动态多障碍物环境下目标追踪的路径规划方法

采用人工势场(AP)引导进化算法(EA)的搜索方法解决了动态多障碍物环境下的目标追踪问题.把人工势场与FA搜索相结合进行动态路径规划,使搜索沿着势场方向进行,得到一条相对于搜索区域最优的轨迹.以单车、单运动目标,有多个运动障碍物存在的情况为例,通过仿真试验对AP引导EA和单纯EA两种搜索方法的性能进行了比较,说明了AP引导EA搜索方法在处理动态多运动障碍物问题时相对传统EA方法具有实时、高效、收敛的特点,同时在很大程度上解决了单纯AP方法在解决多障碍物问题时的局部极小问题。

动态环境下移动机器人自主规划方法研究

动态环境下的自主规划方法是移动机器人研究的重要方向之一。如何将机器人自身的本体（动力学）能力、以及周边动态环境作为优化行为产生的约束，并提高优化过程的实时性，是目前有待深入研究的主要问题。针对这两方面问题，本文提出了三种新的自主规划方法，旨在逐步实现在具有本体动力学和动态环境约束情况下的优化算法实时性与最优性的统一。 首先，针对基于进化计算（EA）方法解决动态路径规划问题中的实时性问题以及人工势场（AP）法的优化和局部极小问题，提出了用AP引导EA的搜索方法（APEA）。该方法把人工势场与EA搜索相结合，在传统EA中加入势场作为引导，使搜索沿着势场方向进行，从而得到一条相对于搜索区域的次优轨迹。APEA方法借鉴了AP的快速性和EA的优化性，改善了单纯EA法盲目搜索的缺陷，提高了收敛率和实时性。通过仿真对APEA和单纯EA两种搜索方法的性能进行了比较，结果表明APEA方法在处理动态多障碍物问题时相对单纯EA方法具有实时、高效、收敛的特点，同时在很大程度上解决了单纯AP方法在解决多障碍物问题时的局部极小问题。 其次，为弥补APEA方法的次最优性以及进一步提高算法的实时性，本文提出了相对速度坐标系下基于混合整数线性规划（MILP）的最优轨迹产生方法。在相对速度坐标系下，把动态环境下机器人路径规划这一非线性问题，描述成满足一组线性约束同时使目标函数极小的线性规划问题，嵌入基于MILP的规划器，从而得到一条满足性能要求的最优路径。仿真结果验证了算法的实用性及有效性，与势场引导进化计算方法相比较表明，该方法的优化程度更高、实时性更好。 第三，基于认知仿生的研究成果，将人基于知识经验的优化决策机制引入到机器人的轨迹规划中来，提出了基于离线训练知识库、在线智能发育以及利用知识引导优化的移动机器人自主智能发育方法。给出了复杂环境下移动机器人路径规划问题的自主智能发育模型。介绍了基于递增分层判别回归（IHDR）知识表达、存储、积累、更新机制，以及用于轨迹规划问题时的离线训练、在线知识更新以及知识检索过程，同时提出了性能评价指标，从而形成一套完整的面向轨迹规划的自主智能发育机制。对于一个新的机器人本体，通过对其路径规划技能的离线训练，使这种知识存储于IHDR内，从而产生一定的自主路径规划能力。当机器人需要完成某种规划任务时，根据外部环境以及自身状态的不同，在其内部知识库中检索到最匹配的状态，与之对应的行为作为被选行为，通过一定的评价指标进行评价：若达到一定的满意度，机器人即采用该行为；若不能达到评价指标的要求，则需要通过重新学习，对知识库进行更新补充，以达到对新情况的很好应对。 最后，利用上述自主智能发育模型从直接规划和间接规划两方面对动态环境中移动机器人的路径规划问题进行研究，并对于不同的规划目的提出了不同的自主规划模型和评价机制。所谓直接规划是指利用知识库检索直接得出机器人的具体行为，作为规划结果指导机器人前进；间接规划则是将检索结果作为一种优化指导，从而减小最优规划算法（如进化算法、线性规划等方法）的搜索空间，降低计算量，从而达到在线计算的目的。仿真结果验证了两种方法的有效性，并说明了这种自主智能发育模型具有很强的自适应、自学习能力。

基于中间件的MES与ERP系统信息集成技术研究

现在企业系统与控制系统的主流的集成技术为基于中间件的系统集成,即通过中间件的桥梁作用把各种ERP和MES系统连接起来,实现信息在两者之间的交互与共享。因此本文提出“信息集成内容遵循S95标准,消息封装格式应用XML技术,企业应用集成平台采用BizTalkserver来实现”的中间件集成方法,最后应用此中间件引擎给出了一个在MES与ERP系统之间实现信息集成的示例。

