S^2 BHCA Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill ＆ simulation based hybrid control architecture （S^2BHCA） as the controller＇s design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S^2BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the ＂skill＂. The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three ＂skills＂ for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S^2BHCA.     

WindML下汉字字体引擎的实现

详细分析了WindML下字体引擎的组织结构和文本显示的实现机制，并据此给出一种汉字字体引擎的实现方法。     

加快发展铁路中型养路机械促进铁道线路维修的现代化

阐述了发展铁路中型养路机械的必要性,认为发展中型养路机械不仅符合铁道部制定的养路机械发展的方针政策,而且也是铁道线路维修的实际需要。介绍了中型养路机械的研制、使用情况和配套设想。     

焊补层下伤损分析及探伤对策

近年来,北京铁路局湖东工务段管内大秦重车线钢轨接头掉块、鞍型磨耗十分严重.一般采用线上焊补的方法进行处理,现存焊补达500多处.由于受技术操作、作业环境等的影响,在焊补区域中形成薄弱环节,进而在焊补层下发生成核伤,严重危及行车安全.而焊补伤损的探测,目前使用CGT-7型等探伤仪,由于焊补层的特殊性,如存在"空气界面"等,使70°探头声波不能正常入射到钢轨中,且大部分焊补长度超过185 mm时仪器很难发现伤损,极易造成漏检.所以,亟待寻求探测焊补层下伤损探伤的对策.     

PERFORMANCE ANALYSIS OF SECOND-ORDER STATISTICS FOR CYCLOSTATIONARY SIGNALS

Introduction　　 In natural and man- made signals,there existwidely a special kind of non- stationary signal,forwhich the statistics,correlation function or higher-order statistics,vary not only with time but alsowith multiple incommensurate periods ( periodicallyor polyperiodically) .The random signal,such ascommunication,radar,telemetry,sonar,etc andthe data thatsubjectto seasonal and rhythmic vari-ations,such as hydrologic,oceanic,climatic,ex-hibit periodically the time- varying characteris…     

既有铁路桥下双护筒法强风化岩钻孔桩施工技术

通过工程实例,介绍在不中断运营线行车的情况下,既有铁路桥下强风化岩钻孔桩双护筒法施工技术,该技术在12根钻孔桩施工过程中获得成功应用。     

“缺腿龙门吊”在桥跨中吊装T梁的应用

主桥预应力T梁安装与南北引桥预应力箱梁同时施工，在桥跨中吊装预应力T梁并横移T梁至运梁轨道。     

丰田汽车的辉煌成就探因

1997年东南亚金融危机以来,对该地区汽车工业带来了相当的影响,日本也未能幸免.由于日本国内汽车市场疲软,汽车销量下跌,多数企业经济效益滑坡,一些厂家财政出现赤字,生存受到危胁.     

船舶力控减摇鳍系统建模与仿真

针对海浪的随机干扰、船舶模型的不确定性和控制器输出约束，采用升力反馈控制的全新方法，建立系统数学模型，运用H∞控制理论考虑混合灵敏度S／KS问题设计了控制器，对混合灵敏度S／KS问题模型、权函数的选择等问题进行了研究，同时结合具有实船，利用MFC和OpenGL三维图形库，建立了在微机上实现交互式实时控制、同时显示直观的实时多媒体动画的力控减摇鳍仿真系统，给出了仿真结果，并对仿真结果进行了分析