Optimal Load Balancing Leveling Method for Multi-leg Flexible Platforms

The working platforms supported with multiple extensible legs must be leveled before they come into operation.Although the supporting stiffness and reliability of the platform are improved with the increasing number of the supporting legs,the increased overdetermination of the multi-leg platform systems leads to leveling coupling problem among legs and virtual leg problem in which some of the supporting legs bear zero or quasi zero loads.These problems make it quite complex and time consuming to level such a multi-leg platform.Based on rigid body kinematics,an approximate equation is formulated to rapidly calculate the leg extension for leveling a rigid platform,then a proportional speed control strategy is proposed to reduce the unexpected platform distortion and leveling coupling between supporting legs.Taking both the load coupling between supporting legs and the elastic flexibility of the working platform into consideration,an optimal balancing legs’ loads(OBLL) model is firstly put forward to deal with the traditional virtual leg problem.By taking advantage of the concept of supporting stiffness matrix,a coupling extension method(CEM) is developed to solve this OBLL problem for multi-leg flexible platform.At the end,with the concept of supporting stiffness matrix and static transmissibility matrix,an optimal load balancing leveling method is proposed to achieve geometric leveling and legs’ loads balancing simultaneously.Three numerical examples are given out to illustrate the performance of proposed methods.This paper proposes a method which can effectively quantify all of the legs’ extension at the same time,achieve geometric leveling and legs’ loads balancing simultaneously.By using the proposed methods,the stability,precision and efficiency of auto-leveling control process can be improved.

A Distributed Cooperative Localization Algorithm for Mobile Multi-platforms Oriented to Unpredicted Communication Topology

The cooperative localization(CL)is affected by the communication topology among the platforms.Based on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is investigated.To improve the adaptability,the character of the look-up Cholesky decomposition is exploited for the covariance matrix decomposing.Then,the distributed U transformation can be dynamically implemented according to the available communication topology.In the proposed algorithm,the global information is not required for the individual,and only the available information from the neighbor is used.Each platform’s state can be estimated independently.The error covariance of the state estimates can be updated in the single platform.The algorithm is adaptive to any serial communication topologies where the measuring to the measured platform is a starting path.The applicability of the proposed algorithm to unpredicted communication topology is improved,remaining equivalent localization performance to free connection communication.

A Secure Multi-Routing Platform for Ad Hoc Network

In an ad hoc network, it is usually difficult to optimize the assignment of network routing resources using a single type of routing protocol due to the differences in network scale, node moving mode and node distribution. Therefore, it is desirable to have nodes run multiple routing protocols simultaneously so that more than one protocols can be chosen to work jointly. For this purpose, a multiple routing platform for Ad hoc networks is proposed on a higher level of current routing protocols. In order to ensure the security of the platform, a security mechanism and its formal analysis by BAN logic is given. The simulation results of the network performance demonstrate that the proposed multi-routing platform is practicable in some complex applications.

Vortex-Induced Vibration of a Tension Leg Platform Tendon:Multi-Mode Limit Cycle Oscillations

This paper studies the application of mathematical models to analyze the vortex-induced vibrations of the tendons of a given TLP along the Indian coastline, by using an analytical approach, using MATLAB. The tendon is subjected to a steady current load, which causes vortex-shedding downstream, leading to cross-flow vibrations. The magnitude of the excitation(lift and drag coefficients) depends on the vortex-shedding frequency. The resulting vibration is studied for possible resonant behavior. The excitation force is quantified empirically, the added mass by potential flow hydrodynamics, and the vibration by normal mode summation method. Non-linear viscous damping of the water is considered. The non-linear oscillations are studied by the phase-plane method, investigating the limit-cycle oscillations. The stable/unstable regions of the dynamic behavior are demarcated. The modal contribution to the total deflection is studied to establish the possibility of resonance of one of the wet modes with the vortex-shedding frequency.