中低纬度变化磁场的暴时特征研究

Magnetic storm is a kind of severe disturbances in the whole solar-earth electromagnetic space. It has significant effects on communication, electric power, oil transport pipe and human activities in space. Therefore, magnetic storms are worth for applications systems, not only being a favorable issue for scientists. In this paper, the spatial and temporal distributions of the magnetic fields produced by the magnetosphere-ionosphere current systems during storms are studied. Four parts are included in this paper decomposion of different disturbances with different origins, topological structure of the ring current, the asymmetric characteristics of the ring current, and the statistic peculiarities of the day-to-day variability (DTD) of Sq. 1 The decomposition of magnetic disturbances at mid-low latitudes and its evolutions during storms Transient variations in the geomagnetic field recorded at mid-low latitudes mainly include the storm-time variation (Dst), solar quiet daily variation (Sq) and disturbance daily variation (SD). With the data of the geomagnetic meridian chain observatories in China, 25 storms during the period of 1997 to 1999 have been analyzed. According to the features of different variations, a method of “three-steps decomposition” is developed by using the method of Natural Orthogonal Components (NOC), Correlation Analysis and Fourier Analysis to separate those three components in turn. The results show that, the first eigenmode by the MNOC clearly describing the special distribution and temporal evolution of storm-time variation, in addition, Correlation Analysis and Fourier Analysis offer a useful method to extract the Sq and SD variations. The latitudinal shift of the Sq current focus seems to be the principal reason of the day-to-day variaitons in the daily range of Sq. The magnitude of SD reaches a maximum during the main phase, and then gradually decreases. 2 The topology structure of the ring current during storms Both the mechanism of the ring current and the geomagnetic data suggest that the central plane of the ring current is declining to the geomagnetic equator plane with a tilt angle δ. Using the H and Z component data at two stations in a meridian chain, we deduce a new parameter describing the invariable peculiarity of different storms. Then the δ angle is calculated by using the data from a meridian chain and tested with the ERC model. Finally the deduced tilt angles are used to modify Dst index. 3 The asymmetric characteristics of the ring current during storms The variations of the geomagnetic field at mid-low latitudes show a significant dawn-dusk asymmetry, resulting from the superposition of the fields from the symmetric ring current and the partial ring current. On the basis of the data from the 20°E, 30°E meridian chains and 30°N latitudinal chain, the dawn-dusk asymmetry is investigated by using three methods, namely, statistic analysis, ring current model calculation and typical event analysis. This characteristic implies the asymmetry of the spatial distribution of the ring current. In addition, during the main phase after the sudden commencement (SC), H field increases and reaches maximum around noontime, implying the effect of the Chapman-Ferraro current. 4 The statistic characteristics of the day-to-day variability and its mechanism The day-to-day variability of the geomagnetic Sq field is studied by using the magnetic data from a meridian chain of magnetometers along 120° E longitude. The method of NOC is applied to separate the Sq variation from complicated disturbances. The first eigenmode with the largest eigenvalue represents fairly well the Sq variation with a conspicuous day-to-day variability in the daily range. For the stations on the same north- or south-side of the Sq current system focus, the day-to-day variations show a positive correlation. In contrast, for the stations on the different sides of the Sq focus, they show a negative correlation, suggesting an important role of latitudinal shift of the Sq current system focus to the day-to-day variability of the Sq daily range. The Sq daily range is correlated with the magnetic indices Ap and Dst in a peculiar way: on some severe disturbed days, noticeably enhancements of the Sq are observed, implying increases of the ionospheric conductivities and/or tidal wind velocities; on other severe disturbed days, however, dramatically reduced Sq variations occur, suggesting dominant effects of the ‘disturbance dynamo’ process.

