Generation of minimally persistent circle formation for a multi-agent system

In this paper, two methods of generating minimally persistent circle formation are presented. The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader＇s interaction range. Based on the information about relative angle and relative distance, two numbering schemes are proposed to generate minimally persistent circle formation. Distributed control laws are also designed to maintain the desired relative distance between agents. The distinctive features of the proposed methods are as follows. First, only 2n - 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced. In addition, the formation topology is kept fixed for the whole motion and achieves a self-stability property. Finally, each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation. Simulation results are also provided to demonstrate the effectiveness of the proposed methods.     

人参叶总皂苷大孔树脂分离纯化工艺的近红外光谱在线监测模型及其含量测定

利用近红外(NIR)光谱技术研究并建立可在线监测人参叶皂苷类成分的大孔树脂分离纯化工艺的方法。建立人参皂苷Rg₁,Re和Rb₁的高效液相色谱(HPLC)含量测定方法,收集人参叶提取物的40%乙醇大孔树脂洗脱液,采集其近红外光谱信息,并用已建立的HPLC法测定其中人参皂苷Rg₁,Re和Rb₁的含量,结合偏最小二乘法(PLS)建立上述三种成分及人参总皂苷的定量分析模型。建模过程中,以决定系数(R2),交叉验证均方根误差(RMSECV)为指标,确定用于建模的最优近红外波段和光谱预处理方法,结果表明人参皂苷Rg₁,Re,Rb₁及人参总皂苷模型的最佳建模波段均为12 000.8~7 499.8 cm-1,R2分别为0.988 7,0.960 3,0.990 5和0.970 1,RMSECV分别为0.059 7,0.072 2,0.004 88和0.075 5。将1个批次的人参叶提取物大孔树脂分离纯化工艺样品用于验证人参总皂苷定量分析模型的预测性能,总皂苷的NIR预测值和HPLC测定值的相关系数为0.992 8,平均预测回收率为100.52%,表明所建的模型预测效果良好。该法快速、简便、准确,可用于生产工艺过程中人参总皂苷的含量测定和质量控制。     

Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.     

基于模块化外包的项目调度问题研究——以三峡工程TCP/C1-3-1A-1项目为例

全球化下的市场竞争促使企业在全球范围进行资源整合,外包决策由此成为影响项目调度的重要因素。以三峡三期工程TCP/C1-3-1A-1项目为例,运用设计结构矩阵构建了模块化项目网络,并分两个层次对外包模块进行初选,在此基础上建立了基于模块化外包的项目调度模型。求解结果表明,由于模块化外包消除了承包商的资源瓶颈,降低了资源闲置率,并由此产生了良好的协同效应,因此可以有效地提高项目收益,并大大压缩项目工期。     

基于单摄像机和神经网络的三维测量研究

为了实现更为简单的三维测量同时解决传统立体视觉方法中基线的限制问题,提出一种单摄像机微小角度旋转结合神经网络进行三维测量的方法.方法通过单摄像机小角度旋转采集二维图像数据;利用电动平台移动标定板构建三维空间坐标系;基于摄像机的线性成像模型思想,将代表图像坐标和三维坐标映射关系的投影矩阵替换为BP神经网络,得到二维坐标到...     

2-巯基-5-甲基苯并咪唑振动光谱的密度泛函理论研究

本文选用密度泛函理论中的B3LYP杂化泛函,在B3LYP/6-311++G(d, p)水平下,优化了2-巯基-5-甲基苯并咪唑分子(MMBI)的结构,优化结果表明,2-巯基-5-甲苯并咪唑分子是一个近平面结构.通过频率计算,获得了2-巯基-5-甲基苯并咪唑分子(MMBI)的拉曼光谱,并和实验获得的拉曼光谱图进行了对比,实验和理论计算获得的拉曼光谱图基本上是一致的,表明本文选取的DFT理论计算方法是可靠的.结合VEDA4软件对2-巯基-5-甲基苯并咪唑分子的拉曼谱带简正振动模式进行了指认.此外,分析并讨论了2-巯基-5-甲基苯并咪唑分子(MMBI)前线轨道,HOMO和LUMO轨道能级差为4.51 eV,电子有从HOMO跃迁到LUMO的趋势.采用含时密度泛函理论(time dependent density functional theory, TDDFT)对2-巯基-5-甲基苯并咪唑分子(MMBI)的激发态进行了计算分析,计算结果表明乙醇溶剂中2-巯基-5-甲基苯并咪唑分子(MMBI)理论计算的吸收波长为226 nm, 288 nm.对研究2-巯基-5-甲基苯并咪唑分子的性质,提供了理论...     

氢化诺卜醇及其烷基醚的合成与表征

由β-蒎烯与多聚甲醛反应制得诺卜醇,然后用Ni(R)催化氢化制得氢化诺卜醇(ROH),再将氢化诺卜醇与亚硫酰氯反应制得氢化诺卜基氯(RCl),由RCl分别与6种醇钠反应合成了6种氢化诺卜基烷基醚,各产物的得率均在92%以上,GC纯度95%以上。各产物都用IR,1H NMR,13C NMR与MS进行了结构表征。     

非对称损失函数下Burr Ⅻ型分布可靠性指标的Bayes估计

本文研究了R=P(Y＜X)在两种非对称损失函数下的Bayes估计问题,其中随机变量X和Y相互独立且服从不同的Burr XII型分布.利用Lindley近似方法,获得了Bayes估计的显式近似表达式,通过随机模拟比较了不同损失函数下的Bayes估计的性质.     

尺寸效应对Al纳米线凝固行为的影响

结合EAM镶嵌原子作用势, 通过经典的分子动力学模拟研究了不同截面尺寸Al纳米线在两种冷却速率下的凝固行为, 并采用键对分析技术探讨了相变过程中原子团簇的演化情况. 结果表明:Al纳米线的最终结构不仅与冷却速率有关, 还呈现出明显的尺寸效应. 在较快的冷却速率下, 五种截面尺寸的Al纳米线均得到了多壳螺旋结构; 而当冷却速率降低以后, 除了N₃纳米线发生了断裂以外, 其余纳米线的结构随着截面尺寸的增加, 逐渐从多壳螺旋结构经由类-六边形多壳结构最终过渡到稳定的晶态结构.     

Design of undercuts and dipole stabilizer rods for the CPHS RFQ accelerator

As part of the design and machining of the RFQ accelerator in the Compact Pulsed Hadron Source (CPHS) project at Tsinghua University, the design process of the undercuts and dipole stabilizer rods is presented in this paper. In particular, the relationship between the inter-vane voltage slope and the local frequency of the undercut section is described quantitatively. With the identification of modes existing in the cavity, the specific parameters are optimized by the SUPERFISH and MAFIA codes. In addition, the water-cooling requirement of the dipole stabilizer rods is briefly discussed.