水下机器人神经网络自适应逆控制

水下环境的复杂性以及自身模型的不确定性,给水下机器人的控制带来很大困难。针对水下机器人的特点和控制方面所存在的问题,提出了基于预测 校正控制策略的水下机器人神经网络自适应逆控制结构及训练算法。通过在线辨识系统的前向模型,估计出系统的Jacobian矩阵,然后采用预报误差法实现控制器的自适应。同时,为了提高系统对于外扰的鲁棒性,在伪线性回归算法的基础上,在评价函数中引入微分项。理论分析和仿真结果表明,与原来的算法相比,微分项的引入改善了系统对于外扰的鲁棒性和动态性能。

军队医学科技人员身心健康与影响因素的研究

To study the relationship between mental-physical health and coping behavior,job stress and job motivation in medical laboratory scientists and technicians. A cross-section survey was conducted,using the anxiety rating scale(SAS), depression rating scale(SDS), coping behavior rating scale,self-rating subhealth scale,self-rating stress scale,and self-rating job motivation scale among 289 medical laboratory scientists and technicians with analysis of ANOVA and Regression. The study was carried out in three steps:step1 is to analyze the general situation of the mental-physical health.Step 2 is to analyze the features of the main influencial facotors.Step 3 is to study the influence of the relative factors on mental-physical health.The following are the results: 1.The anxiety and depression scores of the medical researchers and technicians were 30±6 and 37±8 respectively,both significantly lower than those of the national norm（34±6 and 42±11 respectively,both P<0.01）,which are of significant difference. The depression score of the associate chief technician was 42±7, significantly higher than those of the medical researchers and technicians with any other professional titles (all P<0.05）, and the anxiety score of the associate chief technicians was 32±7, significantly higher than that of the research fellows（28±4, P<0.05），with no significant difference to the score of the medical researchers and technicians with other professional titles. The depression score,anxiety score and the subhealth score of the age group of 36～49 were 39±9,31±7 and 32±9 respectively, both higher than that of the age group of 20～35 （36±8,29±6 and 29±7 respectively,both P<0.05）,while there is much diference among other age groups. And the subhealth status has nothing to do with marital status,education background and professional titles. 2.The coping behaviors,job stress and motivation of the military medical laboratory scientists and technicians. 1）Coping behaviors:The seeking help score of the associate chief technicians was 2.8±0.5,not significantly different from that of the associate research fellows（2.8±0.5）,but significantly lower than those of the medical researchers and technicians with other professional titles(all P<0.01),and whose self-blame score was higher than that of the research fellows,which is of significant difference.The self-blame score and the imagination score of the associate research fellows were 2.0±0.5 and 2.4±0.5 respectively, significantly higher than that of the research fellows(1.6±0.4, 2.1±0.4,both P<0.01). The seeking help score of the females was 3.1±0.5, significantly higher than that of the males(2.9±0.5, both P<0.01),and the solving problem score was 3.4±0.6,significantly lower than the male(3.6±0.7, both P<0.01).There is no any significant difference in coping behaviors among researchers and technicians of different marital status,education background and age groups. 2)Job stress: The score of job stress of the age group of 35~49 and 50~60 were 23±8 and 25±6 respectively,significantly higher than that of the 20~35(21±7,both P<0.05). There is no any significant difference in job stress among researchers and technicians of different marital status,gender,professional titles and education background. 3)The score of meeting personal desire for reputation and interests of the males was 19.6±5.4，significantly higher than that of the females(18.4±5.0, both P<0.05), while there is no significant difference in job motivation among researchers and technicians of different titles,education,age and marital status. 3.The relationship of the mental-physical health of the military medical laboratory scientists and technicians with their coping behaviors,job stress and motivations 1) Coping behaviors:Regression analysis showed that, the best predictors of subhealth were anxiety,depression and escaping (β=-0.40,β=0.23, β=0.14, both P<0.01).the best predictors of anxiety and depression were active coping behaviors and negative coping behaviors (β=-0.40,β=0.40, both P<0.01).The moderate(rational) coping behaviors is the best predictor only of anxiety and of significant difference. 2)job stress : Regression analysis demonstrated that anxiety,depression,job stress 2 and job stress 4 are the best predictor for subhealth;job stress 12 is the best retro-predictor for depression; job stress 3 and 8 are the best predictor for depression;and job stress 2 and 9 are the best predictor for anxiety ,which are of significant difference. 3)Motivation:Regression analysis demonstrated that depression is the best predictor for subhealth while motivation itself doesn't predict subhealth;with respect to the specific contents of motivation,"probing unknown rules and making contributions to the human society "is the best retro-predictor for depression and has nothing to do with anxiety prediction. 4) The combined influences of coping behaviors,job stress and motivations: Regression analysis showed that, the best predictors for subhealth were anxiety,depression and job stress(β=0.41,β=0.24, β=0.19, both P<0.01).the best predictors for anxiety and depression were active coping behaviors and negative coping behaviors (β=-0.40,β=0.40, both P<0.01).The moderate(rational) coping behaviors is the best predictor only for anxiety and of significant difference. CONCLUSIONS: Regression analysis showed that the best predictors for anxiety and depression were active coping behaviors and negative coping behaviors, the best predictors for subhealth were anxiety,depression and job stress.Coping behaviors, job stress and motivations have significant influences on the mental-physical health of the military medical researchers and and technicians. Among them,coping behavior is the most important factor while job stress and motivation follow. Seeking help more often,less self-blame ,imagination and job stress could help release the anxiety, depression and improve the subhealth of the medical researchers and technicians. The findings of this study indicate we should address the physical and mental health of the military laboratory researchers and technicians.

