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一种高效的多足机器人足端力分配计算方法
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作者 曾怡 郭祖华 赵士杰 《机械研究与应用》 2015年第3期101-104,共4页
多足机器人在移动过程中存在足端力多解问题,首先归纳了求解该问题的两种方法,即伪逆法和优化法,指出两种算法各自存在的问题,然后提出了一种新的力/力矩分配算法,推导了以动力学方程为基础的计算模型。以六足机器人三条腿支撑情况为例... 多足机器人在移动过程中存在足端力多解问题,首先归纳了求解该问题的两种方法,即伪逆法和优化法,指出两种算法各自存在的问题,然后提出了一种新的力/力矩分配算法,推导了以动力学方程为基础的计算模型。以六足机器人三条腿支撑情况为例比较了三种算法的优劣,计算结果表明新算法用时短,所得分配方案使机器人行走时能耗小,是一种高效的足端反力的求解方法。 展开更多
关键词 多足机器人 分配 动力学
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三端策论:经济新常态下对供给侧结构性改革的深化和细分
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作者 延志远 《领导之友》 2016年第21期28-35,共8页
经济活动过程有五个环节和十二个主要经济要素,这是对马克思主义政治经济学的进一步丰富和发展。五个环节可以简化为需求端、分配端和供给端,相应的对宏观经济的管理有三个方向:需求端管理、分配端管理和供给端管理。这是在经济新常态... 经济活动过程有五个环节和十二个主要经济要素,这是对马克思主义政治经济学的进一步丰富和发展。五个环节可以简化为需求端、分配端和供给端,相应的对宏观经济的管理有三个方向:需求端管理、分配端管理和供给端管理。这是在经济新常态下对供给侧结构性改革的深化和细分,使改革的着力点更加清楚,资源配置更加合理有效。 展开更多
关键词 经济活动过程五个环节 十二个经济要素 需求 分配端 供给 供给侧结构性改革
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多足机器人足端支反力求解方法比较
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作者 赵士杰 郭祖华 《机器人技术与应用》 2014年第6期23-26,共4页
多足移动机器人运动过程中足端支反力的求解是一个难题,本文介绍并比较了两种计算方法,即伪逆法和优化方法。伪逆法将等式约束线性化处理并补充到平衡方程中,然后利用伪逆理论求解;优化方法则以各个关节力矩的平方和最小为目标函数,搜... 多足移动机器人运动过程中足端支反力的求解是一个难题,本文介绍并比较了两种计算方法,即伪逆法和优化方法。伪逆法将等式约束线性化处理并补充到平衡方程中,然后利用伪逆理论求解;优化方法则以各个关节力矩的平方和最小为目标函数,搜寻最优解。本文用伪逆法、基于常规规划理论的优化方法和遗传算法分别实现了某6足机器人足端反力的求解。通过对计算结果进行分析比较,得知:伪逆法效率高,但结果偏于保守,机器人行走时能耗偏高;优化方法得到的结果虽然使机器人行走时能耗更少,但计算速度慢,无法用于实时控制。 展开更多
关键词 多足机器人 动力学 分配
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高质量发展阶段扩大消费的战略意义和实现路径 被引量:2
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作者 王小广 梁雅楠 张晏玮 《行政管理改革》 CSSCI 北大核心 2023年第10期37-50,共14页
消费是市场经济重要的基础。当前我国经济运行发展的主要问题突出表现为消费需求严重不足。要从循环与增长动力变化看扩大消费对推动高质量发展的重要战略意义,把恢复和扩大消费摆在优先位置,这不是权宜之计,而是长期稳增长、推动高质... 消费是市场经济重要的基础。当前我国经济运行发展的主要问题突出表现为消费需求严重不足。要从循环与增长动力变化看扩大消费对推动高质量发展的重要战略意义,把恢复和扩大消费摆在优先位置,这不是权宜之计,而是长期稳增长、推动高质量发展的关键举措。扩大消费要着眼于国民经济循环整体,解决关键“堵点”——收入分配瓶颈。根本办法就是深化收入分配制度改革,降低储蓄率,提高消费率,促进居民消费倾向回升,使巨大的消费潜力得到有效发挥,为实现高质量发展、推进中国式现代化提供强大支撑。建议实施以深化分配体制改革为主的一揽子扩大消费的方案,从税制结构改革、完善社会保障功能、做实高端产业链、优化消费环境等入手,在战略上和政策上突出扩大消费的关键作用。 展开更多
关键词 国民经济循环 消费不足 居民消费倾向 分配端改革
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基于多尺度LBP金字塔特征的分类算法 被引量:14
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作者 梁鹏 何俊诗 黎绍发 《计算机工程》 CAS CSCD 北大核心 2011年第8期166-168,共3页
为有效解决旋转变化、光照变化和尺度变化等图像的分类问题,提出一种基于多尺度局部二元模式(LBP)金字塔特征的图像分类算法。通过多尺度LBP金字塔提取各尺度的图像纹理特征,建立图像的多尺度LBP金字塔直方图,并将其作为图像特征向量,采... 为有效解决旋转变化、光照变化和尺度变化等图像的分类问题,提出一种基于多尺度局部二元模式(LBP)金字塔特征的图像分类算法。通过多尺度LBP金字塔提取各尺度的图像纹理特征,建立图像的多尺度LBP金字塔直方图,并将其作为图像特征向量,采用K-means方法对该特征向量进行降维,以用于图像分类。同时,针对传统二进制权值分布方法对噪声敏感的缺点,提出一种多端权值分布方法。实验结果表明,多尺度LBP金字塔方法具有较好的可鉴别性及图像描述能力,而多端权值分布法也能提高图像的分类精度。 展开更多
关键词 多尺度LBP金字塔 图像分类 权值分配 特征向量
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Partially Overlapped Channels- and Flow-Based End-to-End Channel Assignment for Multi-Radio Multi-Channel Wireless Mesh Networks 被引量:3
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作者 WANG Jihong SHI Wenxiao 《China Communications》 SCIE CSCD 2016年第4期1-13,共13页
Capacity reduction is a major problem faced by wireless mesh networks. An efficient way to alleviate this problem is proper channel assignment. Current end-toend channel assignment schemes usually focus on the case wh... Capacity reduction is a major problem faced by wireless mesh networks. An efficient way to alleviate this problem is proper channel assignment. Current end-toend channel assignment schemes usually focus on the case where channels in distinct frequency bands are assigned to mesh access and backbone, but actually backbone network and access network can use the same IEEE 802.11 technology. Besides, these channel assignment schemes only utilize orthogonal channels to perform channel assignment, and the resulting network interference dramatically degrades network performance. Moreover, Internet-oriented traffic is considered only, and peerto-peer traffic is omitted, or vice versa. The traffic type does not match the practical network. In this paper, we explore