太阳辐射对热层和电离层变化性的影响

Solar ultraviolet (UV) radiation at wavelengths less than 400 nm is an important source of energy for aeronomic processes throughout the solar system. Solar UV photons are absorbed in planetary atmospheres, as well as throughout the heliosphere, via photodissociation of molecules, photoionization of molecules and atoms, and photoexcitation toexcitation including resonance scattering. In this paper, the solar irradiances data measured by TIMED SEE, as well as the solar proxies such as F10.7 and Mg II, thermosphere neutral density of CHAMP measurements and topside ionospheric plasmas densities from DMSP, are used to analyze solar irradiance effects on the variabilities of the thermosphere and the ionosphere. First, thermosphere densities near 410 km altitude are analyzed for solar irradiance variability effects during the period 2002-2004. Correlations between the densities and the solar irradiances for different spectral lines and wavelength ranges reveal significantly different characteristics. The density correlates remarkably well with all the selected solar irradiances except the lower chromospheric O I (130.4 nm) emission. Among the chosen solar proxies, the Mg II core-to-wing ratio index, EUV (30-120 nm) and F10.7 show the highest correlations with the density for short-term (< ~27 days) variations. For both long- (> ~27 days) and short-term variations, linear correlation coefficients exhibit a decreasing trend from low latitudes towards high latitudes. The density variability can be effectively modeled (capturing 71% of the variance) using multiple solar irradiance indices, including F10.7, SEUV (the EUV 30-120 nm index), and SFUV (the FUV 120-193 nm index), in which a lag time of 1 day was used for both F10.7 and SEUV, and 5 days for SFUV. In our regression formulation SEUV has the largest contribution to the density variation (40%), with the F10.7 having the next largest contribution (32%) and SFUV accounting for the rest (28%). Furthermore, a pronounced period of about 27.2 days (mean period of the Sun's rotation) is present in both density and solar irradiance data of 2003 and 2004, and a pronounced period of about 54.4 days (doubled period of the solar rotation) is also revealed in 2004. However, soft X-ray and FUV irradiances did not present a pronounced 54.4 day period in 2004, in spite of their high correlation with the densities. The Ap index also shows 54-day periodicities in 2004, and magnetic activity, together with solar irradiance, affects the 54-day variation in density significantly. In addition, NRLMSISE00, DTM-2000 and JB2006 model predictions are compared with density measurements from CHAMP to assess their accuracy, and the results show that these models underestimate the response of the thermosphere to variations induced by solar rotation. Next, the equatorial topside ionospheric plasmas densities Ni are analyzed for solar irradiance variability effects during the period 2002-2005. Linear correlations between Ni and the solar irradiances for different wavelength ranges reveal significantly different characteristics. XUV (0-35 nm) and EUV (115-130 nm) show higher correlation with Ni for the long-term variations, whereas EUV (35-115 nm) show higher correlation for the short-term variations. Moreover, partial correlation analysis shows that the long-term variations of Ni are affected by both XUV (0-35 nm) and EUV (35-115 nm), whereas XUV (0-35 nm) play a more important role; the short-term variations of Ni are mostly affected by EUV (35-115 nm). Furthermore, a pronounced period of about 27 days is present in both Ni and solar irradiance data of 2003 and 2004, and a pronounced period of about 54 days is also revealed in 2004. Finally, prompted by previous studies that have suggested solar EUV radiation as a means of driving the semiannual variation, we investigate the intra-annual variation in thermosphere neutral density near 400 km during 2002-2005. The intra-annual variation, commonly referred to as the ‘semiannual variation’, is characterized by significant latitude structure, hemispheric asymmetries, and inter-annual variability. The magnitude of the maximum yearly difference, from the yearly minimum to the yearly maximum, varies by as much as 60% from year to year, and the phases of the minima and maxima also change by 20-40 days from year to year. Each annual harmonic of the intra-annual variation, namely, annual, semiannual, ter-annual and quatra-annual, exhibits a decreasing trend from 2002 through 2005 that is correlated with the decline in solar activity. In addition, some variations in these harmonics are correlated with geomagnetic activity, as represented by the daily mean value of Kp. Recent empirical models of the thermosphere are found to be deficient in capturing most of the latitude dependencies discovered in our data. In addition, the solar flux and geomagnetic activity proxies that we have employed do not capture some latitude and inter-annual variations detected in our data. It is possible that these variations are partly due to other effects, such as seasonal-latitudinal variations in turbopause altitude (and hence O/N2 composition) and ionosphere coupling processes that remain to be discovered in the context of influencing the intra-annual variations depicted here. Our results provide a new dataset to challenge and validate thermosphere-ionosphere general circulation models that seek to delineate the thermosphere intra-annual variation and to understand the various competing mechanisms that may contribute to its existence and variability. We furthermore suggest that the term “intra-annual” variation be adopted to describe the variability in thermosphere and ionosphere parameters that is well-captured through a superposition of annual, semiannual, ter-annual, and quatra-annual harmonic terms, and that “semiannual’ be used strictly in reference to a pure 6-monthly sinusoidal variation. Moreover, we propose the term “intra-seasonal” to refer to those shorter-term variations that arise as residuals from the above Fourier representation.

