自适应神经元实现的直线永磁同步电机伺服系统的预见前馈补偿

介绍了高精度微进给直线永磁同步电机伺服系统的 IP位置控制 ,提出了对该系统的最优预见前馈补偿 ,以提高系统的跟踪性能。为了能适应系统参数的变化 ,采用自适应神经元来实现预见前馈补偿。自适应神经元的输入向量为预见步数 ,权值为预见前馈系数 ,权值具有明确的物理意义 ,而且权的初始值不是随机数 ,而是系统在额定情况下算出的预见前馈系数 ,从而加快了神经元的调整速度 ,提高了系统的跟踪能力。仿真实验结果证明了所提出方案的有效性

AUV海底热液喷口探测方法研究

自1979年海底热液喷口被首次发现以来，因其巨大的经济和科研价值引起了科学界的巨大关注。海底热液喷口释放的热液与周围海水混合，形成热液羽流，其范围可以达到数千米。热液羽流的存在使在几千米深的海底定位范围只有几米的热液喷口成为可能。湍流的作用使热液羽流与喷口位置存在不确定性，而在搜索区域中包含多个热液源会增加这种不确定性，这是海底热液喷口探测需要克服的难题之一。 本文主要研究了使用AUV探测海底热液喷口的方法。这个问题从更大范畴来说属于机器人化学羽流源定位问题（也称为移动机器人气源/味源定位），其潜在应用包括污染与环境监测，化学工厂安全，搜索与救援，反恐，麻醉品控制，爆炸物清除，以及热液喷口探测等。 首先，从AUV探测的角度研究了海底热液羽流的特性，分析了海底热液羽流的模型并根据模型对羽流进行了动态仿真。 从化学羽流源定位的角度研究了两种海底热液喷口探测策略──梯度搜索策略和构建占据栅格地图(Occupancy Grid Mapping，OGM)的策略。并利用仿真羽流环境验证了上述两种定位策略的可行性。 梯度搜索策略通过基于行为的方法实现，将梯度搜索任务分解为五个行为，并设计了行为间的转换规则，AUV按此规则在不同的行为间转化，跟踪羽流浓度梯度的方向，最终到达浓度极值点。 通过将每个栅格的二值状态重新定义为是否存在一个活跃的热液源，可以将OGM应用于热液源定位。融合传感器数据得到的后验概率地图可以反映每个栅格中存在热液源的可能性。本文采用基于贝叶斯规则的算法融合传感器数据。由于热液源的数量稀少，使用标准贝叶斯方法往往对栅格的占据概率做出过高估计，无法清晰的定位热液源。为此，又研究了一种精确算法和一种基于后验独立假设（Independence of Posteriors，IP）的近似算法，并分析了三种算法的优缺点。 最后，将占据栅格地图应用于分阶段海底热液喷口探测，利用栅格地图帮助实现探测的自主嵌套。

基于以太网技术的ARCNET数据采集系统设计

为了解决ARCNET网络与以太网不兼容的问题,针对目前ARCNET网络设备监控管理系统存在的缺陷,提出了一种基于嵌入式TCP/IP协议的ARCNET数据采集与传输系统。分析了该数据采集系统的原理与结构,给出了系统的硬件设计方案,完成了数据采集与传输的软件结构设计和嵌入式TCP/IP协议栈的建立。对系统的实时性、可靠性和应用效果等进行了测试,结果证明,系统使用方便,性能稳定,具有良好的实时性和可靠性,综合性能优于现有的ARCNET数据采集系统。

高速公路收费系统联网技术

结合目前我国高速公路通信传输网络的建设现状和收费系统数据通信的需求，从 结构、性能等方面分析了适应高速公路通信的3种网络技术SDH、ATM和宽带IP技术，以及这 3 种技术的综合集成模型ATM Over SDH、IP Over ATM、IP Over SDH、IP Over WDM。提出 比 较适合于高速公路收费系统联网的技术方案，并设计了网络通信管理和维护的具体内容 。

含激电信息的人工源频率域电磁法正演研究——大功率人工固定源极低频电磁法激电效应预研究

ABSTRACT Base on Dias-model, this paper study the forward modeling to IP response with MT souece and CSAMT source with the author’s program，that is to provide the theoretical basis for extracting the IP information from the far field, near field and transition field in extremely low frequency electromagnetic sounding with artificial strong fixed source signal. The outline of the paper is as follows. Firstly, review the history of the complex-resistivity-model, and analyses the bases for choosing Dias model; meanwhile, effects and responses of each parameter in Dias model are analyses. Afterward, study the forward modeling to 1D layered model with MT source, numerically simulate the IP effects of classic geoelectric objects; Find the clear anomaly and relationship between the peak value of the amplitude anomaly ratio and phase anomaly difference with and without IP parameters to be considered within a frequency range. On the basis of the modeling of MT, Study the CSAMT modeling with a dipole-source, obtain the anomaly responses and the relationship between anomaly and characters of object. Base on the infinite line source, study the 2D IP effect of geoelectric objects with 2D modeling. Calculate the response with different source distance, object depth and different wall rock resistivity systemically. Finally, conclude the viewpoints and give the discussion of the result, and point out the lack of this research also.

细胞因子对大鼠抑郁样行为的影响

Depression is one of the most important psychological diseases to threaten human health. “Cytokine theory of depression” suggests that cytokines may play an important role in depression, which provided a new perspective in the study the mechanism and the therapy of depressive symptoms. This view is supported by various findings. Administration of pro-inflammatory cytokine or lipoposaccharide in animal induces depressive-like behavior such as anhedonia and low locomotion, which is very similar to the behavioral symptoms of depression in humans. However, the earlier researches may only pay attention to the short-time behavior effects; the effects of long-time behavior changes have not been clearly reported. In addition, there are few reports about the effects of pro-inflammatory cytokine or anti-inflammatory cytokine on the depressive-like behavior induced by chronic stressors. To further understand the role of cytokines in depression, the purpose of the present study is to investigate the dose and time effects of pro-inflammatory cytokines induced by lipoposaccharide on depressive-like behavior, sensitization effect of pro-inflammatory and blockage effect of anti-inflammatory on depressive-like behavior induced by chronic cold swimming stress. The behavioral observation was carried out using sacharin preference test, open field test and elevated-plus maze. The results indicated that: 1) The activated immunity induced by LPS i.p administration could induce significant depressive-like behavior, but these behaviors had no long-term effect; 2)The depressive-like behaviors induced by stress could be elicited earlier and kept longer by the activated immunity induced by LPS ip ; 4) The chronic activated immunity induced by LPS icv administration could provoke significant depressive-like behavior, and the depressive-like behaviors induced by stress could be enhanced by icv LPS, LPS and stress had certain interact-sensitization effect on depressive-like behavior； 5) Anti-inflammatory cytokines IL-10 icv reversed the depressive-like behaviors induced by the stress. In conclusion, cytokines play an important role in the depressive-like behavior. Both peripheral and central administration of LPS induced a certain depressive-like behavior and enhanced stress-induced depressive behavior. The anti-inflammatory cytokine IL-10 icv could reverse the depressive-like behaviors induced by the stress. Keywords: lipoposaccharide, depressive-like behavior, anhedonia, locomotion, chronic cold swimming stress