Market based framework for multiple AUVs cooperation

A“Market” based framework for multiple AUVs team is introduced in this paper. It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “price” are discussed first, then the basic algorithm of the “auction”. The loosely coupled v-MDTSP tasks are considered as an example of the task allocation mission. A multiple AUV team controller and a detailed algorithm are developed for such applications. The simulation results show that the controller has the advantages such as robustness and low complexity and it can achieve better optimization results than the classical central controller （ such as GA） in some tasks. And the comparison of two different local solvers also implies that we should get the reasonable task allocation even not using the high quality algorithm, which can considerably decrease the cooperation computation.     

基于层次分析法的工程招标资格预审方法

基于工程招标资格预审的特点,建立了层次结构评价模型。运用层次分析法对多位专家的评审意见进行综合分析,从而实现对资格预审这种多方案、多准则的问题进行分析求解。     

人脑源性神经营养因子基因克隆及序列分析

目的　克隆人脑源性神经营养因子 (hBDNF)基因并进行序列分析。方法　提取健康成人末梢血白细胞基因组DNA作为模板 ,应用PCR技术和T 载体克隆法克隆hBDNF基因 ,筛选阳性克隆、酶切鉴定 ,并进行序列测定和分析。结果　DNA序列测定的结果与GenBank提供的已知序列 (M6 1 1 81 )比较 ,所克隆的hBDNF基因从起始密码子ATG到终止密码子TAG全长共744bp ,序列完全相同。结论　自人基因组DNA中克隆hBDNF基因 ,为进一步开展阿尔茨海默病 (AD)的基因治疗积累了资料。     

EXPRESSING HUMAN MATURED BRAIN-DERIVED NEUROTROPHIC FACTOR GENE IN E. Coli AND DETERMINING ITS BIOACTIVITY

Brain-derived neurotrophic factor (BDNF)is amember of the family of neurotrophins['J. The hu-man BDNF gene is localized on chromosome of1lp13. The nucleotide sequence that is 744bpIength including signal sequence and prosequenceshows an open reading frame to encode a precursorof 247 amino acids. The matured BDNF consists ofll9 amino acids (relative molecular mass of 14Kd,PI~l0)['.'j. The activity of BDNF in the nervoussystem is widespread. BDNF could support the sur-vival of cranial …     

长缨剑胆舒——中国船级社走过45年

无论世界怎么变化,一种传统的交流手段始终影响着人们的生活--那就是船舶和航运. 占地球表面积约71%的海洋将陆地分割,这就决定了各国之间的物质交流必须依靠海上交通.统计表明,国际贸易的90%的份额由海上船舶运输.而承担海上风险管理的公益性机构--船级社,则是船舶在浩瀚海洋安全航行的有力保障.     

用P-Y曲线法计算板桩结构

根据P-Y曲线法原理分别对沉入砂性土地基及粘性土地基的板桩码头进行了例题计算,并且与传统的m法进行了比较。     

Geometric calibration algorithm of polarization camera using planar patterns

Polarization pattern provides additional information besides spectral signatures. It can be used in many applications, such as navigation, defect detection and object identification. A novel polarization camera composed of four synchronized cameras is proposed, and it can realize real-time polarization measurement. This study particularly concentrates on the geometric calibration of the system. The projection model is analyzed and the multi-camera calibration algorithm is proposed. Firstly, each camera is calibrated separately using planar patterns, and then the geometric calibration algorithms are performed. Due to the geometrical constraint, a global optimization method results in smaller estimation uncertainties. A mean rotation error of 0.025° and a mean translation error of 0.26mm are achieved after geometric calibration. The images are rectified to establish a correspondence among cameras and are combined to acquire the polarization measurement. The polarization pattern of the skylight is measured by the system and the results are consistent with the previous studies.     

Research of legal affair simulation based on Petri net

Legal affair simulation is on the basis of information technology, and can simulate legal scene. College students do legal experiments with virtual reality scene. This helps to train college students. Petri net has not only strict math definition to analyze the dynamic behavior of models, but also intuitive graphic expression. Petri net is used to model for legal process. Reduction rules of Petri net are used to analyze the correctness of the system. At last Java Business Process Management (JBPM) technology is used to realize legal affair simulation models, models are transformed into flow charts. Simulation software deduces processes of legal affair. Many college students have improved their ability with the software, the fact proves that the method is effective.     

Magnetic field tuning characteristics of bimodal ultrasonic motor stator

The magnetic field tuning characteristics of an ultrasonic motor (USM) stator are discussed. The stator consists of two piezoelectric ceramic transducer (PZT) plates and one sandwiched-in Terfenol-D plate. The dimensions of the stator are carefully adjusted to specifically discuss the influence of the magnetic field on the frequency difference between the longitudinal and bending modes of the stator. The frequency difference discussed in this paper is usually small and mainly caused by uneven materials, machining errors and changes in external conditions (temperature, pre-stress or load). The longitudinal and bending modes of the stator are simultaneously excited by an external electric field to generate the elliptic motion trajectories of the driving points. A direct current (DC) magnetic field is applied to decrease the difference between the two mode frequencies of the fabricated stator. In experiments, the dependences of the two mode frequencies and their difference on DC magnetic fields are all investigated. The experimental results indicate that the difference between the longitudinal and bending mode frequencies of the PZT/Terfenol-D/PZT composite stator can be tuned by changing the intensity of the external DC magnetic field.     

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.