月面巡视探测器行为控制初探

阐述了月面巡视探测器几种行为控制结构的特点,详细阐述了巡视探测器的导航运动控制方式,研究了国外巡视探测器的导航运动控制特点;并以此提出了巡视探测器基于模糊逻辑的分层行为控制模式,举例说明了巡视探测器的行为描述方式。     

基于FGN输入流的G/D/1排队模拟

传统的排队理论不适于分析高速网络表现出的自相似流量.通过实验仿真,主要考察平均等待时间和在队列分别为无限和有限情形下的队列尾部特征等参数,并对以FGN为输入流的G/D/1排队模型作了定性分析.结果表明在输入流的强度和方差基本相等且系统利用律大于某一阈值的情况下,队列平均等待时间随Hurst参数增大而显著增长.同时指出在相同的条件下考察队列尾部特征,具有有限队列长度的G/D/1排队模拟结果要远优于无限队列长度下的理论分析结果.      

超高频脉冲电弧焊接熔池金属流动行为

熔池金属流动一方面受电弧行为影响,另一方面与凝固组织形核、结晶过程联系紧密,是电弧焊接基础研究的关键,针对电弧力作用研究了超高频脉冲电弧焊接(UHFP-AW,Ultra High Frequency Pulsed Arc Welding)熔池金属流动特点,采用理论研究与试验分析相结合的方式对熔池流动方式、强度、温度分布等要素进行了分析,并完成了液态金属表面运动特征监测.结果表明,超高频脉冲电弧对熔池液态金属的热、力作用显著,表面流体流速大于30cm/s,UHFP-AW电弧力造成熔池表面沉降变形,引起双环流,熔池温度扩散范围相应减小,有效降低了电弧热量对母材金属的影响,尤其在钛合金焊接中对控制焊缝晶粒尺寸具有重要意义.      

Doppler observations of infrasonic waves of meteorological origin at ionospheric heights

Ionospheric effects of meteorological origin observed by the continuous HF Doppler sounder over the Czech Republic are reported in this paper. We focused on detection of waves of periods 1–10 min. We discuss the influence of dynamics and intensity of active weather systems on the occurrence of short period waves and dependence of the observed ionospheric effects on the height of reflection of the sounding radio wave. We observed 3–5 min waves during a severe weather event in summer and 2.5–4 min waves during a severe weather event in winter. We excluded possible geomagnetic origin of these oscillations by the analysis of fluctuations of the local geomagnetic field. In eight cases of 10, wave activity in the analysed period range was not significantly increased comparing to quiet days. The intensity of weather systems as well as the location of potential sources of waves towards the points of HF Doppler shift observation influence significantly the occurrence of infrasonic waves in the ionosphere. The results in Central Europe differ considerably from those previously obtained in North America. As a possible reason, we discuss different intensity and dynamics of weather systems in both regions.     

Solar signals in the minimum extreme temperature records in the southern region of the Gulf of Mexico

Minimum extreme temperature series from several meteorological stations of the Gulf of Mexico are spectrally analyzed using the Maximum Entropy Method.We obtained significant periodicities similar to those found in meteorological and solar activity phenomena. This indicates that probably the solar activity signals are present in the minimum extreme temperature records of this Mexican region.     

Presynaptic transporter-mediated release of glutamate evoked by the protonophore FCCP increases under altered gravity conditions

High-affinity Na⁺-dependent glutamate transporters of the plasma membrane mediate the glutamate uptake into neurons, and thus maintain low levels of extracellular glutamate in the synaptic cleft. The study focused on the release of glutamate by reversal of Na⁺-dependent glutamate transporters from rat brain nerve terminals (synaptosomes) under conditions of centrifuge-induced hypergravity. Flow cytometric analysis revealed similarity in the size and cytoplasmic granularity between synaptosomal preparations obtained from control and G-loaded animals (10 G, 1 h). The release of cytosolic l-[¹⁴C]glutamate from synaptosomes was evaluated using the protonophore FCCP, which dissipated synaptic vesicle proton gradient, thus synaptic vesicles were not able to keep glutamate inside and the latter enriched cytosol. FCCP per se induced the greater release of l-[¹⁴C]glutamate in hypergravity as compared to control (4.8 ± 1.0% and 8.0 ± 1.0% of total label). Exocytotic release of l-[¹⁴C]glutamate evoked by depolarization was reduced down to zero after FCCP application under both conditions studied. Depolarization stimulated release of cytosolic l-[¹⁴C]glutamate from synaptosomes preliminary treated with FCCP was considerably increased from 27.0 ± 2.2% of total label in control to 35.0 ± 2.3% in hypergravity. Non-transportable inhibitor of glutamate transporter dl-threo-β-benzyloxyaspartate was found to significantly inhibit high-KCl and FCCP-stimulated release of l-[¹⁴C]glutamate, confirming the release by reversal of glutamate transporters. The enhancement of transporter-mediated release of glutamate in hypergravity was found to result at least partially from the inhibition of the activity of Na/K-ATPase in the plasma membrane of synaptosomes. We suggested that hypergravity-induced alteration in transporter-mediated release of glutamate indicated hypoxic injury of neurons.     

基于能力的工作流任务组织化

为解决一般工作流模型中"活动-成员"的紧耦合链,改进任务分配的柔性和适应性,提出了工作流活动和成员的能力概念.描述了能力本体模型和基于能力的任务组织化原则,建立了"活动-能力-成员"三层结构的过程元模型,给出了一系列能力匹配策略的形式化描述.上述概念和方法在开放边界工作流系统ABCflow中得到应用和验证.      

自主虚拟人智能驾驶行为模型的研究和实现

描述了自主虚拟人的分层驾驶行为及对虚拟世界的感知.在对自主虚拟人的驾驶行为进行研究的基础上,结合导向行为与专家经验,建立了基于产生式规则的智能行为模型,并给出了规则的具体实现.通过虚拟现实技术对该智能模型进行了验证,证明了其可行性.      

一种基于UML活动图模型的系统测试方法

UML活动图是基于UML开发的软件设计模型的重要组成部分,它描述了软件系统的动态行为,是软件系统测试过程中的一个重要的信息来源.提出了一个基于UML活动图的场景测试方法,给出了生成基本流和备选流的原则,对传统场景法进行了改进,避免了测试场景集数量爆炸.最后重点结合一个实例对该方法进行了论述.     

弱引力下小行星动量驱动机器人的可控跳跃行为

以小行星表面着陆探测为背景,提出一种动量驱动机器人(MoRo)以满足弱引力复杂环境下的探测需求。该机器人利用弱引力环境下的摩擦和碰撞特性,通过主动辨识环境参数,规划和控制动量轮以产生期望的驱动力矩,完成可控性跳跃及腾空后的稳定拍照等任务。首先,基于MoRo的动量轮刹车机构特性,分析了MoRo在弱引力环境下的跳跃机理并对其跳跃方式进行了规划;接着考虑动量轮驱动机构三闭环伺服系统的非线性特性,基于Herze碰撞模型和Karnopp摩擦模型建立了MoRo在小行星表面的跳跃行为动力学模型;其次,使用机器学习算法建立环境参数和MoRo运动的函数关系,并基于环境参数规划动量轮转速实现跳跃距离和腾空高度的可控。最后,通过数值仿真校验了MoRo跳跃规划方法和控制方法的可行性。