Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane＇s dynamic model and central pattern generator （CPG）. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.     

两足机器人步态综合研究进展

把两足机器人步态综合方法分为参考轨迹法和自然动力学法两大技术流派.根据参考轨迹获得方法的不同,参考轨迹法又分为步行数据法、中枢模式发生器法和动力学模型法.自然动力学法也可分为被动动力学法和虚拟模型法.在总结两大流派研究进展的基础上,分析了它们各自的优势和不足,指出了今后工作的重点,即参考轨迹法需要提高步行效率和轨迹的生成速度,而自然动力学法需要增加功能.最后分析了强制学习技术在步态综合中应用的适应性和多自由度造成的组合爆炸问题.     

Fault reconfiguration of shipboard power system based on triple quantum differential evolution algorithm

Fault reconfiguration of shipboard power system is viewed as a typical nonlinear and multi-objective combinatorial optimization problem. A comprehensive reconfiguration model is presented in this paper, in which the restored loads, switch frequency and generator efficiency are taken into account. In this model, analytic hierarchy process(AHP) is proposed to determine the coefficients of these objective functions. Meanwhile, a quantum differential evolution algorithm with triple quantum bit code is proposed. This algorithm aiming at the characteristics of shipboard power system is different from the normal quantum bit representation. The individual polymorphic expression is realized, and the convergence performance can be further enhanced in combination with the global parallel search capacity of differential evolution algorithm and the superposition properties of quantum theory. The local optimum can be avoided by dynamic rotation gate. The validity of algorithm and model is verified by the simulation examples.     

云遗传算法

为了克服传统遗传算法搜索速度慢、易陷入局部最优解的缺陷，借鉴遗传算法的思想，利用云模型云滴的随机性和稳定倾向性的特点，提出了一种新的遗传算法——云遗传算法（CGA）．该算法由正态云模型的Y条件云发生器实现交叉操作，由基本云发生器实现变异操作．最后，进行了函数优化实验，并与标准遗传算法（SGA）和自适应遗传算法（AGA）进行了比较，以证明其有效性．     

基于对称残差U型网络的路网交通流量数据修复

针对路网交通数据采集过程中，采集设备稀缺或故障等原因造成路网交通流量数据缺失问题，提出基于对称残差U型网络(Residual U-Net，RU-Net)模型的大规模路网交通流量数据修复方法.通过将路网交通流量数据网格化和时序通道化操作，构成可供卷积操作的张量数据格式；利用RU-Net编码解码能力，对交通流量数据进行编码；在解码过程中保持失真度较小，使模型学习到交通流量数据内部多因素耦合特性.通过残差学习使交通流量数据编码后的信噪比提升，压缩率降低，提升模型修复精度.实验结果表明，RU-Net模型能够利用交通流量特性学习历史和非故障采集点数据与待修复数据的映射关系，在不同数据缺失率，不同缺失模式下，高效地完成对大规模路网交通流量数据的修复.     

Cyclostationary Modeling of Surface Electromyography Signal During Gait Cycles and Its Application for Cerebral Palsy Diagnosis

Cerebral palsy (CP) is a group of permanent movement disorders that appear in early childhood. The electromyography (EMG) signal analysis and the gait analysis are two most commonly used methods in the clinic. In this paper, a cyclostationary model of the EMG signal is proposed. The model can combine the aforementioned two methods. The EMG signal acquired during the gait cycles is assumed to be cyclostationary due to the physiological characteristics of the EMG signal production. Then, the spectral correlation density is used to analyze the cyclic frequency (corresponding to the gait cycles) and spectral frequency (the frequency of EMG signal) in a waterfall representation of the two kinds of frequencies. The experiments show that the asymptomatic (normal) subjects and symptomatic subjects (with CP) can be distinguished from the spectral correlation density in a range of cyclic frequencies.     

基于对称残差U型网络的路网交通流量数据修复

针对路网交通数据采集过程中，采集设备稀缺或故障等原因造成路网交通流量数据缺失问题，提出基于对称残差U型网络(Residual U-Net，RU-Net)模型的大规模路网交通流量数据修复方法.通过将路网交通流量数据网格化和时序通道化操作，构成可供卷积操作的张量数据格式；利用RU-Net编码解码能力，对交通流量数据进行编码；在解码过程中保持失真度较小，使模型学习到交通流量数据内部多因素耦合特性.通过残差学习使交通流量数据编码后的信噪比提升，压缩率降低，提升模型修复精度.实验结果表明，RU-Net模型能够利用交通流量特性学习历史和非故障采集点数据与待修复数据的映射关系，在不同数据缺失率，不同缺失模式下，高效地完成对大规模路网交通流量数据的修复.     