how to exploit partially overlapped channels to perform endto-end channel assignment in order to achieve effective end-to-end flow transmissions. The proposed flow-based end-to-end channel assignment schemes can conquer the limitations aforementioned. Simulations reveal that loadaware channel assignment can be applied to networks with stable traffic load, and it can achieve near-optimal performance; Traffic-irrelevant channel assignment is suitable for networks with frequent change of traffic load,and it can achieve good balance between performance and overhead. Also, partially overlapped channels' capability of improving network performance is situation-dependent, they should be used carefully. 展开更多
关键词 channel assignment: end-to-end partially overlapped channels load-aware traffic-irrelevant
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Cache-Assign-Forward Architecture for Efficient Communication in Hybrid Delay-Tolerant Networks
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作者 Guo Xiaobing Liu Min 《China Communications》 SCIE CSCD 2012年第6期36-44,共9页
Delay-Tolerant Networks (DTNs) are wireless networks that often experience temporary, even long-duration partitioning. Current DTN researches mainly focus on pure delay-tolerant networks that are extreme environments ... Delay-Tolerant Networks (DTNs) are wireless networks that often experience temporary, even long-duration partitioning. Current DTN researches mainly focus on pure delay-tolerant networks that are extreme environments within a limited application scope. It motivates the identification of a more reasonable and valuable DTN architecture, which can be applied in a wider range of environments to achieve interoperability between some networks suffering from frequent network partitioning, and other networks provided with stable and high speed Internet access. Such hybrid delay-tolerant networks have a lot of applications in real world. A novel and practical Cache-Assign-Forward (CAF) architecture is proposed as an appropriate approach to tie together such hybrid networks to achieve an efficient and flexible data communication. Based on CAF, we enhance the existing DTN routing protocols and apply them to complex hybrid delay-tolerant networks. Simulations show that CAF can improve DTN routing performance significantly in hybrid DTN environments. 展开更多
关键词 delay tolerant networks intermittentconnectivity network architecture ROUTING
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Joint Source-Channel Bit Allocation Based on Expected End-to-End Distortion Model 被引量:1
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作者 马汉杰 陈耀武 《Journal of Donghua University(English Edition)》 EI CAS 2010年第4期458-462,共5页
An adaptive joint source channel bit allocation method for video communications over error-prone channel is proposed.To protect the bit-streams from the channel bit errors,the rate compatible punctured convolution(RCP... An adaptive joint source channel bit allocation method for video communications over error-prone channel is proposed.To protect the bit-streams from the channel bit errors,the rate compatible punctured convolution(RCPC)code is used to produce coding rates varying from 4/5 to 1/2 using the same encoder and the Viterbi decoder.An expected end-to-end distortion model was presented to estimate the distortion introduced in compressed source coding due to quantization and channel bit errors jointly.Based on the proposed end-to-end distortion model,an adaptive joint source-channel bit allocation method was proposed under time-varying error-prone channel conditions.Simulated results show that the proposed methods could utilize the available channel capacity more efficiently and achieve better video quality than the other fixed coding-based bit allocation methods when transmitting over error-prone channels. 展开更多
关键词 joint source-channel coding end-to-end distortion bit allocation rate compatible punctured convolution code
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