道德强度对企业道德决策的影响及作用机制

Moral decision-making in business means the decisions involved in moral issues in business context. Moral intensity is a construct that captures the extent of issue-related moral imperative in a situation, which is one of the most important factors in the study of moral decision-making in business. Based on Issue-Contingent Model, the present study investigated the influence of moral intensity on moral decision-making in business (including moral recognition, moral judgment, and moral intent in the present study), and further focused on exploring the mechanism of moral intensity in moral decision-making in business. Recently, the studies in decision-making gave more emphasis to the role of emotions. The present study tried to include empathy into moral decision-making in business to explore the role of empathy in the relationship between moral intensity and moral decision-making in business, which would enrich and extend Issue-Contingent Model. The present study would also make up for a deficiency in the study of moral decision-making in business that overemphasized the rational reasoning and neglected the role of emotions. There were three parts in the present study. Firstly, study 1 replicated the former study and explored the relationship between perceived moral intensity and moral decision-making in business in China by questionnaire method. Secondly, study 2 focused on exploring the influence of the components of moral intensity on moral decision-making in business and empathic response by experimental method. Finally, study 3 explored the role of empathy in the relationship between moral intensity and moral decision-making in business. The results indicated that, 1.Perceived moral intensity was the significant predictor for moral decision- making in business. 2.Magnitude of consequence, social consensus, and probability of effect had significant effects on moral decision-making in business. Magnitude of consequence and probability of effect could influence empathic response significantly. 3.Empathic response played the role of mediator between moral intensity and moral decision-making in business. Empathic response completely mediated the relationship between moral intensity and moral recognition. Empathic response partly mediated the relationship between moral intensity and moral judgment, moral intent. Further analysis indicated that probability of effect and magnitude of consequence relied more on empathic response than social consensus to influence moral judgment and moral intent. Dispositional empathy could influence moral decision-making in business through perceived moral intensity and empathic response. 4.Controlled empathic levels could influence moral decision-making in business significantly. Empathic levels influenced the effect of probability of effect on moral decision-making in business, and did not influence the effect of magnitude of consequence and social consensus on moral decision-making in business. These findings not only contribute to enrich the models of moral decision- making in business, but also have significant practical applications in the training of moral decision-making in business.

影响汉语阅读能力发展的相关认知因素及其作用的发展变化

The present cross-sectional study paid attention to Chinese reading acquisition of 391 children from preschool to grade 3 in two elementary schools, and investigated the relationship between orthographic processing skills, morphological awareness, phonological awareness, naming, phonological memory, visual processing skill and reading skills, after controlling the variance of age, nonverbal intelligence and pinyin knowledge. The main results are as follows: Firstly, there are many different language skills as the predictors of Chinese reading success. Orthographic processing skills, morphological awareness, phonological awareness and naming are important in single-character recognition and comprehension. Beside them, the effect of visual processing skill and phonological memory for comprehension are also significant. Among them, the role of orthographic processing skills is the most important, whatever in single-character recognition or in comprehension. Secondly, orthographic processing skills are the most important factors in reading acquisition at low grade and its effect drops obviously after grade 2. Thirdly, morphological awareness is also the factor that cannot be ignored whatever for single-character recognition or for comprehension. Its influence appears in preschool and becomes the only significant predictor of character recognition in grade 3. Furthermore, morphological awareness is more relevant with the development of comprehension. Fourthly, phonological awareness plays the secondary role in Chinese reading acquisition except in grade 2 when its contribution is most of all. And compare with morphological awareness, the effect of phonological awareness is relative low. Fifthly, naming is important through preschool to grade 2. The contribution of phonological memory increases from preschool to grade 3 in comprehension.

下岗（失业）求职人员再就业的预测因素研究

How to improve the reemployment of lay-offs and unemployed is a big concern of Chinese society now. Based on literatures in related fields, the thesis investigated predictive factors of job-seeking behavior, reemployment status, quality of reemployment, psychological health among lay-offs (unemployed), and also the relationship between reemployment and psychological health. Lay-off (unemployed) participants for this study were recruited from four public employment centers in Beijing. participants completed two surveys. Results mainly demonstrated: 1 There were significant relationships between Job-seeking self-efficacy, motivation control and job-seeking frequency; age was negatively associated with job-seeking frequency and mental health; 2 Joh-seeking support was highlighted as the only lagged predictor of reemployment status; job-seeking frequency predicted job satisfaction of reemployed individuals; 3 The mental health of reemployed was significantly improved; but mental health of continously unemployed people deteriorated during these three months. High quality reemployment significantly improved mental health, low quality reemployment had no effect on mental health. The research demostrated some psychological factors predicting reemployment and relationships between reemployment and mental health. The results can improve the understanding relationships of reemployment and psychological factors. The results also can improve effective reemployment counseling and reemployment social services.