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本文提出了关于交通运输与土地利用的综合模型的连续最优化及敏感性分析的基本框架。考虑外生交通费用的土地利用模型的敏感性分析和考虑弹性需求的交通运输网络的敏感性分析过程本是相互独立的，本文将两者结合为一个综合模型的敏感性分析。将这种敏感性分析方法用于土地利用方案设计和交通运输政策制定的最优化，可以使一定的社会剩余函数最大化。最后，本文以一个包含拥挤交通网络子模型的住宅分布模型为例对所提出方法进行进一步说明。     

Review on the interlimb neural coupling and its potential usage in walking rehabilitation

Human performs bipedal gait with synchronized arm swing. Apart from the observation that arm movement during gait is the outcome of a mechanical and energetic optimization, the synergetic upper and lower limb movement during gait is a neutrally coordinated motor output, that is, the interlimb movement is neutrally coupled. Patients with injuries to the central nervous system demonstrate the interlimb neural coupling. Researches on central pattern generator and the reflex studies reveal that the interlimb neural coupling is a quadrupedal heritage. Based on the theory of the interlimb neural coupling, both the upper and lower limbs should be practiced synchronously during regular gait training to promote walking rehabilitation for patients with gait disorders. Frther development of a gait robotic system with synchronized arm swing is required to test the clinical application of the neural coupling in gait restoration.     

Continuous Optimization Method for Integrated Land Use/Transportation Models

A basic framework for the sensitivity analysis and continuous optimization of integrated land use/transportation model is proposed in this paper. It is shown that separate sensitivity analysis procedures for a land use model with exogenous travel costs and a transportation network with elastic demand can be combined to get a sensitivity analysis procedure for the integrated model. Sensitivity-analysis-based techniques can then be used for the optimal design of land use plans and transportation policies so that certain social surplus functions are optimized. The proposed method is illustrated with a residential location model with a congestible transportation network sub-model.     

Model-based gait representation via spatial point reconstruction

This paper proposed a novel model-based feature representation method to characterize human walking properties for individual recognition by gait. First, a new spatial point reconstruction approach is proposed to recover the coordinates of 3D points from 2D images by the related coordinate conversion factor (CCF). The images are captured by a monocular camera. Second, the human body is represented by a connected three-stick model. Then the parameters of the body model are recovered by the method of projective geometry using the related CCF. Finally, the gait feature composed of those parameters is defined, and it is proved by experiments that those features can partially avoid the influence of viewing angles between the optical axis of the camera and walking direction of the subject. Foundation item: the National Natural Science Foundation of China (No. 60675024)     

基于ActiveX技术的通用网络数据包发生器

为了方便网络开发人员根据不同的需求构造网络数据包，采用COM和AetiveX技术。设计并实现了通用的网络数据包发生器．该发生器利用LibnetNT动态链接库编程开发，并按照统一的接口封装底层网络数据包发生函数，可在不同的编程环境中使用．利用该控件网络应用程序的开发人员无需了解底层网络协议的细节，便可以产生特定的网络流量，有助于提高开发效率和代码重用率．     

THE APPLICATION OF STATISTICAL PARAMETERS OF PHASE RESOLVED PD DISTRIBUTION TO AGING EXTENT ASSESSMENT OF LARGE GENERATOR INSULATION

Agingextentassessmentofgeneratorinsulationisofgreatsignificanceinplanninganeffectiveout ageandmaintenance .Inthelastdecade ,agingex tentassessmentoflargegeneratorinsulationwasasubjectresearchedintensively[1-4] .Anumberofpa pershavebeenpublishedonthetechniquesofinsu lationconditiondiagnosisandagingextentassess mentofgeneratorinsulation .Nearlyalleffortsforinsulationdiagnosisandagingassessmenthavereliedonelectricalmeasurementsandmostattentionhasbeenpaidtoanalysisofcharacteristicsofpartialdis cha…     

北京市共享单车出行的时空规律与需求预测研究

基于北京市摩拜单车的工作日骑行数据，利用非负矩阵分解算法(NMF)从时间和空间两 个维度深入探究共享单车的出行规律，并构建逆序群体稳定性指标(RPSI)改善 k 值选择过程。利用得到的出行规律，运用MATLAB构建基于非负矩阵分解算法的BP神经网络预测模型，对共享单车的出行需求进行预测，并分别与BP神经网络预测模型和长短期记忆(LSTM)神经网络预测模 型的结果进行对比。研究结果表明，共享单车可分为5种基本的出行模式，每个区域的出行都可以由这5种出行模式的线性组合来表达，其中的系数代表了每一种出行模式的强度和随时间变动情况。依据这5种出行模式的时间特征和空间特征，分别确定其出行含义：通勤出行中居住地到 地铁站的出行；通勤出行中地铁站到工作地点的最后一公里连接；居民其他的非通勤出行行为， 如休闲娱乐活动等；回程通勤出行中从工作地点到地铁站；回程通勤出行中从地铁站到居住区的最后一公里连接。最后，模型预测结果的对比分析显示，本文构建的基于非负矩阵分解算法的BP神经网络预测模型不管是在预测精度还是实际操作便捷性上都优于其他两种预测模型。     

