Diffusion Model of a Non-Integer Order PIγ Controller with TCP/UDP Streams

In this article, a way to employ the diffusion approximation to model interplay between TCP and UDP flows is presented. In order to control traffic congestion, an environment of IP routers applying AQM (Active Queue Management) algorithms has been introduced. Furthermore, the impact of the fractional controller PIγ and its parameters on the transport protocols is investigated. The controller has been elaborated in accordance with the control theory. The TCP and UDP flows are transmitted simultaneously and are mutually independent. Only the TCP is controlled by the AQM algorithm. Our diffusion model allows a single TCP or UDP flow to start or end at any time, which distinguishes it from those previously described in the literature.     

广义神经传播方程的整体吸引子

使用Galerkin方法,结合Sobolev空间理论和不等式技巧,给出了广义神经传播方程解的存在唯一性定理,然后利用吸引子存在性定理,采用半群方法证明了方程整体吸引子的存在性.     

基于图像特征检测和匹配的无人船航行姿态角提取方法

计算机视觉的飞速发展, 使得采用视觉技术辅助无人船航行成为可能. 在无人船巡航过程中, 获取船体航向是航行控制的必备基础. 特征匹配是无人船相关视觉技术中的重要部分, 是目标识别和定位等功能的关键步骤. 获取无人船运动姿态的基本步骤是对图像前后帧进行有效的特征提取和匹配. 针对水域环境中的图像静态特征提取速度慢、精度低的问题, 本文提出一种图像匹配方法以求取无人船的航行姿态角. 首先对图像预处理, 并对有效区域进行特征提取. 其次, 设计一种基于描述子相似度的初始特征匹配策略. 再其次, 筛选特征匹配对, 优化模型参数. 最后, 通过前后帧旋转矩阵计算航行姿态角. 实验表明, 该方法能有效提取无人船的航行姿态角.     

Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

“联用技术及元素形态”国际课程探索与实践*

充分利用线上教学的优势,对化学院本科生开设了“联用技术及元素形态”国际课程,避免了传统教学中组织、协调外籍/外地专家资源过程中必要的各种消耗,极大程度地整合教学资源、改善教学效果。在该课程的探索与实践过程中,学生们对痕量元素形态及基于等离子体质谱的各种联用技术产生了极大的兴趣,激发了他们的主动学习热情;教师之间及师生之间的沟通趋向更简单、更灵活、更实时,为后续线上线下混合式国际课程建设提供了良好的基础和借鉴。     

基于摩擦磨损的KDP晶体固结磨料抛光垫优化

本文通过固结磨料球与KDP晶体对磨的单因素试验探究固结磨料球中反应物种类、磨粒浓度、反应物浓度、基体硬度对摩擦系数、磨痕截面积和磨痕处粗糙度的影响,试验结果表明:KHCO₃固结磨料球对磨后磨痕对称性好,磨痕处的粗糙度值低;磨痕截面积随磨粒和反应物浓度的增加而增大,随基体硬度的增大而降低;磨痕处粗糙度随磨粒和反应物浓度的增加先降低后上升,随基体硬度的增大先上升后降低;摩擦系数受磨粒和反应物浓度影响不明显,随基体硬度的增大而降低。选择KHCO₃作为反应物,Ⅰ基体,磨粒浓度为基体质量的100%,反应物浓度为15%制备固结磨料球与KDP晶体对磨后的磨痕轮廓对称度好且磨痕处粗糙度值低,以该组分制备固结磨料垫干式抛光KDP晶体,可实现晶体表面粗糙度Sa值为18.50 nm,材料去除率为130 nm/min的高效精密加工。     

3.0T MRI检查结合X线钼靶诊断乳腺恶性肿瘤的研究

本研究探讨3.0T磁共振成像(MRI)结合X线钼靶诊断乳腺恶性肿瘤的价值。采用回顾性研究方法,选取乳腺肿块患者110例162个病灶,给予3.0T MRI及X线钼靶检查。经病理确诊为恶性病变101个;恶性病灶形态不规则、边缘毛刺、时间-信号强度曲线(TIC)类型Ⅲ型和早期增强率≥60%比例明显高于良性病灶(P<0.05),而分叶状比例和表观扩散系数(ADC)值明显低于良性病变(P<0.05);恶性病变X线钼靶表现:形态不规则、钙化、结构不对称和大导管征比例明显高于良性病变(P<0.05);MRI联合X线钼靶诊断乳腺恶性病变的灵敏性、准确性和阴性预测值明显高于MRI诊断(P<0.05)。3.0T MRI检查结合X线钼靶诊断乳腺恶性肿瘤有较好的价值。