Fuzzy neural network control of underwater vehicles based on desired state programming

Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.

ROBOT PROGRAMMING BY DEMONSTRATION FOR TASK IN CONTACT STATE

Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.

China to Open State Research Program to Overseas Scientists

China will open part of its civil projects in national research program, including hi-tech development programs and major basic research programs to overseas scientists, said a senior official with the Ministry of Science and Technology (MOST). Facing the globalization trend in terms of economy and S&T development, China will take a

机耕道自动驾驶农机局部路径规划

针对机耕道场景下自动驾驶农机行驶的安全性、平稳性与规划实时性的实际需求,该研究提出了一种基于二次规划的局部路径规划方法。首先基于有限状态机构建农机机耕道行驶模式,其次采用横纵向解耦的方法,通过改进状态栅格法分别对农机速度行为和轨迹行为进行决策,随后利用二次规划方法生成满足多目标、多约束条件的农机轨迹和速度,得到最优路径,最后在多种行驶环境中进行仿真和实车试验,行驶参考速度为2 m/s。实车试验结果表明,在绕行静态障碍物场景中,规划轨迹的平均绝对曲率为0.021 m^(-1),最大绝对曲率为0.056 m^(-1),平均绝对横向误差为3.23 cm,最大绝对横向误差为8.69 cm,农机与障碍物外轮廓的距离大于0.76 m;在规避相向行驶、同向行驶和横穿机耕道的动态障碍物场景中,规划速度的平均绝对速度误差为0.08~0.12 m/s,绝对速度误差小于0.38 m/s,加速度变化范围为-0.38~0.44 m/s^(2)。在规划周期为200 ms的仿真试验中,该文算法平均耗时48 ms,最大耗时75 ms,相比采用静态状态栅格法平均耗时减少38 ms,算法效率提升44%。研究结果可为机耕道场景下的农机局部路径规划提供技术支持。

Islay3D—A Programming Environment for Authoring Interactive 3D Animations in Terms of State-Transition Diagram

An educational programming language is a programming language that is designed primarily as a learning instrument and not so much as a tool for writing programs for production. Three-dimensional (3D) interactive animations provide an effective means to engage the attention of the audience to learn programming language. Traditionally, creating 3D games had been difficult as it requires specialized programming skills. However, it had been proven that the state-transition diagram, which is the most fundamental principle for automata, is intuitively so comprehensive that even children can create programs for interactive animations and video games in the two-dimensional world. Islay3D is a programming environment for authoring interactive 3D animations based on this concept. In this paper, the Islay3D animation language is introduced, where a character is modeled as an object, and its behavior is defined in term of a set of state-transition diagrams. The interpretation of the state-transition diagrams to JavaScript is also presented. Finally, the web-based programming environment is introduced. With the web-based platform, the public will be able express their creativity in creating interactive 3D animations and video games easily from within their browser.

SEQUENTIAL QUADRATIC PROGRAMMING METHODS FOR OPTIMAL CONTROL PROBLEMS WITH STATE CONSTRAINTS

A kind of direct methods is presented for the solution of optimal control problems with state constraints. These methods are sequential quadratic programming methods. At every iteration a quadratic programming which is obtained by quadratic approximation to Lagrangian function and linear approximations to constraints is solved to get a search direction for a merit function. The merit function is formulated by augmenting the Lagrangian function with a penalty term. A line search is carried out along the search direction to determine a step length such that the merit function is decreased. The methods presented in this paper include continuous sequential quadratic programming methods and discreate sequential quadratic programming methods.

中国共产党领导的国家翻译实践先锋探索

国家翻译实践是个人或机构为实现国家利益所开展的翻译活动。中国共产党领导的译者群体便是其真实写照。回顾历史,这一群体与其他群体以国家名义开展翻译实践的根本不同之处在于坚持“译行合一”,即自建党起,陈独秀和李大钊领导一批先进知识分子通过翻译、接受、传播与实践马克思主义挽救民族危机。这成为伟大建党精神的重要体现。“译行合一”可成为译学领域开展中国共产党人精神谱系研究与建构的先导与示范,彰显党员译者在国家翻译实践中的模范作用。

Inference of General Mass Action-Based State Equations for Oscillatory Biochemical Reaction Systems Using <i>k</i>-Step Genetic Programming

Systems biology requires the development of algorithms that use omics data to infer interaction networks among biomolecules working within an organism. One major type of evolutionary algorithm, genetic programming (GP), is useful for its high heuristic ability as a search method for obtaining suitable solutions expressed as tree structures. However, because GP determines the values of parameters such as coefficients by random values, it is difficult to apply in the inference of state equations that describe oscillatory biochemical reaction systems with high nonlinearity. Accordingly, in this study, we propose a new GP procedure called “k-step GP” intended for inferring the state equations of oscillatory biochemical reaction systems. The k-step GP procedure consists of two algorithms: 1) Parameter optimization using the modified Powell method—after genetic operations such as crossover and mutation, the values of parameters such as coefficients are optimized by applying the modified Powell method with secondary convergence. 2) GP using divided learning data—to improve the inference efficiency, imposes perturbations through the addition of learning data at various intervals and adaptations to these changes result in state equations with higher fitness. We are confident that k-step GP is an algorithm that is particularly well suited to inferring state equations for oscillatory biochemical reaction systems and contributes to solving inverse problems in systems biology.

