An improved particle swarm optimization (PSO) algorithm is investigated in the optimization of the attitude controller parameters of unmanned aerial vehicle (UAV). Considering the stagnation phenomenon in the late...An improved particle swarm optimization (PSO) algorithm is investigated in the optimization of the attitude controller parameters of unmanned aerial vehicle (UAV). Considering the stagnation phenomenon in the later phase of the basic PSO algorithm caused by the diversity scarcity of particles, a modified PSO algorithm is presented. For the basic PSO algorithm, the velocity of each particle is adjusted according to the inertia motion, the swarm previous best position and its own previous best position. However, in the improved PSO algorithm, each particle only learns from another randomly selected particle with higher performance, besides keeping the inertia motion. The inertia weight of the improved PSO algorithm is a random number. The modification decreases the uncertain parameters of the algorithm, simplifies the learning mechanism of the particle, and enhances the diversity of the swarm. Furthermore, a UAV attitude control system is built, and the improved PSO algorithm is applied in the optimized tuning of four controller parameters. Simulation results show that the improved PSO algorithm has stronger global searching ability than the common PSO algorithms, and obtains better UAV attitude control parameters.展开更多
This paper surnmarizes the historical experiences in venereal disease control in China during the 1950s.Venereal diseases had been all but eliminated in the whole country till 1964. However, along with the implementat...This paper surnmarizes the historical experiences in venereal disease control in China during the 1950s.Venereal diseases had been all but eliminated in the whole country till 1964. However, along with the implementation of open-door policy and economic reform in the 1980s, the social environment was changed to a great extent in this country. Sexually transmitted diseases (STDs) were reintreduced in the Chinese mainland and new foci of infection established themselves in some cities. During the recent 8 years the national STD case-reporting and sentinel surveillance systems have been set up. The results of surveillance show that the annual incidence of STD has been on the increase. The existing factors associated with the increasing incidence of STD mainly are ; population movement , increasing affiuence in a part of population,the availability of multiple sexual partners (including the prostitution)and asymptomatic STD increased.Finally, the strategies for STD control are discussed in detail.展开更多
S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV).However, it is difficult to adjust their control parameters manually.Choosing the optimum parameter...S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV).However, it is difficult to adjust their control parameters manually.Choosing the optimum parameters for the controller of a particular AUV is a significant challenge.To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered.The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.展开更多
Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,th...Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,the group leaders can attain the information of the global trajectory,while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge.Being to a distributed control method,the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory.Secondly,a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory.Moreover,the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders.In this way,on one hand,the agents of the group emerge a basic flocking behavior; on the other hand,the center of the group satisfies the constraints of global trajectory.Simulation results demonstrate the effectiveness of the proposed method.展开更多
在音乐会、体育场或朝圣地这类场所,有时会发生威胁生命安全的过度拥挤现象。因此,保证人群在这些地方的安全变得十分重要。提高建筑物的质量,优化建筑物结构,一直是安全工作的重要关注点。但过去的大多数工作都聚焦于使用新的设备和方...在音乐会、体育场或朝圣地这类场所,有时会发生威胁生命安全的过度拥挤现象。因此,保证人群在这些地方的安全变得十分重要。提高建筑物的质量,优化建筑物结构,一直是安全工作的重要关注点。但过去的大多数工作都聚焦于使用新的设备和方法对人群进行监测和管理,很少关注一个能够全面提高效率和安全性的结构化方法。在本文中,我们将探讨俄罗斯人提出的'Theory of Inventive Problem Solving'(发明问题的解决理论),即TRIZ理论,'看看它是否可以帮助我们改善或解决过度拥挤问题。具体来说,我们要找出人群管理中出现的矛盾,并研究TRIZ提供的哪一种解决方案可能对我们的问题有用。密集人群管理的常见矛盾之一,是越来越多的人流集聚在相对狭小的地方,导致过度拥挤。选择TRIZ理论提供的建议是解决这一矛盾的一种好方法。展开更多
A series of macrocycles, including crown ethers, cyclodextrins, calixarenes, pillararenes and cucurbiturils, are well known to be able to associate various organic/inorganic/biological guest molecules and ions in thei...A series of macrocycles, including crown ethers, cyclodextrins, calixarenes, pillararenes and cucurbiturils, are well known to be able to associate various organic/inorganic/biological guest molecules and ions in their well-defined cyclic cavities to form stable host-guest complexes and supramolecular systems through the cooperative contributions of various non-covalent interactions.When one or more functional groups are attached to the cavity of macrocycles or guest molecules, enhanced and/or controlled host-guest associations may take place, leading to not only improved host-guest binding abilities but also fascinating properties.In this review, some representative contributions in the construction of controllable macrocyclic supramolecular assemblies in aqueous solution are presented with an emphasis on the stimuli-responsive control manner and wide applications of this property.展开更多
Unconventional and 'non-lethal' weapons are being used in crowd control regularly nowadays. The use of these arms is not risk-free. The paramilitary forces in 2010 used the old fashioned slingshots for crowd control...Unconventional and 'non-lethal' weapons are being used in crowd control regularly nowadays. The use of these arms is not risk-free. The paramilitary forces in 2010 used the old fashioned slingshots for crowd control in Kashmir. A young male suffered from a fracture of the distal humerus due to a marble from a slingshot. He was managed by debridement and plaster splintage. Use of apparently innocuous weapons for crowd control is not without risk, as the projectiles fired from them can achieve high velocities and cause significant damage.展开更多
基金Supported by the Graduate Student Research Innovation Program of Jiangsu Province(CX08B-091Z)the Innovation and Excellence Foundation of Doctoral Dissertation of Nanjing University of Aeronautics and Astronautics(BCXJ08-06)~~
文摘An improved particle swarm optimization (PSO) algorithm is investigated in the optimization of the attitude controller parameters of unmanned aerial vehicle (UAV). Considering the stagnation phenomenon in the later phase of the basic PSO algorithm caused by the diversity scarcity of particles, a modified PSO algorithm is presented. For the basic PSO algorithm, the velocity of each particle is adjusted according to the inertia motion, the swarm previous best position and its own previous best position. However, in the improved PSO algorithm, each particle only learns from another randomly selected particle with higher performance, besides keeping the inertia motion. The inertia weight of the improved PSO algorithm is a random number. The modification decreases the uncertain parameters of the algorithm, simplifies the learning mechanism of the particle, and enhances the diversity of the swarm. Furthermore, a UAV attitude control system is built, and the improved PSO algorithm is applied in the optimized tuning of four controller parameters. Simulation results show that the improved PSO algorithm has stronger global searching ability than the common PSO algorithms, and obtains better UAV attitude control parameters.