中国北方典型生态区表土孢粉组合特征及其与现代植被和气候的关系

Surface pollen assemblages and their relationhips with the modern vegetation and climate provide a foundation for investigating palaeo-environment conditions by fossil pollen analysis. A promising trend of palynology is to link pollen data more closely with ecology. In this study, I summarized the characteristics of surface pollen assemblages and their quantitative relation with the vegetation and climate of the typical ecological regions in northern China, based on surface pollen analysis of 205 sites and investigating of modern vegetation and climate. The primary conclusions are as follows:The differences in surface pollen assemblages for different vegetation regions are obvious. In the forest communities, the arboreal pollen percentages are more than 30%, herbs less than 50% and shrubs less than 10%; total pollen concentrations are more than 106 grains/g. In the steppe communities, arboreal pollen percentages are generally less than 5%; herb pollen percentages are more than 90%, and Artemisia and Chenopodiaceae are dominant in the pollen assemblages; total pollen concentrations range from 103 to 106 grains/g. In the desert communities, arboreal pollen percentages are less than 5%. Although Chenopodiaceae and Artemisia still dominate the pollen assemblages, Ephedra, Tamaricaceae and Nitraria are also significant important in the pollen assemblages; total pollen concentrations are mostly less than 104grains/g. In the sub-alpine or high and cold meadow communities, arboreal pollen percentages are less than 30%. and Cyperaceae is one of the most significant-taxa in the pollen assemblages. In the shrub communities, the pollen assemblages are consistent with the zonal vegetation; shrub pollen percentages are mostly less than 20%, except for Artemisia and Hippophae rhamnoides communities.There are obvious trends for the pollen percentage ratios of Artemisia to Chenopodiaceae (A/C), Pinus to Artemisia (P/A) and arbor to non-arbor (AP/NAP) in the different ecological regions. In the temperate deciduous broad-leaved forest region, the P/A ratios are generally higher than 0.1, the A/C ratios higher than 2 and the AP/NAP ratios higher than 0.3. In the temperate steppe regions, the P/A ratios are generally less than 0.1, the A/C ratios higher than 1 and the AP/NAP ratios less than 0.1. In the temperate desert regions, the P/A ratios are generally less than 0.1, the A/C ratios less than 1, and the AP/NAP ratios less than 0.1.The study on the representation and indication of pollen to vegetation shows that Pinus, Artemisia, Betula, Chenopodiaceae, Ephedra, Selaginella sinensis etc. are over-representative in the pollen assemblages and can only indicate the regional vegetation. Some pollen types, such as Quercus, Carpinus, Picea, Abies, Elaeagus, Larix, Salix, Pterocelis, Juglans, Ulmus, Gleditsia, Cotinus, Oleaceae, Spiraea, Corylus, Ostryopsis, Vites, Tetraena, Caragana, Tamaricaceae, Zygophyllum, Nitraria, Cyperaceae, Sanguisorba etc. are under-representative in the pollen assemblages, and can indicate the plant communities well. Populus, Rosaceae, Saxifranaceae, Gramineae, Leguminosae, Compositae, Caprifoliaceae etc. can not be used as significant indicators to the plants.The study on the relation of pollen percentages with plant covers shows that Pinus pollen percentages are more than 30% where pine trees exist in the surrounding region. The Picea+Abies pollen percentages are higher than 20% where the Picea+Abies trees are dominant in the communities, but less than 5% where the parent plants are sparse or absent. Larix pollen percentages vary from 5% to 20% where the Larix trees are dominant in the communities, but less than 5% where the parent plants are sparse or absent. Betula pollen percentages are higher than 40% where the Betula trees are dominant in the communities" but less than 5% where the parent plants are sparse or absent. Quercus pollen percentages are higher than 10% where the Quercus trees are dominant in the communities, but less than 1% where the parent plants sparse or absent. Carpinus pollen percentages vary from 5% to 15% where the Carpinus trees are dominant in the communities, but less than 1% where the parent plants are sparse or absent. Populus pollen percentages are about 0-5% at pure Populus communities, but cannot be recorded easily where the Populus plants mixed with other trees in the communities. Juglans pollen accounts for 25% to 35% in the forest of Juglans mandshurica, but less than 1% where the parent plants are sparse or absent. Pterocelis pollen percentages are less than 15% where the Pterocelis trees are dominant in the communities, but cannot be recorded easily where the parent plants are sparse or absent. Ulmus pollen percentages are more than 8% at Ulmus communities, but less than 1% where the Ulmus plants mixed with other trees in the communities. Vitex pollen percentages increase along with increasing of parent plant covers, but the maximum values are less than 10 %. Caragana pollen percentages are less than 20 % where the Caragana plant are dominant in the communities, and cannot be recorded easily where the parent plants are sparse or absent. Spiraea pollen percentages are less than 16 % where the Spiraea plant are dominant in the communities, and cannot be recorded easily where the parent plants are sparse or absent.The study on the relation of surface pollen assemblages with the modern climate shows that, in the axis 1 of DCA, surface samples scores have significant correlation with the average annual precipitations, and the highest determination coefficient (R2) is 0.8 for the fitting result of the third degree polynomial functions. In the axis 2 of DCA, the samples scores have significant correlation with the average annual temperatures, average July temperatures and average January temperatures, and the determination coefficient falls in 0.13-0.29 for the fitting result of the third degree polynomial functions with the highest determination coefficient for the average July temperature.The sensitivity of the different pollen taxa to climate change shows that some pollen taxa such as Pinus, Quercus, Carpinus, Juglans, Spiraea, Oleaceae, Gramineae, Tamariaceae and Ephedra are only sensitive to the change in precipitation.