The Utility Model Relates to a Training Platform for Neurosurgery Multi-Purpose Medical Nursing Worker

With the development of medical level, specialized, refined and multidisciplinary collaborative therapy is the requirement and main development direction of neurosurgery. With the improvement of people’s medical awareness, people cannot meet the simple surgical treatment, and there is a great demand for nursing treatment. At the same time, the demand for efficiency and convenience of medical nursing practice teaching continues to improve, and the multi-functional medical nursing training innovation platform has been paid more and more attention. The rapid development of material technology as well as digitalization has brought about a huge change, and we have created a multifunctional, spatially efficient and easy-to-transfer information platform for medical care training. A base box, placement drawer, platform board and display are used as the base module and the base module is filled with specific functional components. Lifting and lowering using motors and spiral base, moving using universal wheels. These devices together constitute the training platform. A survey of students and teachers was conducted through a questionnaire, and they all gave very good feedback that the multi-functional platform was very practical and useful. This platform effectively solves the drawbacks of the original training platform which is time-consuming, laborious and inconvenient, and is worthy of further promotion and research.

基于Multi-agent的数字一体化仿真平台的设计

讨论了基于Multi-agent的数字一体化虚拟仿真平台的发展方向、设计准则和关键问题,提出了基于Multi-agent的数字一体化虚拟仿真平台的系统总体结构框架、设计思想和实现步骤,并分析了原型系统的功能与技术特点。

基于Multi-Agent仿真模型的非对称作战有效性分析

针对多要素在非对称作战中运用的复杂影响,建立了基于Multi-Agent的仿真模型,对非对称作战的有效性进行了数学解释;给出了Multi-Agent的系统结构,在EINSTein仿真平台中设置了指挥决策Agent、态势感知Agent、通信协作Agent和作战行动Agent,以此模拟作战要素在非对称作战中运用的主要功能,进而演示非对称作战的过程,获得非对称作战的仿真实验数据;仿真模型描述了多要素影响下作战体系的突变现象;通过作战目的的实现和高倍增的作战效果,实证了仿真模型的有效性和可行性。

基于Multi-Agent的混流生产多工厂产能分配系统开发

针对混流生产计划分配过程中多产品、多工厂的产能平衡问题,分析了混流生产多工厂计划分配流程,构建了多工厂产能系统模型,并讨论了在产能平衡过程中的具体优化算法.应用分布式Multi-Agent技术和JADE平台开发了混流生产系统多工厂产能分配系统,有效地协助混流生产企业进行生产计划过程中的多工厂产能平衡.

基于Multi-agent的智能远程教育平台研究

基于Multi-agent技术,提出在网络环境下构建一个智能远程教育平台,为分布在不同地点的教师和学生提供协同的虚拟教学环境,实现协同远程教学.本文详细阐述了系统的体系结构、设计思想、Agent的内部结构及multi-agent的通信机制.

外卖智能派单的订单-骑手多目标匹配模型及其适应性算法研究

随着外卖业的快速发展,外卖智能派单成为外卖服务的重要形式。然而,目前相关研究侧重于研究外卖配送路径问题,不利于解决外卖智能派单的多目标动态决策中存在的问题。本文从外卖订单-骑手匹配的角度,分析了外卖平台智能派单的五个基本目标和四个基本约束,构建了多目标的订单-骑手匹配优化模型,进而给出了基于适应性策略的实时优化算法。最后,本文设计了外卖智能派单的仿真实验,对比了骑手-订单数量均衡、骑手供过于求、骑手供不应求等三种情况下的优化情况,验证了基于适应性策略的实时优化算法的优化效果。本研究对外卖平台发展智能派单模式具有较好的理论与实践价值。

基于BIM和Multi-agent联合优化的海洋平台应急疏散仿真研究

海上石油平台结构复杂、所处环境极端,一旦发生事故,若不能准确及时地对人员进行疏散撤离将会造成严重的人员伤亡和经济损失。本文以深海极端环境中的海洋石油平台为研究对象,基于BIM和改进Multi-agent的ABM技术建立了面向海洋平台的最优疏散仿真模型,构建反映被疏散者与海洋平台耦合关系的熟悉度社会力模型,优化被疏散者对逃生路线的选择,并以整体疏散时间为评价指标对比评估模型的性能。经实验对比验证,利用本文建立的模型能够一定程度上提高疏散空间平衡性,缩短人群整体疏散时间,较为真实地反映实际人员疏散情况。