国家翻译学应用研究十题

国家翻译学是超学科综合性应用型研究,逻辑起点是国家翻译实践,研究任务是揭示国家翻译实践的本质规律,探索国家翻译实践的有效路径,最终落实到应用层面,是服务国家治理的战略需求。国家翻译学研究架构包含理论和应用研究两大面向。应用研究体现国家翻译学关怀现实、服务国家战略的价值追求。目前国家翻译学已基于国家翻译实践现实场景和未来发展态势,沿循“国家翻译+”知识生产路径,形成宏观、中观、微观三位一体的应用研究层次,产出了较为丰富的学术成果。本文结合国家翻译学研究现状和新时代国家翻译实践的现实需求与发展趋势,围绕国家翻译学应用研究本体、国家翻译治理和国家翻译价值问题,提出十个研究议题,旨在推动国家翻译研究的应用研究体系建设。

译者行为批评的国家视点

“国家翻译实践”概念体系的提出为译者行为批评提供了“国家”视点。国家翻译实践是一国翻译实践史之主流,因此有必要从国家视点出发,对译者行为进行考察。本文通过对翻译史上玄奘译经等翻译实践的再检视发现,翻译可以上升为“国家行为”,既是语际实践,也是话语实践和政治实践。国家视点的译者主体可扩展为“国家—机构—译者共同体—个体译者”多位一体,译者属性与类型呈现出三维特征。国家视点的译者行为是以国家利益和国家价值的实现为导向的行为,个体译者行为与译者共同体行为的互动关系体现了“国家—共同体—个体译者”意志体间的密切联系。在文本、语言、行为和社会之外,引入国家视点,构建“语言—社会—国家”三维一体的译者行为批评模式,可为译者主体性研究和译者行为批评带来新启发,更好地实现国家翻译实践理论的批评功能。

永乐时期国家翻译实践研究

国家翻译实践是中国古代皇帝建立和巩固朝贡体系下多方交流的重要方式。明代永乐时期朝贡体系背景下国家主体发起、赞助并管理翻译实践服务明廷出使、接待来贡事务。本研究梳理永乐时期朝贡体系下的国家翻译实践内容,探讨其实施路径与治理之用。永乐时期国家层面的翻译实践作为维系朝贡体系、助力明廷对内治理与对外交往的关键措施,其实践内容、实施路径与治理效应可为当代国家翻译实践提供事实参考与经验总结。

晚清国家翻译的海外实践——以“法政丛编”编译为例

晚清留日学生组织湖北法政编辑社编译出版了中国近代第一套大型法政丛书——“法政丛编”。本文基于国家翻译理论,对“法政丛编”的编译动因、文本特点和实践特征进行了研究。研究发现,“法政丛编”编译受晚清改良法律、营办新学、奖励游学等因素的驱动,呈现出翻译环境优越、译者资源集聚、语言文化邻近等特征,但同时也存在翻译组织具有临时性、管理体系较为松散、资源配备有限等局限性。“法政丛编”丰富了我国国家翻译实践的类型,对之加以深入探究有助于推动新时代国家翻译理论和实践的发展。

国家翻译实践研究体系建构

从理论基础、研究对象与研究方法3个方面构建国家翻译实践的研究体系。分析并阐述了机构翻译学说的分类观、本质观、决定因素、存在特征和国家翻译实践的自发、自利、自主特征、主体观、文化政治观等国家翻译实践研究的理论基础;研究对象兼顾翻译过程的整体性与分对象的关联度,具体分为主体与过程、传播与影响、模式与话语、规范与制度、风险与安全5个类别;研究方法主要为话语分析、外交学和民族志学。此研究体系尚属初步建构,未来还需在案例资源拓展、相关理论深挖和研究路径探索方面进行深入研究。

“五四宪法”对国家监督体系的奠基

“五四宪法”奠定了新中国国家监督体系的基本框架。“五四宪法”建立的国家监督体系以人大制度为基础,以行政监察和检察监督为重要方式,政协发挥着政治监督的功能。这一体系确定了人民代表大会在国家机构体系中的基础地位,丰富了以民主集中制为原则的权力运行机制,巩固了中国共产党的领导核心地位。但是,这一体系存在着宪法实施不足、监督内涵缺失和党内监督弱化的问题。以“五四宪法”为参照,未来要坚持与完善党和国家监督体系,须着力实现党内监督和国家监督的贯通融合,国家监督体系内部的协调衔接,民主制度和程序的完善便捷,公民基本权利的充分保障。

