想实验平台。中型组足球机器人有自己的“头脑”和“手脚”,后者就是它的挑球系统。设计了基于电磁原理的中型组足球机器人挑球系统,简化了系统设计,提高了系统性能,满足中型组足球机器人的控制要求。     

基于DSP的足球机器人设计

通过对目前国内常用足球机器人性能的分析，以提高机器人足球平台硬件系统性能为目标，设计了一种基于DSP为控制核心，并结合Fuzzy-PID控制算法的足球机器人。实验证明，由于DSP存在运算速度快、接口丰富、功耗低等优点，因此对足球机器人的运动性能、控制精度、实时性都有了极大的改善。     

基于粒子滤波的移动机器人目标追踪控制改进算法

针对移动机器人目标追踪控制问题,以三轮全向移动智能足球机器人为研究对象,结合图像区域分割技术建立机器人运动模型和测量模型,提出基于高斯和粒子滤波的移动机器人目标追踪改进算法应用于足球机器人比赛环境。该算法将高斯和滤波中的并行扩展卡尔曼滤波用并行高斯粒子滤波代替,充分考虑当前时刻观测量对状态分布的影响,提高系统精度的同时降低滤波过程中使用的粒子数目,减轻系统计算量;仿真结果表明,该算法有效的减少足球机器人目标追踪过程中的误差和修正时间,特别是目标物体曲线行驶时,可以有效的将x轴与y轴方向的误差控制在一个较稳定的范围内,提高系统的稳定度。     

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。     

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.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.     

Editorial: Special issue on recent advances in hybrid control theory and applications

正The demands of a rapidly advancing technology for faster and more accurate controllers have always had a strong influence on the progress of automatic control theory.In recent years control problems have been arising with increasing frequency in widely different areas,which cannot be addressed using conventional control techniques.The principal reason for this is the fact that a highly competitive economy is forcing systems to operate in regimes where     

Information for Authors

正Aim The Journals of Zhejiang University-SCIENCE(A/B/C)areedited by the international board of distinguished Chinese andforeign scientists,and are aimed to present the latest devel-opments and achievements in scientific research in China andoverseas to the world’s scientific circles,especially to stimulateand promote academic exchange between Chinese and for-eign scientists everywhere.     

Enhancing a leaf radiative transfer model to estimate concentrations and in vivo specific absorption coefficients of total carotenoids and chlorophylls a and b from single-needle reflectance and transmittance

The relative concentrations of different pigments within a leaf have significant physiological and spectral consequences. Photosynthesis, light use efficiency, mass and energy exchange, and stress response are dependent on relationships among an ensemble of pigments. This ensemble also determines the visible characteristics of a leaf, which can be measured remotely and used to quantify leaf biochemistry and structure. But current remote sensing approaches are limited in their ability to resolve individual pigments. This paper focuses on the incorporation of three pigments—chlorophyll a, chlorophyll b, and total carotenoids—into the LIBERTY leaf radiative transfer model to better understand relationships between leaf biochemical, biophysical, and spectral properties.Pinus ponderosa and Pinus jeffreyi needles were collected from three sites in the California Sierra Nevada. Hemispheric single-leaf visible reflectance and transmittance and concentrations of chlorophylls a and b and total carotenoids of fresh needles were measured. These data were input to the enhanced LIBERTY model to estimate optical and biochemical properties of pine needles. The enhanced model successfully estimated reflectance (RMSE = 0.0255, BIAS = 0.00477, RMS%E = 16.7%), had variable success estimating transmittance (RMSE = 0.0442, BIAS = 0.0294, RMS%E = 181%), and generated very good estimates of carotenoid concentrations (RMSE = 2.48 µg/cm², BIAS = 0.143 µg/cm², RMS%E = 20.4%), good estimates of chlorophyll a concentrations (RMSE = 10.7 µg/cm², BIAS = − 0.992 µg/cm², RMS%E = 21.1%), and fair estimates of chlorophyll b concentrations (RMSE = 7.49 µg/cm², BIAS = − 2.12 µg/cm², RMS%E = 43.7%). Overall root mean squared errors of reflectance, transmittance, and pigment concentration estimates were lower for the three-pigment model than for the single-pigment model. The algorithm to estimate three in vivo specific absorption coefficients is robust, although estimated values are distorted by inconsistencies in model biophysics. The capacity to invert the model from single-leaf reflectance and transmittance was added to the model so it could be coupled with vegetation canopy models to estimate canopy biochemistry from remotely sensed data.     

Mr. Twinn’s bombes

This article discusses the history and design of the special versions of the bombe key-finding machines used by Britain’s Government Code & Cypher School (GC&CS) during World War II to attack the Enigma traffic of the Abwehr (the German military intelligence service). These special bombes were based on the design of their more numerous counterparts used against the traffic of the German armed services, but differed from them in important ways that highlight the adaptability of the British bombe design, and the power and flexibility of the diagonal board. Also discussed are the changes in the Abwehr indicating system that drove the development of these machines, the ingenious ways in which they were used, and some related developments involving the bombes used by the U.S. Navy’s cryptanalytic unit (OP-20-G).