抵御单粒子多位翻转的系统自恢复技术

为减少多位翻转(multi-bit upset,MBU)对星载计算机的危害,提出了一种抵御单粒子多位翻转的系统自恢复技术.该技术利用硬件EDAC(error detection and correction)检测多位错的能力,结合系统自恢复的容错技术实现MBU的捕获,并选择性地启动系统自恢复,以防止MBU造成的系统安全性问题.通过建立关键数据查询,避免不必要的系统自恢复,采用除法散列法和适度恢复策略提高处理速度.SEU(single event upset)危害性分析以及某卫星在轨SEU观测数据表明,提出的系统自恢复技术可使SEU引起卫星故障的概率下降90%以上.该技术已成功地应用于我国XX02卫星.     

一种冗余度机器人零空间中的混沌

基于反馈线性化控制理论，推导出了平面3R刚性冗余度机器人的零动态方程。通过Poincare映射图和采用最大Lyapunov指数方法，对平面3R刚性冗余度机器人零空间运动状态(规则或混沌运动)进行了数值模拟，获得了它的自运动状态与其零空间中的矢量之间的关系．研究结果表明，冗余度机器人自运动中的混沌现象不仅与初始条件有关，也与其零空间中的矢量有直接关系。     

PIC-MF-based Iterative Receiver for Multiuser Space Frequency Block Coding Systems

A novel low-complexity iterative receiver for multiuser space frequency block coding (SFBC) system was proposed in this paper. Unlike the conventional linear minimum mean square error (MMSE) detector, which requires matrix inversion at each iteration, the soft-in soft-out (SISO) detector is simply a parallel interference cancellation (PIC)-matched filter (MF) operation. The probability density function (PDF) of PIC-MF detector output is approximated as Gaussian, whose variance is calculated with a priori information fed back from the channel decoder. With this approximation, the log likelihood ratios (LLRs) of transmitted bits are under-estimated. Then the LLRs are multiplied by a constant factor to achieve a performance gain. The constant factor is optimized according to extrinsic information transfer (EXIT) chart of the SISO detector. Simulation results show that the proposed iterative receiver can significantly improve the system performance and converge to the matched filter bound (MFB) with low computational complexity at high signal-to-noise ratios (SNRs).     

基于RTLinux的高速磁浮列车车载通信平台

为满足高速磁浮列车车载诊断系统通信平台的要求,提出了一种基于RTLinux(real-time linux)的通信平台设计方案.该方案包括基于RTLinux通信平台的结构设计、实时和非实时处理模块的设计与实现.通过讨论CPCI-CAN(compact peripheral component interconnect-control area network)卡在RTLinux下驱动程序的开发过程,给出了驱动程序的具体实现.最后,借助调度时间模型和传送延时模型,分析了该车载诊断系统通信平台的实时性.实时仿真结果表明:基于RTLinux的通信平台中,所有节点完成网络更新的时间平均为290 ms,满足高速磁浮列车通信平台响应时间小于500 ms的要求.     

Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.     

Study and Development of the Biped Ice Skating Robot with Passive Wheels

A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.     

Mobile Robot Hierarchical Simultaneous Localization and Mapping Using Monocular Vision

A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.     

Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient's brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.     

基于课元相关运算的高校排课算法

在分析高校课表编排所遵循的基本原则和模糊性原则的基础上，定义了课元之间关于教师的相关关系和关于自然班的相关关系，提出以课元相关运算和课元的候选时空片计算为核心的计算机排课算法。还给出了用关系数据库描述课表问题及实现排课算法的方法。经应用表明，该排课软件具有较好的适应性和实用性。     

裂缝间距对连续配筋混凝土路面结构应力的影响分析

文章结合烟威高速公路大修工程实例,对比分析了被动裂缝控制和主动裂缝控制对连续配筋混凝土路面(简称CRCP)病害的影响,建议采用主动裂缝控制技术以延长路面使用寿命。同时,通过ABAQUS有限元软件模拟CRCP真实路面情况,力学计算结果表明:小裂缝间距不利于混凝土板和钢筋的受力,降低了路面使用性能。     

