监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。

一种对等计算安全性的时间自衰减信任管理算法

面向对等计算的信任度评估提出了一种新的信任管理量化算法，该算法解决了已有算法不能很好解决的信任时间衰减特性和节点联盟等问题，系统地对目前有代表性的网络信任评估算法进行了总结和分析，并对当前相关的国内外研究热点作了分类，同时给出了信任相关的一些定义以及算法应该考虑的问题，并提出一套完整解决问题的算法．定义了信任时间矫正函数、域信任矫正函数、信任值校准函数和准确度函数，并构造了信任时间矫正算法与域矫正算法，通过推导说明本算法具有良好的时间衰减性、历史经验相关性、新入节点奖励特性和联盟特性，同时给出了一般性的信任自然衰减曲线和8种典型特征域的系数变化范围．通过实验评价了算法的正确性和有效性，并和Azzedin算法进行比较，表明提出的算法效率和准确性有了显著的提高．

Switch Region for Pathogenic Structural Change in Conformational Disease and Its Prediction

Many diseases are believed to be related to abnormal protein folding. In the first step of such pathogenic structural changes, misfolding occurs in regions important for the stability of the native structure. This destabilizes the normal protein conformation, while exposing the previously hidden aggregation-prone regions, leading to subsequent errors in the folding pathway. Sites involved in this first stage can be deemed switch regions of the protein, and can represent perfect binding targets for drugs to block the abnormal folding pathway and prevent pathogenic conformational changes. In this study, a prediction algorithm for the switch regions responsible for the start of pathogenic structural changes is introduced. With an accuracy of 94%, this algorithm can successfully find short segments covering sites significant in triggering conformational diseases (CDs) and is the first that can predict switch regions for various CDs. To illustrate its effectiveness in dealing with urgent public health problems, the reason of the increased pathogenicity of H5N1 influenza virus is analyzed; the mechanisms of the pandemic swine-origin 2009 A(H1N1) influenza virus in overcoming species barriers and in infecting large number of potential patients are also suggested. It is shown that the algorithm is a potential tool useful in the study of the pathology of CDs because: (1) it can identify the origin of pathogenic structural conversion with high sensitivity and specificity, and (2) it provides an ideal target for clinical treatment.

Novel approach for region merging and image segmentation for human-computer interaction

For the purpose of human-computer interaction (HCI), a vision-based gesture segmentation approach is proposed. The technique essentially includes skin color detection and gesture segmentation. The skin color detection employs a skin-color artificial neural network (ANN). To merge and segment the region of interest, we propose a novel mountain algorithm. The details of the approach and experiment results are provided. The experimental segmentation accuracy is 96.25%. (C) 2003 Society of Photo-Optical Instrumentation Engineers.

Internal quantum efficiency analysis of solar cell by genetic algorithm

To investigate factors limiting the performance of a GaAs solar cell, genetic algorithm is employed to fit the experimentally measured internal quantum efficiency (IQE) in the full spectra range. The device parameters such as diffusion lengths and surface recombination velocities are extracted. Electron beam induced current (EBIC) is performed in the base region of the cell with obtained diffusion length agreeing with the fit result. The advantage of genetic algorithm is illustrated.