Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

课程群案例嵌入协同教学模式的探索

在课程群的教学中由于每门课程各自独立开展教学,缺乏知识的融合和衔接,导致学生运用综合知识解决问题的能力较弱。在课程群的教学中采用案例嵌入协同教学模式,将完整的工程案例嵌入到课程群各门课程的教学中,协同规划各门课程的教学任务,每门课程再围绕案例展开研究性教学。通过嵌入的工程案例衔接各门课程的知识点,帮助学生建构完整的知识体系,强化工程应用的概念；同时通过研究性教学,培养学生分析问题和解决问题的能力,两部分相结合,提高了学生运用综合知识解决复杂问题的能力。     

DISPERSION COMPENSATION CFBG IN100km 10Gbit／s RECIRCULATING SYSTEMS

A 10Gbit/s recirculating system is configured with Chirped Fiber Bragg Grating (CFBG) for the dispersion compensation. For the first time, the transmission distance in the loop reaches 1000km with bit error rate of 10-9. The effect of the group delay ripple of the fiber grating is also investigated in the recirculating systems, and it is shown that the transmission distance is limited to 4 cycles (4×167.1km ) in the loop with the power penalty fluctuation below 1.0dB. Thus the group delay ripple should be reduced to allow for the wavelength drift of±5GHz. At the end of this letter, the principles are given for designing long haul recirculating systems with dispersion compensation CFBG.     

含氮金刚石结构中Jahn-Teller畸变效应的计算

研究了由J.Bourgoin和M.Lannoo提出的半导体内Jahn-Teller畸变效应的计算理论。应用Bourgoin和Lannoo的方法研究了含中心氮杂质金刚石结构的Jahn-Teller畸变问题,计算了34C+N簇团的T2模耦合沿%111&晶向的Jahn-Teller畸变效应,结果与实验相符。     

开关电源的平均电流自动均流技术

针对多个开关电源并联时易出现负载电流在各模块间分配不均的现象,介绍了常用的负载电流自动均流法——平均电流自动均流法及其工作特性。并针对其存在母线电压降低的缺陷,提出了一种改进的平均电流自动均流方法,经试验证明均流精度比较高。     

He-Ne激光自混合干涉的模式研究

对一般He—Ne激光和频率分裂激光器中偏振态相互垂直的o光和e光的自混合于涉的模式进行了研究，发现了单模变三模的现象，并进行了解释。     

On Burst Length Distribution and Preemption Probabilities in OBS Networks with Burst Segmentation

Recently, preemption techniques have attracted considerable attention as a means to provide differentiated quality of service in optical burst switching (OBS) networks. This paper is focused on the analysis of preemption probabilities for bursts within the same priority class. As proposed by Vokkarane and Jue ((2003)* IEEE J Select Areas Commun 21(7): 1198–1209) an incoming burst will preempt the burst in service, within the same priority class, if the residual length of the burst in service is smaller than the incoming burst length. For a general case with wavelength conversion, the preemption probability of contending bursts with a generic service distribution, not necessarily exponential, is analyzed. First, we show that the size distribution for the preempting bursts is shifted to larger values, in comparison to the original burst size distribution. Second, we obtain an upper and lower bound for the preemption probability. Finally, the asymptotic behavior of the OBS switch is analyzed showing that preemption will always occur for a very large number of wavelengths.     

新形势下电气工程及其自动化专业人才培养模式与知识体系框架

在分析了当前高等教育培养基本模式的基础上，根据科学技术和社会经济发展的要求，提出了人才培养的模式和要求。特别针对电气工程及其自动化领域的发展趋势以及对人才的需求，提出了该专业人才的知识框架体系。     

小波变换分离太阳射电频谱图中的纤维结构

太阳射电爆发纤维精细结构是太阳射电爆发活动中一类重要的观测现象,利用二维小波变换对纤维精细结构动态频谱图进行处理,分离频谱图中的纤维结构。首先对原始频谱图实行多层小波变换,由低频分量重构原始图像,就可得到爆发的背景信息,令原始频谱图减去背景并经过阈值处理后,便可将原始频谱图中的纤维结构很好地分离出来。     

基于均匀光纤光栅的DWDM系统PMD补偿方法

提出一种基于均匀光纤Bragg光栅(FBG)的透射型密集波分复用(DWDM)系统多信道偏振模色散(PMD)补偿方案。当FBG受到横向挤压时，会产生双折射现象。当一波长的光信号从光栅带隙附近透射时，就会在快轴和慢轴之间产生时延差(DGD)。通过改变外力的大小来调节DGD的大小可以实现对PMD的补偿。通过将多个补偿光栅级联，就可以实现对DWDM系统多信道PMD的补偿。在100N外力作用下，5cm长的光栅最大可以补偿121ps的PMD，而对相邻0．8nm的信道，只引入0．2ps的DGD。