Sensorimotor self-learning model based on operant conditioning for two-wheeled robot

Traditional control methods of two-wheeled robot are usually model-based and require the robot’s precise mathematic model which is hard to get. A sensorimotor self-learning model named SMM TWR is presented in this paper to handle these problems. The model consists of seven elements: the discrete learning time set, the sensory state set, the motion set, the sensorimotor mapping, the state orientation unit, the learning mechanism and the model’s entropy. The learning mechanism for SMM TWR is designed based on the theory of operant conditioning (OC), and it adjusts the sensorimotor mapping at every learning step. This helps the robot to choose motions. The leaning direction of the mechanism is decided by the state orientation unit. Simulation results show that with the sensorimotor model designed, the robot is endowed the abilities of self-learning and self-organizing, and it can learn the skills to keep itself balance through interacting with the environment.     

Approximate method for reliability assessment of complex phased mission systems

Phased-mission systems (PMSs) have wide applications in engineering practices, such as manmade satellites. Certain critical parts in the system, such as cold standby, hot standby and functional standby, are designed in redundancy architecture to achieve high reliability performance. State-space models such as Markov process have been used extensively in previous studies for reliability evaluation of PMSs with dynamic behaviors. The most popular way to deal with the dynamic behaviors is Markov process, but it is well known that Markov process is limited to exponential distribution. In practice, however, the lifetime of most machinery products can follow non-exponential distributions like the Weibull distribution which cannot be handled by the Markov process. In order to solve this kind of problem, we present a semi-Markov model combined with an approximation algorithm to analyze PMS reliability subjected to non-exponential failures. Furthermore, the accuracy of the approximation algorithm is investigated by comparing to an accurate solution, and a typical PMS (attitude and orbit control system) is analyzed to demonstrate the implementation of the method.     

突发大规模需求下铁路军事运输保障研究

以"5·12"汶川地震为背景,分析了突发大规模需求下铁路军事运输保障的特点及要求,提出了应急铁路军事运输保障的具体对策,如建立健全铁路军事运输指挥机制、制订输送保障运行计划等,对铁路军事运输部门提高突发大规模需求情况下的运输保障能力具有借鉴意义.     

Neumann边界条件下图像复原的TSVD算法

研究了在Neumann边界条件假设下,一类具有对称点扩散函数的模糊图像复原问题,将此类问题转化为不适定的二维离散卷积问题,基于离散卷积算子的性质,提出了图像复原的TSVD算法.实验验证了算法的有效性.     

基于计算机自动控制技术的多探头测深系统研制与改造

通过加装控制盒的方式,实现单探头测深仪与自动控制探头之间的流畅切换,将传统单探头测深仪改造成具有多探头功能的高效水下测量仪器系统,主要用于航道和码头基床等的水下扫测。利用该系统进行的码头基床扫测已经取得成功,可为同类测量设备的改造提供全新的思路。     

DGPS自主车辆定位及多功能处理软件研制

本文论述了车载GPS自动车辆定位（AVL）的有关研究与试验，着重分析了车辆定位的方法与定位的准确度问题，并利用作者自行开发的处理软件进行处理，证明了基于DGPS的AVL的可行性，取得了满意的结果。     

称重台计算机数据采集系统软件的升级及功能强化与完善

青年基金项目《称重台计算机数据采集系统软件的升级及功能强化与完善》如期完成，本文将原有软件的部分不足和新软件的改进以及增加的功能作一个比较。     

电气开关通断试验动态监控系统的设计

电气开关通断试验动态监控系统是在线考核电气开关的触头及灭弧装置工作性能的重要设备,本文介绍了该系统的设计依据、工作原理及关键技术.     

预应力锚索在宝成二线的应用实践

以宝成二线新老鸦岩、明月峡、新飞仙关等工点的边坡(或滑坡)整治为例,介绍岩土预应力锚索技术的设计、施工及整治效果,并对锚索的设计、施工及管理提出了建议:采用先进的设计施工管理模式,设计施工引入动态观念,科学安排锚索与相邻工程的施工顺序,避免隧道爆破施工对锚索的危害。     

壅水平衡法计算一河多桥桥孔长度

一河多桥桥孔长度计算与一河一桥的主要区别在于对总流量的重新分配,然后再简化为单桥的孔径计算,根据每座桥的桥前壅水高度,采用壅水平衡法综合确定每座桥的孔径长度,从而确定一河多桥的总长度。