糖化血红蛋白在诊断2型糖尿病中的价值

目的对比分析空腹血糖(FPG)、餐后2h血糖(2hPG)及糖化血红蛋白(HbA1c)诊断糖尿病的敏感性和特异性,探讨HbA1c在诊断糖尿病中的价值。方法选取门诊查体疑似2型糖尿病患者285例,男158例,女127例,平均年龄(48±11)岁。所有研究对象行口服糖耐量试验(OGTT),同时测定HbA1c。结果①按WHO 1999年糖尿病诊断标准判断,285例中2型糖尿病(DM)176例,糖调节受损(IGR)71例,糖耐量正常(NGT)38例,三组HbA1c水平呈递增趋势(P<0.05)。②Spearman相关分析显示HbA1c与OGTT中FPG、2hPG为直线正相关(r=0.72,0.59,P<0.05)。③通过绘制ROC曲线图,HbA1c诊断糖尿病的最佳切点为6.1%,诊断的灵敏度高于FPG,低于2hPG;当HbA1c的切点为6.5%时,诊断的灵敏度低于FPG和2hPG,但联合检测FPG和HbA1c其灵敏度大于2hPG。结论在无法进行OGTT的情况下,HbA1c可用于糖尿病诊断,但应联合FPG检测。     

A Statistical Parameter Analysis and SVM Based Fault Diagnosis Strategy for Dynamically Tuned Gyroscopes

Gyro's fault diagnosis plays a critical role in inertia navigation systems for higher reliability and precision. A new fault diagnosis strategy based on the statistical parameter analysis (SPA) and support vector machine (SVM) classification model was proposed for dynamically tuned gyroscopes (DTG). The SPA, a kind of time domain analysis approach, was introduced to compute a set of statistical parameters of vibration signal as the state features of DTG, with which the SVM model, a novel learning machine based on statistical learning theory (SLT), was applied and constructed to train and identify the working state of DTG. The experimental results verify that the proposed diagnostic strategy can simply and effectively extract the state features of DTG, and it outperforms the radial-basis function (RBF) neural network based diagnostic method and can more reliably and accurately diagnose the working state of DTG.     

军交运输装备保障效能评估方法初探

近年来,随着我军新型军交运输装备陆续列入后勤装备体制且编配部队,如何科学客观地对军交运输装备的保障效能进行评估,已成为军交运输装备全寿命管理中一个重大的理论和现实问题,目前这方面的研究基本上处于空白。阐述了军交运输装备保障效能的内涵,按军交运输装备规划设计、实际使用的不同阶段,分析了军交运输装备保障效能的几种评估方法,以期对促进我军军交运输装备保障效能理论研究提供一定的借鉴与启示。     

应急物流保障能力评价模型研究

根据国家突发公共事件总体应急预案中的分类,对导致产生应急物流的4种突发公共事件所侧重的6种应急物流保障部门的相关物资储备进行了分析.提出了基于希尔伯特空间向量范数的应急物流保障能力评价模型.评价以建立保障能力指数为核心,应用层次分析法的分析结果作为权重算子,建立了希尔伯特指标空间,利用希尔伯特空间上单位球的弱紧性,建立了铁路军事运输保障能力评价模型.该模型具有良好的数据处理功能,包括定性数据和非定性数据,通过指数分析,对评价对象进行横向和纵向的比较;通过指标分析可得到各指标对于总指数的贡献率和总指数的可达性指标.通过一个算例,对应急物流保障能力进行了评价.尝试建立应急物流保障能力评价的方法.     

ICA based speckle filtering for target extraction in SAR images using adaptive space separation

A novel approach based on independent component analysis (ICA) for speckle filtering and target extraction of synthetic aperture radar (SAR) images is proposed using adaptive space separation with weighted information entropy (WIE) incorporated. First the basis and the independent components are respectively obtained by ICA technique, and WIE of the image is computed; then based on the threshold computed from function T-WIE (threshold versus weighted-information-entropy), independent components are adaptively separated and the bases are classified accordingly. Thus, the image space is separated into two subspaces: "clean" and "noise". Then, a proposed nonlinear operator ABO is applied on each component of the 'clean' subspace for further optimization. Finally, recovery image is obtained reconstructing this subspace and target is easily extracted with binarisation. Note that here T-WIE is an interpolated function based on several representative target SAR images using proposed space separation algorithm.     

