基于神经网络的无人无缆水下机器人运动建模与控制技术研究

对自主型水下机器人（ＡＵＶ）神经网络运动模型的结构进行了理论分析和探讨,提出了非完全回归型神经网络、增加积分层的输出层结构及相应的分步式学习方法。对ＡＵＶ运动过程中目标运动路径和目标运动速度的同时跟踪控制进行了系统研究。提出了由主控网络和伴随网络构成的神经网络控制器结构,给出了通过计算机模拟来生成教师样本的方法,提出了预测控制的思想。计算机仿真及水下机器人“Ｔｗｉｎ－Ｂｕｒｇｅｒ”的水池实验结果验证了本文所提出的建模方法和跟踪控制方法的有效性和可行性。     

神经网络在船舶操纵中的应用研究

该文对人工神经网络用于船舶操纵动态特性的在线学习进行了研究,并提出了基于神经网络预报的操舵控制算法。仿真试验的结果表明了该控制算法的有效性。     

基于遗传算法的舰船航速模糊控制研究

研究并建立了舰船航速控制系统的数学模型,并将模糊控制理论应用到该系统,提出了一种基于遗传算法的舰船航速模糊控制新方法。该方法较常规的模糊控制具有更优的控制性能,仿真实验结果表明该方法可行、有效。     

公路经营企业内部控制探讨

我国公路经营企业在内部控制方面存在内部环境不健全、风险意识不强、控制活动不力、信息沟通不畅、缺乏信息系统支持和内部监督弱化等问题.加强公路工程项目内部控制,需要采取强化意识、明确责任主体、完善制度、加强实施力度和人员教育等相应的措施.     

Fault tolerant nonlinear control with applications to an automated transit bus

This paper presents an integrated structure for a passive and active fault tolerant control (FTC) design approach in the framework of a robust nonlinear control technique called Dynamic Surface Control (DSC). As motivated by the automated vehicle application, we consider two categories of possible faults: pre-specified (a priori) and non-specified faults. It is first shown that DSC can be considered as a passive FTC approach in the sense that it gives simultaneous robust stability to a set of nonlinear systems even in the presence of model uncertainties and the pre-specified faults. Then, the non-specified fault is classified depending on the fault’s impact on the closed-loop system and isolatability from a fault detection and diagnosis (FDD) system. If a fault is both intolerable and isolatable, an active FTC approach is taken which includes FDD and controller reconfiguration. More specifically, trajectory reconfiguration is considered to accommodate the actuator fault, i.e., to compensate for the performance loss due to the fault within the framework of a switched hierarchical structure. Finally, the integrated structure for the longitudinal control of an automated transit bus is designed through the proposed method. Simulation results of the fault tolerant controller are shown for both single and multiple multiplicative faults. This controller was implemented on the California PATH transit buses in a demonstration of automated public transportation technology in San Diego, California in August of 2003.     

Using the built environment to oversample walk,transit, and bicycle travel

Characteristics of the built environment (BE) have been associated with walk, transit, and bicycle travel. These BE characteristics can be used by transportation researchers to oversample households from areas where walk, transit, or bicycle travel is more likely, resulting in more observations of these uncommon travel behaviors. Little guidance, however, is available on the effectiveness of such built environment oversampling strategies. This article presents measures that can be used to assess the effectiveness of BE oversampling strategies and inform future efforts to oversample households with uncommon travel behaviors. The measures are sensitivity and specificity, positive likelihood ratio (LR+), and positive predictive value (PPV). To illustrate these measures, they were calculated for 10 BE-defined oversampling strata applied post-hoc to a Seattle area household travel survey. Strata with an average block size of <10 acres within a ¼ mile of household residences held the single greatest potential for oversampling households that walk, use transit, and/or bicycle.     

高校财务内部控制要素分析

本文针对高校办学经费来湃由财政拨款方式向多渠道筹措办学资金的方式转变,管理业务日趋复杂,本文从控制环境、风险评估、控制活动、沟通与交流、监控等五个方面对高校内部控制要素进行分析,构建五个方面要素模型,实现对高校内部有效控制.     

浅析公路工程方案优选与造价控制的关系

文章基于设计方案优选的原则,提出公路工程方案设计中应树立全寿命周期成本的理念,并进行多方案的技术经济比选,合理确定工程设计方案,平衡技术与经济的关系,以通过方案优选达到控制造价的目的。     

中小城市公交场站用地指标研究

国内目前针对中小城市公交场站的研究不足,中小城市场站建设缺乏科学指导,场站用地难以得到保障.结合中小城市公交发展特点及场站模式,通过科学的分析计算,确定场站停车坪、建筑用地、场前区及绿化用地规模,探讨与之相符的中小城市公交场站用地指标,对于中小城市场站规划建设具有一定的现实意义.     

灰色理论在养护决策中的应用研究

选取平整度、车辙、抗滑能力、路面破损作为控制指标,采用灰色聚类法对养护路段进行分类,以达到科学决策的目的,可为类似公路的养护提供参考。