条件反射性免疫抑制及其脑机制的c-fos研究

To explore the neural mechanisms underlying conditioned immunomodulation, this study employed the classical taste aversion (CTA) behavioral paradigm to establish the conditioned humoral and cellular immunosuppression (CIS) in Wistar rats, by paring saccharin (CS) with intraperitoneal (i.p.) injection of an immunosuppressive drug cyclophophamide (UCS). C-fos immunohistochemistry method was used to observe the changes of the neuronal activities in the rat brain during the acquisition, expression and extinction of the conditioned immunosuppression (CIS). The followings are the main results: 1. Five days after one trial of CS-UCS paring, reexposure to CS alone significantly decreased the level of the anti-ovalbumin (OVA) IgG in the peripheral serum. Two trials of CS-UCS paring and three reexposures to CS not only resulted in further suppression of the primary immune response, but also reduced the numbers of peripheral lymphocytes and white blood cells. This finding indicates that CS can induce suppression of the immune function, and the magnitude of the effects is dependent on the intensity of training. 2. On day 5 following two trials of CS-UCS pairing, CS suppressed the spleen lymphocytes responsiveness to mitogens ConA, PHA and PWM, and decreased the numbers of peripheral lymphocytes and white blood cells. On day 15, only PHA induced lymphocyte proliferation was suppressed by CS. On day 30, presentation of CS did not have any effect on these immune parameters. These results suggest that the conditioned suppression of the cellular immune function can retain 5-15 days, and extinct after 30 days. 3. CTA was easily induced by one or two CS-UCS parings, and remained robust even after 30 days. These data demonstrate that CIS can be dissociated from CTA, and they may be mediated by different neural mechanisms. 4. Immunohistochemistry assays revealed a broad pattern of c-fos expression throughout the rat brain following the CS-UCS pairing and reexposure to CS, suggesting that many brain regions are involved in CIS. Some brain areas including the solitary tract nucleus (Sol), lateral parabrachial nucleus (LPB) and insular cortex (IC), showed high level c-fos expressions in response to both CS and UCS, suggesting that they may be involved in the transmission and integration of the CS and UCS signals in the brain. There were dense c-FOS positive neurons in the paraverntricular nucleus (PVN) and supraoptic nucleus (SO) of hypothalamus, subfornical organ (SFO) and area postrema (AP) etc. after two trials of CS-UCS paring and after the reexposure to CS 5 days later, but not in the first training and after the extinction of CIS (30 days later). The results reflect that these nuclei may have an important role in CIS expression, and may also response to the immunosuppression of UCS. The conditioned training and reexposure to CS 5 days later induced high level c-fos expression in the cingulate cortex (Cg), central amygdaloid nucleus (Ce), intermediate part of lateral septal nucleus (LSI) and ventrolateral parabrachial nucleus (VLPB) etc. But c-fos induction was not apparent when presenting CS 30 days later. These brain regions are mainly involved in CIS, and may be critical structures in the acquisition and expression of CIS. Some brain regions, including the frontal cortex (Fr), ventral orbital cortex (VO), IC, perirhinal cortex (PRh), LPB and the medial part of solitary nucleus (SolM), showed robust c-FOS expression following the conditioning training and reexposure to CS both on day 5 and day 30, suggesting that they are critically involved in CTA.