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.     

基于统计和有限元分析的裂纹敏感区确定方法

港口机械正在向大型、高速、重载方向发展,其金属结构的质量越来越大,它的缺陷会给机械工作带来隐患,而且一旦出现断臂等重大事故,将造成巨大危害[1].     

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。     

全垫升气垫船操纵运动研究

本文用大振幅平面运动机构对全垫升气垫船模型进行了约束试验，测得了作用在船上的水动力，在此基础上用计算机解气垫船操纵运动微分方程，预报气垫船的回转性能，并与实船试验的结果进行了比较，两者吻合较好。     

船用液压联轴节的计算分析

液压联轴节是一种比较新型的联接装置。本文对其工作原理进行了比较详细的理论分析，探讨其实用的计算方法，推导出相应的计算公式，并针其计算结果用于实际设计之中。     

开放体系结构应用研究

在以用户需求为核心的今天，分布式异构网络的解决方案应该是开放的。介绍了目前开放体系结构的技术规范，包括Web服务协议栈和Web服务体系结构堆栈等，以及开放体系在网络中心战中的应用。     

一种新型双模微带带通滤波器

在传统方形双模滤波器的基础上，提出了一种新的微带带通滤波器结构。该结构很好解决了传统滤波器的辐射损耗和体积大等问题。它可以应用到混合或单片微波集成电路中，更加有效地抑制高次谐波输出。利用上述结构仿真并设计了一个中心频率在1GHz，并能有效抑制高次谐波的带通滤波器，测试结果满足设计要求。