Virtual Reality-based Teleoperation with Robustness Against Modeling Errors

This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine model matching and robot compliance control. On one hand, the status of the virtual robot is corrected by using the position sensor data from robot joints before and during teleoperation, and the pose of the virtually manipulated object is obtained with visual recognition technology. On the other hand, compliance control algorithms of impedance control based on joint torque sensors and hybrid position/force control based on a wrist sensor have been executed in order to eliminate the small sustaining model errors. A VR-based teleoperation system of satellite on-orbit self-serving is built up. In order to verify the proposed method, an experiment deploying the solar panel troubled by malfunction is carried out through teleoperation. It shows that the large model errors are removed with the model matching method and the adopted compliance control is robust against the remaining small model errors.     

高校创新人才素质培养

面对知识经济时代对创新人才的呼唤,作为创新人才培养基地的高校必然关注大学生创新素质的培养.创新人才的创新素质包括创新动机、创新精神、创新思维和创新的知识基础四个方面.因此创新人才的培养应从四个维度展开,即:激发创新动机、培养创新精神、训练创新思维和构建创新知识.     

高等院校贷款的风险规避与对策

高等院校为适应扩大招生规模的需要，大量举债，目前高校贷款总额已达1500亿-2000亿之间；银行认为贷款安全而主动与高校合作，可以得到回报；政府将为高校贷款（高校为公益事业）承担巨大风险。从高等院校公用、专项经费看，许多院校无力偿还贷款。希望各高校、银行、政府能够有所警示和启迪。     

基于小波变换的混和压缩编码

根据数字图像编码的现状，在分析目前图像压缩的常用方法优缺点的基础上，采用小波变换，对不同视觉敏感的频段采用不同分辨率的量化同时，结合非均匀量化和Huffman编码，对图像进行混合编码压缩，获得了好的压缩效果。     

平面波导器件封装工艺软件的研究与开发

平面波导器件的耦合封装是制约其发展的一个瓶颈,通过研究平面波导器件的封装工艺特点,分析了封装过程对控制系统的要求.基于Visual Basic.Net开发了封装工艺软件,研究了手动调整、视觉引导粗对准、自动化对准以及点胶固化四个模块的设计方法,并对编程过程中的关键技术进行了讨论.     

2007年上市民航运输企业财务分析

利用2007年财务报告，对中国国际航空公司（简称国航）、中国南方航空集团（简称南航）、中国东方航空集团（简称东航）、海南航空公司（简称海航）、上海航空公司（简称上航）5家A股上市民航运输企业财务状况进行了分析，采用比较分析法、比率分析法对5家企业的财务报表进行分析。结果表明，传统财务报表分析方法是从盈利水平和财务风险的角度进行的，从盈利质量、资产质量和现金流的视角能更全面系统地进行财务报表分析，为相关信息使用者决策提供更科学的依据。表明5家A股上市民航运输企业中，在资产规模、获利能力以及创造现金流方面，国航具有总体相对优势，在净资产率和现金流方面，海航具有相对优势。     

Low light intensity effects on the growth,photosynthetic characteristics,antioxidant capacity,yield and quality of wheat (Triticum aestivum L.) at different growth stages in BLSS

Minimizing energy consumption and maximizing crop productivity are major challenges to growing plants in Bioregenerative Life Support System (BLSS) for future long-term space mission. As a primary source of energy, light is one of the most important environmental factors for plant growth. The purpose of this study is to investigate the effects of low light intensity at different stages on growth, pigment composition, photosynthetic efficiency, biological production and antioxidant defence systems of wheat (Triticum aestivum L.) cultivars during ontogenesis. Experiments were divided into 3 intensity-controlled stages according to growth period (a total of 65 days): seedling stage (first 20 days), heading and flowering stage (middle 30 days) and grain filling stage (last 15 days). Initial light condition of the control was 420 μmol m⁻² s⁻¹ and the light intensity increased with the growth of wheat plants. The light intensities of group I and II at the first stage and the last stage were adjusted to the half level of the control respectively. For group III, the first and the last stage were both adjusted to half level of the control. During the middle 30 days, all treatments were kept the same intensity. The results indicated that low-light treatment at seedling stage, biomass, nutritional contents, components of inedible biomass and healthy index (including peroxidase (POD) activity, malondialdehyde (MDA) and proline content) of wheat plants have no significant difference to the control. Furthermore, unit kilojoule yield of group I reached 0.591 × 10⁻³ g/kJ and induced the highest energy efficiency. However, low-light treatment at grain filling stage affected the final production significantly.     

社会化商业情境下UGC对品牌态度的影响述评

以互动参与及粉丝经济为典型特征的社会化商业时代,传统媒介已不足以支撑企业品牌的构建与发展;社会化平台用户产生内容（UGC）会直接影响品牌的可信度及消费者购买决策.通过对国内外文献的回顾,梳理了UGC对品牌态度的驱动因素,并从正反两方面探索了UGC对品牌态度产生的积极影响与消极效应,旨在为网络零售业在社会化商业模式下的品牌传播提供营销启示与参考.     

基于Kriging的多目标遗传算法

为了提高多目标优化问题的求解效率,提出了一种新的处理约束多目标优化问题的基于Kriging的多目标遗传算法(MOKGA)。MOKGA采用物理规划法将多目标优化转化为单目标优化,然后构建目标函数的考虑约束的EI(Expected Improvement)模型,并采用遗传算法进行求解。六峰值驼背函数和一个导弹多目标多学科设计优化问题用于MOKGA算法性能的测试。结果表明,与理论解相比,MOKGA算法有很好的优化结果;与NSGA II相比,MOKGA有很快的收敛性。     

2195铝锂合金应力松弛时效成形工艺制度

以2195-T8态铝锂合金为研究对象,探究工艺参数对其应力松弛时效行为的影响规律。试样经过固溶、淬火,进行不同预变形、时效温度及时效时间条件下的应力松弛时效实验。通过室温拉伸,测得应力松弛时效后试样的力学性能。基于正交试验的极差分析和方差分析,探究了预变形、时效温度和时效时间3个工艺参数对应力松弛量、屈服强度和延伸率的影响权重占比;进一步研究发现预变形不仅可以提高2195铝锂合金时效后的强度,还降低了应力梯度对材料力学性能不均匀性的影响;查明了实现2195铝锂合金应力松弛时效形性协同制造的合理工艺制度:180℃+4%预变形+时效时间12～16 h。研究工作为大型铝锂合金构件应力松弛时效形性协同制造工艺窗口的确定提供了重要支撑。