程序调试中的数据结构演变可视化方法

数据结构是程序执行时的重要信息载体,其演变过程往往较为复杂和抽象。针对程序设计初学者较难理解数据结构演变过程的问题,提出一种面向程序调试中的数据结构演变可视化方法。在调试开始时,首先使用组件表达式表示数据结构,然后通过配置表以及布局函数将组件表达式生成可视化视图。在进行单步调试后,通过对比单步调试前后的可视化数据方式生成组件演变行为,运用有限状态机理论构建数据结构演变模型,该模型的执行使得组件发生演变,同时生成可视化动作。使用动画单元执行可视化动作,实现数据结构演变的可视化呈现,帮助初学者理解数据结构相关程序的执行过程。实验结果表明,将该方法应用于1个数据结构演变可视化框架StructV,并应用于1个在线可视化编程实训云平台的研发,可有效降低初学者理解数据结构演变过程的难度,并提升编程实训时的程序调试效率。

美月球探测开发新动向

为了解美月球探测开发情况,对美国阿尔忒弥斯计划、军方及商业探月活动的新动向进行研究:从整体思路、技术指标、商业航天、盟友协定等方面分析阿尔忒弥斯计划的进展和特点;从地月空间布局以及态势感知、定位导航、机动推进、原位资源利用等技术进展方面分析美军方探月动向。近年来,美国宣布重返月球,开展一系列月球探测开发活动,推动新一轮探月热潮。美国当前的探月活动具有聚焦国际准则塑造、聚焦商业航天开发、聚焦先进技术发展、聚焦前沿军事应用等特点。

储能MPC平抑分散式风电并网功率波动策略研究

针对分散式风力发电随机性及季节不均衡性导致的并网功率波动问题,提出基于模型预测控制的风储联合运行策略,以并网功率波动最小、储能出力最优及能量损耗最小为目标构建风储一体化运行模型,利用Matlab二次规划求解风电并网功率和储能输出功率;考虑到储能荷电状态的约束,采用模型预测控制算法优化电池储能充放电功率,实时滚动优化风储并网功率,保持储能SOC维持在合理的范围内,减少电池越限次数。算例基于内蒙古某分散式风电场全年实测录波数据,选取四季典型场景集分析1和10 min不同时间尺度下风电场输出功率与并网功率的最优解;仿真结果表明所提方法能够按照风电输出特性实时优化储能充放电,降低风电并网功率波动,提高风储联合系统的经济运行。

基于Stateflow的复杂可修系统的建模与仿真方法

介绍了应用Stateflow对复杂可修系统进行建模与仿真的方法。首先,对复杂可修系统与Stateflow相关概念进行了简单介绍。然后,利用有限状态机理论与面向对象编程思想提出了建立基于Stateflow复杂可修系统模型的思路、分析步骤、难点问题的解决以及参数统计模型;最后,使用Stateflow对一类复杂可修系统进行了具体的建模与仿真。仿真结果表明,基于Stateflow的模型与仿真能够有效地评估复杂可修系统的可靠性参数特征,并具有可视化、流程化和层次化的特点。

经典作家未来社会发展阶段理论及其中国化时代化——以《哥达纲领批判》《国家与革命》为中心

在《哥达纲领批判》中,马克思对资本主义后的未来社会进行了展望,首次提出从资本主义社会并不能直接达到成熟共产主义社会,要经过“过渡时期”,再从共产主义“第一阶段”到共产主义“高级阶段”。在《国家与革命》中,列宁将马克思的共产主义“第一阶段”称为“社会主义社会”,使社会主义社会成为一个独立的发展阶段,是对马克思未来社会发展阶段理论的发展。我国“社会主义初级阶段”的理论与实践,深化了对社会主义社会长期性的认识,是对经典作家未来社会发展阶段理论的进一步发展。“中国特色社会主义”是对跨越“卡夫丁峡谷”而来的经济文化落后国家的社会主义如何建设的探索,是经过积极主动的社会主义建设、从社会主义“初级阶段”走向社会主义“高级阶段”以至共产主义的实践范本。中国特色社会主义理论与实践是对经典作家未来社会发展阶段理论的坚持与创新,对于明确中国社会发展前景、坚定共产主义信念意义重大。

基于Stateflow的排队系统仿真方法

论述了排队系统与Stateflow相关概念，利用有限状态机理论与面向对象编程思想，提出了建立基于Stateflow排队系统模型的分析步骤，阐述了应用Stateflow对排队系统进行建模与仿真的方法，使用Stateflow对M／M／1／∞／∞／FIFO类型排队系统进行了具体的建模与仿真。仿真结果表明，基于Stateflow的模型与仿真能够有效地描述排队系统的统计特性，并具有可视化、流程化和层次化的特点。