电子期刊发展中的人—机问题

电子期刊的发展受到人、机、环境的制约，本文从这三个角度讨论了电子期刊读者需求心理、电子期刊系统设计、信息质量、效益／成本等问题，对这些问题的解决提出了一些建议，对电子期刊的发展方向进行了描述。

运动平台上空悬停时人—机问题的初步研究

在小型舰船运动降落甲板上空，手控低高度悬停任务是非常重要的，尤其是不利天气和海况的情况下，本文中研究执行这种悬停任务时的驾驶员－直升机的相互作用。研究的目的是对该问题的透彻了解，并确定什么参数应当通过显示放大的办法直观地提供给驾驶员，以便改善任务性能。

铁路安全中的“人—机—环境”问题

以人机环境系统工程方法为依据,构筑完善的人机协调系统来最大限度地规避风险,确保铁路运输安全。

Analytical modeling and multi-objective optimization(MOO) of slippage for wheeled mobile robot(WMR) in rough terrain

Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.

Inverse kinematic deriving and actuator control of Delta robot using symbolic computation technology

In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control a description of the linear graph principle for automatically generating kinematic equations in a mechanical system as well as the symbolic computation implementation of this procedure is reviewed and projected into the Delta robot. Based on the established linear graph representation the explicit symbolic expression of constraint equations and inverse kinematic solutions are obtained successfully using a symbolic computation engine Maple so that actuator control and trajectory tracking can be directly realized.Two practical motions the circular path and Adept motion are simulated for the validation of symbolic solutions respectively.Results indicate that the simulation satisfies the requirement of the quick motion within an acceptable threshold. Thus the precision of kinematic response can be confirmed and the correctness of inverse solution is verified.

Wavelet network solution for the inverse kinematics problem in robotic manipulator

Wavelet network, a class of neural network consisting of wavelets, is proposed to solve the inverse kinematics problem in robotic manipulator. A wavelet network suitable for dealing with multi-input and multi-output system is constructed. The network is optimized by reducing the number of wavelets handling large dimension problem according to the sample data. The algorithms for sparseness analysis of input data and fitting wavelets to the output data with orthogonal method are introduced. Then Levenberg-Marquardt algorithm is used to train the network. Simulation results showed that this method is capable of solving the inverse kinematics problem for PUMA560.

Task Assignment Problem of Robots in a Smart Warehouse Environment

The task assignment problem of robots in a smart warehouse environment （TARSWE） based on cargo-to-person is investigated. Firstly, the sites of warehouse robots and the order picking tasks are given and the task assignment problem for picking one order is formulated into a mathematical model to minimize the total operation cost. Then a heuristic algorithm is designed to solve the task assignment problem for picking multiple orders. Finally, simulations are done by using the orders data of online bookstore A. The results show that using the heuristic algorithm of this paper to assign robots, the cost was reduced by 2% and it can effectively avoid far route and unbalanced workload of robots. The feasibility and validity of the model and algorithm are verified. The model and algorithm in this paper provide a theoretical basis to solve the TARSWE.

Youth Role in the Arab Spring

Middle East and North Africa （MENA） has been experiencing a unique demographic transition in the world especially after September 11, whilst, its social, political and economic structures have considerably remained inflexible and can hardly meet the increasing demands of employment among the youth whose expectations are raised through expansion in education. In spite of various common causes for the Arab uprisings, the paper spotlights the ＂Youth role＂ and its regarded issues of ＂Youth Bulge＂, ＂Education＂ and ＂Unemployment＂ with a glimpse to the overturned regimes of ＂Tunisia, Egypt, Libya, and Yemen＂. According to published statistics these countries are among the countries with the highest rate of youth as working age population in MENA. Therefore, the paper is to present the importance and impact of youth as a social parameter in challenging political structure of the countries in the MENA and leading to topple their political systems. Thus, the paper reasons the MENA political upheavals, in general, and the mentioned countries＇ uprisings, in particular, can not be well understood disregarding to natural tensions between economic, population structures, and political demographic challenges. This is to be done drawing on data from different international institutions. The intervened variables such as ＂ethnicity, race, religion and sexuality＂ and international parameters have not been considered.

Modeling of Welding Process by Robotic Vision

Modeling of welding process by robotic vision is basically a theoretical problem, means mainly on physical problem, and also technological problem. To obtain a good model of welding process by robotic vision, theoretical researches are required but also constant experimental researches of several welding processes. Until today researches of welding processes has been based on empirical and detailed experimentation. This paper presents welding process by robotic and automation points of view with application of new technologies. Welding robotic system has been designed with possibility to control and inspect this process. Parameters that should be controlled during the process have been identified to reach desired quality. Figure of control system of welding process by robotic vision is given in this paper.

Modeling approaches to pressure balance dynamic system in shield tunneling

In order to deal with modeling problem of a pressure balance system with time-delay, nonlinear, time-varying and uncertain characteristics, an intelligent modeling procedure is proposed, which is based on artificial neural network(ANN) and input-output data of the system during shield tunneling and can overcome the precision problem in mechanistic modeling(MM) approach. The computational results show that the training algorithm with Gauss-Newton optimization has fast convergent speed. The experimental investigation indicates that, compared with mechanistic modeling approach, intelligent modeling procedure can obviously increase the precision in both soil pressure fitting and forecasting period. The effectiveness and accuracy of proposed intelligent modeling procedure are verified in laboratory tests.