文摘This paper surnmarizes the historical experiences in venereal disease control in China during the 1950s.Venereal diseases had been all but eliminated in the whole country till 1964. However, along with the implementation of open-door policy and economic reform in the 1980s, the social environment was changed to a great extent in this country. Sexually transmitted diseases (STDs) were reintreduced in the Chinese mainland and new foci of infection established themselves in some cities. During the recent 8 years the national STD case-reporting and sentinel surveillance systems have been set up. The results of surveillance show that the annual incidence of STD has been on the increase. The existing factors associated with the increasing incidence of STD mainly are ; population movement , increasing affiuence in a part of population,the availability of multiple sexual partners (including the prostitution)and asymptomatic STD increased.Finally, the strategies for STD control are discussed in detail.
基金Supported by the 863 Project under Grant No.2008AA092301the Fundamental Research Foundation of Harbin Engineering University under Grant No.2007001
文摘S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV).However, it is difficult to adjust their control parameters manually.Choosing the optimum parameters for the controller of a particular AUV is a significant challenge.To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure was considered.The simulation results indicated that the semi-physical simulation platform was helpful, the optimization algorithm has good local and global searching abilities, and the method can be reliably used for an AUV.
基金Projects(61170160,61202338)supported by the National Natural Science Foundation of China
文摘Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,the group leaders can attain the information of the global trajectory,while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge.Being to a distributed control method,the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory.Secondly,a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory.Moreover,the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders.In this way,on one hand,the agents of the group emerge a basic flocking behavior; on the other hand,the center of the group satisfies the constraints of global trajectory.Simulation results demonstrate the effectiveness of the proposed method.
文摘在音乐会、体育场或朝圣地这类场所,有时会发生威胁生命安全的过度拥挤现象。因此,保证人群在这些地方的安全变得十分重要。提高建筑物的质量,优化建筑物结构,一直是安全工作的重要关注点。但过去的大多数工作都聚焦于使用新的设备和方法对人群进行监测和管理,很少关注一个能够全面提高效率和安全性的结构化方法。在本文中,我们将探讨俄罗斯人提出的'Theory of Inventive Problem Solving'(发明问题的解决理论),即TRIZ理论,'看看它是否可以帮助我们改善或解决过度拥挤问题。具体来说,我们要找出人群管理中出现的矛盾,并研究TRIZ提供的哪一种解决方案可能对我们的问题有用。密集人群管理的常见矛盾之一,是越来越多的人流集聚在相对狭小的地方,导致过度拥挤。选择TRIZ理论提供的建议是解决这一矛盾的一种好方法。
基金supported by the National Natural Science Foundation of China (91527301, 21432004)
文摘A series of macrocycles, including crown ethers, cyclodextrins, calixarenes, pillararenes and cucurbiturils, are well known to be able to associate various organic/inorganic/biological guest molecules and ions in their well-defined cyclic cavities to form stable host-guest complexes and supramolecular systems through the cooperative contributions of various non-covalent interactions.When one or more functional groups are attached to the cavity of macrocycles or guest molecules, enhanced and/or controlled host-guest associations may take place, leading to not only improved host-guest binding abilities but also fascinating properties.In this review, some representative contributions in the construction of controllable macrocyclic supramolecular assemblies in aqueous solution are presented with an emphasis on the stimuli-responsive control manner and wide applications of this property.
文摘Unconventional and 'non-lethal' weapons are being used in crowd control regularly nowadays. The use of these arms is not risk-free. The paramilitary forces in 2010 used the old fashioned slingshots for crowd control in Kashmir. A young male suffered from a fracture of the distal humerus due to a marble from a slingshot. He was managed by debridement and plaster splintage. Use of apparently innocuous weapons for crowd control is not without risk, as the projectiles fired from them can achieve high velocities and cause significant damage.