Adaptive Multi-Objective Optimization of Bionic Shoulder Joint Based on Particle Swarm Optimization

To get the movement mode and driving mechanism similar to human shoulder joint, a six degrees of freedom (DOF) serial-parallel bionic shoulder joint mechanism driven by pneumatic muscle actuators (PMAs) was designed. However, the structural parameters of the shoulder joint will affect various performances of the mechanism. To obtain the optimal structure parameters, the particle swarm optimization (PSO) was used. Besides, the mathematical expressions of indexes of rotation ranges, maximum bearing torque, discrete dexterity and muscle shrinkage of the bionic shoulder joint were established respectively to represent its many-sided characteristics. And the multi-objective optimization problem was transformed into a single-objective optimization problem by using the weighted-sum method. The normalization method and adaptive-weight method were used to determine each optimization index’s weight coefficient; then the particle swarm optimization was used to optimize the integrated objective function of the bionic shoulder joint and the optimal solution was obtained. Compared with the average optimization generations and the optimal target values of many experiments, using adaptive-weight method to adjust weights of integrated objective function is better than using normalization method, which validates superiority of the adaptive-weight method.     

Multi-Band Hybrid Mobile Phone Antenna Based on Electromagnetic Coupling

This research presents a multi-band hybrid mobile phone antenna based on electromagnetic coupling,which can be applied to mobile handheld devices, occupying a small board space of 39.7 mm × 15.6 mm on the system circuit board. By adding resonant and coupled branch instead of multi-feed on the traditional bent antenna,this design provides four wide operating bands of 0.772—0.998 GHz, 1.540—1.600 GHz, 1.680—2.270 GHz and2.300—2.690 GHz with the hybrid feature of planar inverted-F antenna(PIFA), L-shape, U-shape and S-shape structures, which cover nine-band, i.e., GSM850, GSM900, GPS1575, DCS1800, PCS1900, IMT200, LTE2300,LTE2600 and Blue Tooth/Wi-Fi. Ansoft software HFSS is used in this research to make the antenna performance better and the operating principle of the proposed antenna is described in detail. Result of simulation reveals that the maximum gains of these four wide bands are 2.20,-0.99, 4.01 and 4.05 dBi, respectively. Moreover, this research also tests the return loss(S11) of the fabricated antenna with the vector network analyzer and the result is in accordance with the simulation result on the whole. There are four wide resonant frequencies which cover nine-band of wireless wide area network(WWAN), wireless local area network(WLAN) and long term evolution(LTE), when the available bandwidth is better than 6 d Bi return loss.     

以全面预算为核心的目标管理在城市公交企业的应用

1 城市公交企业的生产特点 (1)企业产品特点.城市公交企业提供的产品是运输服务,是通过投入费用(如燃料、车辆等)实现消费者的空间位移,并不产生新的实物产品,生产和消费是同时发生的.     

Impact of channel estimation error on channel capacity of multiple input multiple output system

In order to investigate the impact of channel estimation error on channel capacity of multiple input multiple output （MIMO） system, a novel method is proposed to explore the channel capacity in correlated Rayleigh fading environment. A system model is constructed based on the channel estimation error at receiver side. Using the properties of Wishart distribution, the lower bound of the channel capacity is derived when the MIMO channel is of full rank. Then a method is proposed to select the optimum set of transmit antennas based on the lower bound of the mean channel capacity. The novel method can be easily implemented with low computational complexity. The simulation results show that the channel capacity of MIMO system is sensitive to channel estimation error, and is maximized when the signal-to- noise ratio increases to a certain point. Proper selection of transmit antennas can increase the channel capacity of MIMO system by about 1 bit/s in a flat fading environment with deficient rank of channel matrix.     

Radiosensitivity of β-elemene on rabbit VX2 renal transplant carcinoma model

Objective To investigate the effects of low dosage ofβ-elemene on the radiosensitivity of rabbit VX2 renal transplant carcinoma model. Methods We took the rabbit VX2 renal transplant carcinoma as the model. Experimental rabbits were divided into three groups： the control group, the radiation group, and the radiation ＋β-elemene （radiosensitivity） group. The change of tumor was observed by Spiral CT and B ultrasound to compare its regrowth period. The tumor was measured by light microscopy and electron microscopy. Results The tumor in radiosensitivity group was restrained obviously and the sensitization enhancement ratio （SER） of β-elemene was 1.89. Different apoptosis was observed under transmission electron microscopy. Conclusion Low dosage β-elemene can enhance the radiosensitivity of rabbit VX2 renal transplant carcinoma model and induce the apoptosis of tumor cells, but the mechanism needs further study. It promotes apoptosis in mechanisms in vitro.     

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.     

Compensation of pressure enthalpy effects on temperature fields for throttling of high-pressure real gas

For the pressure enthalpy of high pressure pneumatics, the computational fluid dynamics (CFD) simulation based on ideal gas assumption fails to obtain the real temperature information. Therefore, we propose a method to compensate the pressure enthalpy of throttling for CFD simulation based on ideal gas assumption. Firstly, the pressure enthalpy is calculated for the pressure range of 0.101 to 30 MPa and the temperature range of 190 to 298 K based on Soave-Redlich-Kwong (S-R-K) equation. Then, a polynomial fitting equation is applied to practical application in the above mentioned range. The basic idea of the compensation method is to convert the pressure enthalpy difference between inlet air and nodes into the compensation temperature. In the above temperature and pressure range, the compensated temperature is close to the real one, and the relative temperature drop error is below 10%. This error is mainly caused by the velocity difference of the orifice between the real and ideal gas models. Finally, this compensation method performs an icing analysis for practical high pressure slide pilot valve.     

Lattice-based group signature with verifier-local revocation

Among several post quantum primitives proposed in the past few decades, lattice-based cryptography is considered as the most promising one, due to its underlying rich combinatorial structure, and the worst-case to average-case reductions. The first lattice-based group signature scheme with verifier-local revocation(VLR) is treated as the first quantum-resistant scheme supported member revocation, and was put forward by Langlois et al. This VLR group signature(VLR-GS) has group public key size of O(nm log N log q), and a signature size of O(tm log N log q log β). Nguyen et al. constructed a simple efficient group signature from lattice, with significant advantages in bit-size of both the group public key and the signature. Based on their work, we present a VLR-GS scheme with group public key size of O(nm log q) and signature size of O(tm log q). Our group signature has notable advantages: support of membership revocation, and short in both the public key size and the signature size.