Grounding the View from Nowhere？ Essentialism, Liberal Universalism, and Cultural Relativism

How can Western political thought engage non-Western cultures if liberalism is--in Thomas Nagel＇s famous formulation-a view from nowhere？ This paper seeks to investigate the philosophical problems at the nexus of moral relativism and liberal universalism that Martha Nussbaum attempted to come to terms with in her essay Human Functioning and Social Justice： In Defense of Aristotelian Essentialism. I argue not against the idea of essentialism but rather for greater care in the concept＇s application.

The Changing Identity of China in Global Governance and International Institutions

As global issues become more prominent and complex, various actors in the international community are strengthening global governance through systems of international cooperation. Different international actors have different identities, responsibilities and roles in international institutions due to their comprehensive strengths. They are roughly divided into three types: followers, supporters and leaders. Since the founding of the People's Republic of China in 1949, its process of participation in international institutions and global governance has been obviously staged.In recent years, China has actively participated in various major international activities and carried out a series of diplomatic activities at home, which further demonstrates its involvement from a single participant to both a leader and a participant. In the existing traditional, modified and innovative international institutions, China is essentially playing a dual role, namely the roles of participant and supporter, the supporter and reformer, and the supporter and leader.

Some Potential Solutions to Global Environment Problems ＆ Energy Crisis： Based on Design

Nowadays human society enters the 21st century, with the rapid economic and technological development, people＇s material and spiritual requirements has got great satisfaction. However, natural environmental damage brought by us is also accelerating. Natural disasters happen frequently, including ecological degradation and deterioration, energy resources crisis, greenhouse effect, earthquakes, tsunamis, volcanoes etc. The global crisis has once again waken-up call to mankind. How to properly solve these crises had become a common and urgent responsibility of mankind. This paper will mainly discuss and seek some new potential methods in solving energy crisis and environmental problems from the perspective of automotive and architecture design. As an architect, how to avoid light pollution and reduce heat absorption of roof, increasing heat reflectance of roof are becoming their main and urgent responsibilities. On the other hand, reducing greenhouse effect, researching and developing new low-carbon, low-emission fuel sources are also becoming automotive designers＇ obligations. Living in harmony with nature ＆ earth is becoming the common human themes of the 21 st century.

基于感知模式纹理的人脸识别

稀疏表示分类法和局部二值模式是目前广泛运用的人脸表示方法.虽然稀疏表示分类法通过重构算法能很好的稀疏表示人脸,但在人脸的局部特征表示上不够理想.局部二值模式是基于局部纹理特征表示人脸,其提取的局部纹理简单、不连续、不光滑,造成纹理损失严重.提出局部纹理特征的感知模式纹理的概念,克服了稀疏表示分类法在局部特征表现不佳的缺点,同时又比局部二值模式纹理光滑、鲁棒.利用感知模式纹理特征在Yale和ORL数据库取得了较好的识别效果.

Characteristic model-based consensus of networked heterogeneous robotic manipulators with dynamic uncertainties

In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.

Hierarchical method of task assignment for multiple cooperating UAV teams

The problem of task assignment for multiple cooperating unmanned aerial vehicle(UAV) teams is considered. Multiple UAVs forming several small teams are needed to perform attack tasks on a set of predetermined ground targets. A hierarchical task assignment method is presented to address the problem. It breaks the original problem down to three levels of sub-problems: target clustering, cluster allocation and target assignment. The first two sub-problems are centrally solved by using clustering algorithms and integer linear programming, respectively, and the third sub-problem is solved in a distributed and parallel manner, using a mixed integer linear programming model and an improved ant colony algorithm. The proposed hierarchical method can reduce the computational complexity of the task assignment problem considerably, especially when the number of tasks or the number of UAVs is large. Experimental results show that this method is feasible and more efficient than non-hierarchical methods.

Path planning of unmanned aerial vehicle based on improved gravitational search algorithm

Path planning of Uninhabited Aerial Vehicle(UAV) is a complicated global optimum problem.In the paper,an improved Gravitational Search Algorithm(GSA) was proposed to solve the path planning problem.Gravitational Search Algorithm(GSA) is a newly presented under the inspiration of the Newtonian gravity,and it is easy to fall local best.On the basis of introducing the idea of memory and social information of Particle Swarm Optimization(PSO),a novel moving strategy in the searching space was designed,which can improve the quality of the optimal solution.Subsequently,a weighted value was assigned to inertia mass of every agent in each iteration process to accelerate the convergence speed of the search.Particle position was updated according to the selection rules of survival of the fittest.In this way,the population is always moving in the direction of the optimal solution.The feasibility and effectiveness of our improved GSA approach was verified by comparative experimental results with PSO,basic GSA and two other GSA models.

Tracking Control of Wheeled Mobile Robots with Communication Delay and Data Loss

This paper considers the tracking control problem of a wheeled mobile robot under situation of communication delay and consecutive data packet dropouts in the feedback channel. A tracking controller in discrete-time domain for the case of ideal network condition is first derived, and then the networked predictive controller as well as two algorithms for dealing with communication delay and consecutive data packet dropouts are proposed. Simulation and experimental results verify the realizability and effectiveness of the proposed algorithms.