Wind pressure distribution and wind-induced dynamic response for spatial groined latticed vaults

The wind pressure distribution and wind-induced vibration responses of long-span spatial groined latticed vaults (SGLVs) were numerically simulated, which always are ones of the most important problems in the structural wind resistance design. Incompressible visco-fluid model was introduced, and the standard k-εtwo equation model and semi-implicit method for pressure linked equation (SIMPLE) were used to describe the flow turbulence. Furthermore, the structural dynamic equation was set up, which is solved by Newmark-β method. And several sort of wind-induced vibration coefficients such as the wind-induced vibration coefficient corresponding to the nodal displacement responses and wind loads were suggested. In the numerical simulation where the SGLV consisting of the cylindrical sectors with different curved surface was chosen as the example,the influence on the relative wind pressure distribution and structural wind-induced vibration responses of the closed or open SGLV caused by such parameters as the number of cylindrical sectors, structural curvature and the ratio of rise to span was investigated. Finally, some useful conclusions on the local wind pressure distribution on the structural surface and the wind-induced vibration coefficients of SGLV were developed.     

基于ANFIS的特高压输电线路故障分类识别方法

提出了一种基于自适应神经模糊推理系统(ANFIS)的特高压输电线路故障分类识别方法,以分类识别10种常见的输电线路故障.该方法以故障后1个工频周期内故障电流分量的标准差和四分位距作为故障分类识别的特征量.分析了噪声和谐波对这2个特征量的影响;建立了基于ANFIS的故障分类识别模型.大量仿真试验表明:提出的故障分类识别方法能快速、准确地识别各类故障,并且不易受故障初始角、故障位置和过渡电阻的影响,对噪声、谐波、电流互感器传变特性及采样频率有良好的适应性,分类识别正确率能达到99.5%.     

连续道床板裂纹计算方法及影响因素

为研究双块式无砟轨道连续配筋道床板裂纹扩展的机理,基于钢筋混凝土粘结-滑移理论,建立了适用于连续配筋混凝土道床板裂纹扩展的计算模型.依据该模型计算了道床板裂纹宽度和间距,分析了道床板配筋率、纵向钢筋直径和混凝土强度对裂纹宽度、间距及钢筋应力的影响.分析结果表明:钢筋直径和配筋率直接影响裂纹间距,裂纹间距随钢筋直径增大而增大,随配筋率增大而减小;混凝土抗拉强度、配筋率和钢筋直径是裂纹宽度的主要影响因素,裂纹宽度随混凝土强度和钢筋直径增大而增大,随配筋率增大而减小;裂纹截面处纵筋应力不应超过其抗拉强度,配筋率和混凝土抗拉强度是决定钢筋应力大小的关键因素.     

A novel approach to design robust fault detection filter for networked control systems

In this paper, an approach for designing robust fault detection filter (RFDF) of networked control systems (NCSs) with unknown inputs is studied. The design aims at implementing the optimal trade-off between robustness of unknown inputs (including the item produced by networked-induced delay) and sensitivity of fault. The key design issue is to introduce an optimal fault detection filter based on NCSs with the control law compensation as the reference residual model of NCSs and to formulate the RFDF design as a model-matching problem. By applying H _∞ optimization technique, linear matrix inequality (LMI) approach is given to solve the model-matching problem. The validity of the proposed approach is shown by a numerical example.      

同时确定内燃机活塞温度场与边界换热系数的自适应迭代法

本文根据实测温度数据确定内燃机活塞温度场同时决定边界换热系数,建议了自适应迭代方法。文中详细分析了换热系数的自适应迭代规律,据此编制了自适应迭代程序,其中温度场的数值算法可根据计算装备的实际拥有情况具体选用有限元或者边界元。自适应迭代法不依赖于任何经验公式,计算工作量小,且计算时间比传统的经验试凑法大为减少。