MODEL AND SIMULATION FOR A BRUSHLESS AC GENERATOR WITH AROTARY RECTIFIER

Objective For a brushless AC generator with a rotary rectifier, it is necessary and significant to model and simulate at normal and fault operation states. Methods Two new concepts, namely, Simulink signals and PSB (Power System Blockset) variables, are proposed, and the difference between the two concepts is clarified. Based on the new model for synchronous machines, a simulation model for a brushless AC generator with a rotary rectifier is constructed by Matlab/Simulink/PSB. This new model, which has a speed input terminal and an exciting voltage input one, can simulate the real electrical characters and direct mechanical connection between two synchronous machines perfectly. The rotary rectifier is a three-phase full-wave bridge rectifier which consists of six diodes. The model for the diodes is a macro-model which possesses much better accuracy than an ideal one of switches. Results Based on the present model, some simulation results such as exciting current waveform, phase current waveform and phase voltbge waveform are afftained at several operation conditions. Conclusion The simulation for a brushless AC generator with a rotary rectifier is demonstrated at normal and fault operation states, respectively. The results confirm the presented method.     

基于状态参数的安全数码相机模型

现有安全数码相机不能识别二次获取图像且必须直接参与含水印数字照片的认证过程.针对上述问题,本文从含水印数字照片的密钥生成与传递方式入手,提出一种基于状态参数的新型安全数码相机模型.该模型通过设计相机密钥设置函数——级联-混沌映射,隐蔽地生成安全数码相机的相机密钥,然后以相机密钥和照片拍摄时相机的取景模式、焦距、拍摄时间等状态参数为明文数据,利用Hash函数计算出含水印数字照片的密钥,讨论分析了该模型中密钥的保密性和难伪造性,建立了相机与密钥的多对一非线性映射关系.实验结果表明,相机密钥或状态参数改变时,密钥的变化量近似均匀分布.      

Intelligent drug delivery system using UML diagrams analysis

A novel intelligent drug delivery system potential for the more effective therapy of the diabeticswas proposed, and the composition of system was analyzed. Based on the design of micro-electro-mechanicalsystems (MEMS), an iterative modeling process was introduced. Unified modeling language (UML) was em-ployed to describe the function requirement, and different diagrams were built up to explore the static model,the dynamic model and the employment model. The mapping analysis of different diagrams can simply verifythe consistency and completeness of the system model.     

开发高性能船舶电站管理系统的简捷途径

随着微电子技术、信息技术的飞速发展,集成和模块化成为目前船舶电站自动化设备组成的主要特征。这一特点为国内众多船舶自动化设备厂家应用国内外市场上可以方便购买的高性能发电机控制模块自行开发船舶电站管理系统提供了简捷的途径。文中介绍了构成船舶电站管理系统的核心模块—发电机并车与保护单元的功能和使用方法,对该模块与配电屏主开关之间的硬件电气联结方式给出示例,从而展示了船舶电站自动化产品开发简捷途径中的核心技巧。     

新一代互联网中连接标识解析映射研究

分析了连接标识解析映射的4种情况,并提出了一种新型的动态映射机制.其优势在于根据服务的要求,合理的选择路径建立方式用于数据传输,通过探测网络单向状态参数,实现动态调整映射关系的目标.在真实网络中的测试结果表明,该机制能够很好的测量多条路径单项时延的差别,为准确检测网络单向状态参数提供了一种新的思路,也为在新一代互联网中实现高性能数据传输提供了重要的方法.     

ARTIFICIAL IMMUNE ALGORITHM OF MULTICELLULAR GROUP AND ITS CONVERGENCE

Objective To find out more extrema simultaneously including global optimum and multiple local optima existed in multi-modal functions. Methods Germinal center is the generator and selector of high-affinity B cells, a multicellular group＇s artificial immune algorithm was proposed based on the germinal center reaction mechanism of natural immune systems. Main steps of the algorithm were given, including hyper-mutation, selection, memory, similarity suppression and recruitment of B cells and the convergence of it was proved. Results The algorithm has been tested to optimize various multi-modal functions, and the simulation results show that the artificial immune algorithm proposed here can find multiple extremum of these functions with lower computational cost. Conclusion The algorithm is valid and can converge on the satisfactory solution set D with probability 1 and approach to global solution and many local optimal solutions existed.