计及分布式电源动态行为的配电网重构优化策略

解决分布式电源高渗透率地区电压越限的根本方法是实施合理的配电网规划。现有方法存在着人工智能算法初始域搜索半径过大以及动态时段划分与拓扑寻优分离的问题。引入半不变量法计算随机潮流来处理分布式电源动态行为带来的不确定性,并采用改进的NSGA-II算法实现配电网重构,提出了一种计及分布式电源动态行为的配电网重构概率约束优化策略和求解方法。特别提出了在网架寻优的基础上再在时间层面上依据优压参数再次整合优化来构建配电系统动态重构数学模型,最后采用嵌套基因回路搜索策略改进NSGA-Ⅱ算法并求解上述优化模型,以解决传统配电网规划中对强相关性随机变量考虑较少的不足。IEEE-33节点配电系统算例验证了所提方法的有效性。

无过失责任：论分布式道德行为的道德责任之本质与分配

分布式道德责任(distributed moral responsibility,DMR)的概念由来已久。如果将分布式道德责任的诠释彻底还原为(某些)人、个体和负道德责任的行为(morally loaded actions)总和时,那么DMR的分配,无论是赞赏和奖励或谴责和惩罚,从概念的角度而言是没有问题的,但从实际操作上则是非常困难的。然而,在分布式的环境中,代理网络、某些人类、人工体(譬如程序)和混合体(譬如基于一个软件平台在一起工作的一群人)都可能带来分布式道德行为(distributed moral actions,DMAs)。DMAs是有善恶之分(即,负载道德的)的行为,它们是由一些其自身既非善也非恶(道德中立的)的局部交互所导致的。在本文中,我将分析由DMAs而引发的DMRs,并为完全道德责任(无过失责任)默认地分配给网络中所有节点/代理提供辩护,这些节点/代理对于所探讨的DMA在因果上相关,但与其意向性无关。所提出的机制受如下三个概念的启发,并从中汲取了相关内容:网络理论中的反向传播(back propagation from network theory)、法理学中的严格责任原则(strict liability from jurisprudence)和认识论逻辑中的常识(common knowledge from epistemic logic)。

基于分布式感知-行为网的机器人实时环境学习和导航方法

利用机器人自身的时空经验,在缺乏全局坐标信息、罗盘信息和环境先验模型的情况下,建立基于分布式感知-行为网的空间模型.因为该网络是完全分布的,所以提供了定常的定位时间和线性的路径规划时间.实验结果表明,将分布式感知-行为网作为环境模型可以更好地与基于行为系统相融合;并且利用环境上下文匹配算法可以有效解决迷宫环境的"感知混淆"问题;文中给出了基于环境熟悉度的环境动态探测方法,实现了有效的环境探测.

基于CORBA的分布式网络行为监控系统的研究与设计

本文提出了一种基于CORBA的分布式网络监控系统的整体模型,监控来自于内部和外部两个方面的网络入侵行为,实现中采取了协议分析、多路入侵检测机制、分布式监控数据库等关键技术,使得系统自身具有良好的可扩展性、可重用性、可靠性以及具有较高的通信质量和处理效率等。

“灵璧三绝”动漫宣传片中的群体动画制作技术

为了制作"灵璧三绝"特色文化动漫宣传片的群体动画场景,在深入研究自治体分布式行为控制理论的基础上,基于MAYA粒子系统使用MEL语言编写群体动画分布式行为控制脚本。该方法解决了粒子间的自碰撞和群体角色的路径规划。同时使用了改进的碰撞检测避免算法规划群体运动路径,该算法基于力的计算,能够模拟自然界物体在受力情况下真实躲避障碍物的运动情况,运行速度快,效果良好。实际应用结果表明,使用编写的脚本能开发制作出"灵壁三绝"动漫宣传片的群体动画,且制作简单,成本低廉。

基于主动视觉和超声的机器人目标跟踪系统

运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。

Adaptive distributed formation maintenance for multiple UAVs:Exploiting proximity behavior observations

The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.

Flocking behavior with multiple leaders and global trajectory

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.

The Design of Small Micro-UAV Formation of ＂Sub-mother＂ type

This paper aims to provide a design about a kind of low-cost ＂sub-mother＂ UAV small formation by using the low-cost micro-UAV as the platform. Combined with the current international situation in the UAV formation research, the modeling is based on the distributed control method and the behavior-based strategy. In this paper, some research to a few key issues has been carried out.

The Role of Phase Errors Distributions in Phased Array Systems Operations

A comprehensive study on the role of the phase errors distribution on the performances of the phased array systems has been led using a complete and behavioral model for radiation-pattern characteristics. The used model has many input parameters and it has a lot of features, such as parameters simulations with results analysis, unconventional two-dimensional color graph representation capability in order to show more clearly the results. The results of the study have been discussed and reported. The main achievement of this work is the demonstration that the RMS phase error is a valuable figure of merit of phased array systems but it is not sufficient to completely describe the behavior of a real system. Indeed, this work has shown how the phase errors distribution actually affects the performances of the phased arrays antennas.