多边平台模式应对突发公共卫生事件的治理效能评价--基于海南省案例的实证研究

以海南省的实证案例,探讨多边平台治理模式在突发公共卫生事件中的应用及其效能。借助因子分析和主成分分析,通过信息沟通效率、资源整合能力、协同行动能力和实际治理成果4个维度的指标评价体系,对海南省18个市县运用多边平台模式防控突发公共卫生事件的治理效能进行量化评价与排名。采用多元回归分析,选取社会参与度作为因变量,分析经济实力支持、社会动员支持、医疗救助支持、信息技术支持等多个公共因子的影响。研究显示,多边平台模式应对突发公共卫生事件的治理效能具有显著优势,能够增强信息共享,提高资源在公共领域的配置效率,实现社会治理的精细化和智能化,进而激发创新活力,提升公共服务水平。

电液3-UPS/S并联稳定平台参数振动特性分析

针对电液3-UPS/S并联稳定平台驱动液压缸的压力脉动所产生的参数振动,建立了稳定平台的参数振动方程并利用多尺度法求解了主共振响应与组合共振响应的一次近似解;分析了主共振与组合共振响应特性以及振动幅值在初始工作空间内的变化规律,最后采用四阶龙格库塔法与模态试验对参数振动模型进行验证。结果表明:数值解与理论解之间的最大误差为4.20%,固有频率理论值与试验值之间的最大误差为4.66%,可验证参数振动模型的正确性。

用Install Shield Multi Platform设计多平台安装程序

软件产业发展迅速,软件的需求不断扩大,应用范围也越来越广,因此软件往往要安装到不同的平台上,并且在安装过程中支持多种语言.但要将软件产品安装到不同平台却存在一定困难.研究了InstallShieldMultiPlatform(ISMP)的体系结构以及如何运用它来构建支持多平台、多语言的安装程序.

基于USB接口的Multi-sniffer无线传感器网络测试平台

作为一种新颖的无线传感器网路测试平台SNUMP,实现了基于CC 2531 USB Dongle对IEEE802.15.4协议数据帧的监测,提供了详细的网络组建测试、网络稳定性分析以及网络通信拓扑结构。SNUMP用USB接口代替串口,解决了无线传感器网络传输速度快,数据量大的问题,自主创新强,成本低,具有很强的通用性和实用性。

Long-Term Effect of TMD on Vibration Control of An MDOF Offshore Fixed Platform

A three-dimensional fixed offshore platform in deep water modeled by the finite element method is studied in this paper. Analysis of the dynamic response of the MDOF structure is realized taking the non-linearity of the wave drag force and the wave-structure interaction into account. The structural response statistics, which have Gaussian distributions, are used to evaluate the vibration effect of the structure without TMD and with TMD. And an optimal method to design TMD controlling the first mode of the multi-mode structure is proposed. Moreover, the probabilities of occurrence of sea states at the platform site are considered for prediction of the long-term effect of a TMD. Simulation results demonstrate that the long-term effect of a well-designed TMD is good and the practical use is possible due to the good stability of its optimal parameters under different sea states.

Multi-features Based Approach for Moving Shadow Detection

In the video-based surveillance application, moving shadows can affect the correct localization and detection of moving objects. This paper aims to present a method for shadow detection and suppression used for moving visual object detection. The major novelty of the shadow suppression is the integration of several features including photometric invariant color feature, motion edge feature, and spatial feature etc. By modifying process for false shadow detected, the averaging detection rate of moving object reaches above 90% in the test of Hall-Monitor sequence.

The Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST)

The Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST, also called the Guo Shou Jing Telescope) is a special reflecting Schmidt telescope. LAMOST’s special design allows both a large aperture (effective aperture of 3.6 m–4.9 m) and a wide field of view (FOV) (5°). It has an innovative active reflecting Schmidt configuration which continuously changes the mirror’s surface that adjusts during the observation process and combines thin deformable mirror active optics with segmented active optics. Its primary mirror (6.67m×6.05 m) and active Schmidt mirror (5.74m×4.40 m) are both segmented, and composed of 37 and 24 hexagonal sub-mirrors respectively. By using a parallel controllable fiber positioning technique, the focal surface of 1.75 m in diameter can accommodate 4000 optical fibers. Also, LAMOST has 16 spectrographs with 32 CCD cameras. LAMOST will be the telescope with the highest rate of spectral acquisition. As a national large scientific project, the LAMOST project was formally proposed in 1996, and approved by the Chinese government in 1997. The construction started in 2001, was completed in 2008 and passed the official acceptance in June 2009. The LAMOST pilot survey was started in October 2011 and the spectroscopic survey will launch in September 2012. Up to now, LAMOST has released more than 480 000 spectra of objects. LAMOST will make an important contribution to the study of the large-scale structure of the Universe, structure and evolution of the Galaxy, and cross-identification of multiwaveband properties in celestial objects.

A multi-source data fusion modeling method for debris flow prevention engineering

The Digital Elevation Model(DEM)data of debris flow prevention engineering are the boundary of a debris flow prevention simulation,which provides accurate and reliable DEM data and is a key consideration in debris flow prevention simulations.Thus,this paper proposes a multi-source data fusion method.First,we constructed 3D models of debris flow prevention using virtual reality technology according to the relevant specifications.The 3D spatial data generated by 3D modeling were converted into DEM data for debris flow prevention engineering.Then,the accuracy and applicability of the DEM data were verified by the error analysis testing and fusion testing of the debris flow prevention simulation.Finally,we propose the Levels of Detail algorithm based on the quadtree structure to realize the visualization of a large-scale disaster prevention scene.The test results reveal that the data fusion method controlled the error rate of the DEM data of the debris flow prevention engineering within an allowable range and generated 3D volume data(obj format)to compensate for the deficiency of the DEM data whereby the 3D internal entity space is not expressed.Additionally,the levels of detailed method can dispatch the data of a large-scale debris flow hazard scene in real time to ensure a realistic 3D visualization.In summary,the proposed methods can be applied to the planning of debris flow prevention engineering and to the simulation of the debris flow prevention process.

A Comparative Study of Acute Hemodynamic Effects of Multi -site Cardiac Pacing in patients with cardiac function NYHA class ⅠtoⅡ without bundle branch block

Objective To compare the acute hemodynamic effects of five different pacing modes in patients with cardiac function NYHA class Ⅰ to Ⅱ without bundle branch block (BBB). Methods This study included 12 patients (SSS 7, Ⅲ°AVB 5) undergoing pacemaker implantation. Right ventricular apex (RVA), right ventricular outflow tract (RVOT), right ventricular bifocal (RV-Bi), left ventricular base (LVB) and bi -ventricular (Bi-Ⅴ) pacing at 60 -80 ppm were done in VVI mode prior to implantation of DDD pacemaker. The cardiac index (CI), mean pulmonary artery pressure (mPAP) and pulmonary capillary wedge pressure (PCWP) were measured with Swan - Ganz thermodilution catheter after 5 minutes of each pacing mode. Results (1) Comparing to pacing at RVA (CI: 2. 41± 0. 38 L/min per m2, PCWP: 16. 7 ±3.3 mmHg), the CI increased and the PCWP decreased significantly in pacing at RVOT(CI: 2. 63 ± 0.46, PCWP: 13. 8±2. 3), LVB(CI: 2. 78±0.52, PCWP: 14. 4±3.1), RV-Bi(CI: 2. 83±0.57, PCWP: 12. 8± 2. 5) and Bi -Ⅴ pacing (CI: 2. 94± 0.60, PCWP: 12. 7±2. 5), P < 0. 01, respectively. (2) The CI of RV-Bi and Bi-Ⅴ pacing was higher than that of RVOT and LVB pacing, the PCWP was lower, P < 0. 05, respectively. (3) There was no significant difference between RV - Bi pacing and Bi-Ⅴ pacing in CI and PCWP. Conclusion There is no significant difference between RV - Bi pacing and Bi -V pacing in the acute hemodynamic effects; however,dual - site pacing is much better than single site pacing in that aspect for patients with cardiac function NYHA class Ⅰ to Ⅱ without BBB. Among single site pacing, the RVOT and LVB pacing is better than RVA pacing in cardiac function.