两种线程池的实现和性能评价

线程池被广泛地应用在中间件如Web应用服务器、事务监控器等的实现中。实现线程池的方法主要有半同步/半异步(Half-Sync/Half-Asyn)模式和领导者/跟随者(Leader/Follower)模式。实现了这两种线程池,从理论上分析了它们的性能,并进行了性能实验。实验数据表明Leader/Follower模式具有较高的性能优势。

多移动机器人主—从编队控制研究

多机器人编队控制是多移动机器人自主协调控制领域中的关键技术。这篇论文在基于局部测量和局部控制的框架下，研究具有主—从跟踪结构的移动机器人编队系统的建模和控制问题。论文的主要研究内容可分为如下三个方面：针对一阶运动学和二阶运动学模型的编队控制器设计；将基于运动学的编队控制器与基于从机器人动力学的载体控制器相结合；将队形反馈信息融入主机器人的轨迹跟踪控制器，给出了主机器人的协调编队控制器的设计。具体内容可概括为如下几个方面：（1）以主—从机器人编队中从机器人的固联视觉传感器的观察角度出发，用视觉等效相对速度建立了主—从机器人编队系统的运动学模型。同时，在该模型中考虑了由视觉传感器时间延迟所导致的模型误差对编队系统的影响。在基于该运动学模型的编队控制器的设计过程中结合了基于从机器人载体的动力学的速度控制器。这种基于编队运动学和机器人本体动力学相结合的控制方法，避免了以往文献中速度跟踪响应无限快的假设。使得对编队控制系统的分析和设计更趋于实际。用Lyapunov稳定性理论证明了主—从机器人之间的编队跟踪误差和从机器人载体的速度跟踪误差都可以收敛到零--整体系统的渐进稳定性。（2）结合上述编队控制律，提出了一种编队系统中从机器人主动避障的方法，该方法能够令从机器人在避开动态障碍物的同时，与主机器人保持期望的相对距离或相对方位。这种方法的实质是由主机器人来引导从机器人的避障过程，主—从机器人之间通过相互协作来完成避障任务。这就使得从机器人即使在避障的过程中也能够与主机器人保持部分的协作。这样，当避障过程结束之后，主—从机器人之间可以迅速的恢复队形。（3）导出了一种新的基于相对运动学的主—从跟踪系统的二阶运动学模型。利用这个运动学模型，我们设计了一个由反馈线性化控制器和一个滑模控制器组成的复合控制器，来实现机器人主—从跟踪系统的控制。运用Lyapunov理论证明了所设计的队形控制器能够镇定包括内部动力学系统在内的整个主—从跟踪系统。同时，该控制器使得队形跟踪系统对主机器人的绝对加速度具有鲁棒性。此外，在前述控制器的基础上，我们设计了一个自适应队形控制器来处理主—从跟踪系统中存在的参数不确定性。（4）将上述基于二阶运动学的编队控制方法与从机器人的载体动力学控制系统相结合，给出了将编队运动学与载体动力学相结合的编队控制器设计方法。同时，针对载体动力学模型中含有参数不确定性的情况，设计了基于自适应控制方法的编队控制器。同时，利用Lyapunov理论给出了保证整体系统稳定性的条件。（5）基于主—从编队系统的二阶运动学模型，将队形反馈信息引入主机器人的轨迹跟踪控制器中，形成了主—从机器人协调编队的辅助控制律。该辅助控制律所对应的虚拟协调力通过主机器人的动力学系统形成了真实的协作控制力。该控制器与前一章中的从机器人的鲁棒编队跟踪控制器共同形成了主—从编队系统的协调控制器。应用Lyapunov理论给出了在主—从机器人分别采用协调编队控制器的作用下所形成的闭环系统的稳定性条件。进一步地，我们将主机器人的面向轨迹跟踪任务的协调控制器转换为面向路径跟踪任务的协调控制器。分别利用了基于MATLAB的仿真平台和实际的多移动机器人系统，验证了以上各方法的有效性。

基于跟随领航者法的多UUV队形控制方法研究

本文主要研究基于跟随领航者法的多 UUV(unmanned underwater vehicle)队形控制。在 UUV 载体坐标系下建立系统的运动学模型,该模型是对笛卡尔坐标系下的运动学模型的改进,避免了极坐标系下奇异点的出现。该模型经过输入输出反馈线性化,获得稳定的队形控制器。同时,为了缩小队形控制律中的控制参数的调整范围,本文提出了辅助算法,在此基础上分析参数的有效范围。将队形控制律在多 UUV 数字仿真平台上验证,证实了改进的运动学模型和控制律的有效性。

The interaction of two pairs of solitary waves in a two-fluid system

This paper deals with the interaction of solitary waves in a two-fluid system which consistsof two superimposed incompressible inviscid fluids with a free surface and a horizontal rigidbottom. Under the assumption of shallow water wave, we first derive the basic equationssuitable for the model considered, a generalized form of the Boussinesq equations, then usingthe PLK method and the reductive perturbation method, obtain the second-order approximatesolution for the head-on collision between two pairs of interface and surface solitary waves,and give their maximum amplitudes during the collision and the nonuniform phase shiftsafter the collision which lead to the distortion of the wave profiles.

Prevalent positive epistasis in Escherichia coli and Saccharomyces cerevisiae metabolic networks

Epistasis refers to the interaction between genes. Although high-throughput epistasis data from model organisms are being generated and used to construct genetic networks(1-3), the extent to which genetic epistasis reflects biologically meaningful interactions remains unclear(4-6). We have addressed this question through in silico mapping of positive and negative epistatic interactions amongst biochemical reactions within the metabolic networks of Escherichia coli and Saccharomyces cerevisiae using flux balance analysis. We found that negative epistasis occurs mainly between nonessential reactions with overlapping functions, whereas positive epistasis usually involves essential reactions, is highly abundant and, unexpectedly, often occurs between reactions without overlapping functions. We offer mechanistic explanations of these findings and experimentally validate them for 61 S. cerevisiae gene pairs.

Cytotoxicity evaluation of three pairs of hexabromocyclododecane (HBCD) enantiomers on Hep G2 cell

Hexabromocyclododecanes (HBCDs) are additive brominated flame retardants mainly used in plastics and textiles. At the present time, these compounds are found in almost all environmental and human samples. In order to evaluate the environmental safety and health risk of HBCDs, the enantiomerically pure alpha-, beta-, and gamma-HBCD were prepared using high performance liquid chromatography (HPLC) on a PM-P-CD column and the cytotoxicities of their enantiomers were evaluated in Hep G2 cells. Results from the 3-(4,5-dimethylthioazol-2-yl)-2,5-diphenyl tetrazolium bromide (MTT), resazurin reduction and lactate dehydrogenase (LDH) release assays showed a good agreement that the order of cytotoxicity was gamma-HBCD >= beta-HBCD > alpha-HBCD, and that significantly lower cell viability and higher LDH release were observed in all (+)-enantiomers ((+) alpha-, (+) beta- and (+) gamma-HBCD) than the corresponding (-)-forms ((-) alpha-, (-) beta- and (-) gamma-HBCD). Additionally, the formation of reactive oxygen species (ROS) induced by these HBCD enantiomers were detected. The positive correlation between the LDH release and ROS formation demonstrated that the toxic mechanism might be mediated by oxidative damage. These results suggest that environmental and human health risks of HBCDs must be evaluated at the level of individual enantiomers. (C) 2008 Published by Elsevier Ltd.

Entanglement degree of electron pairs out of Andreev reflection

We study the entanglement degree of electron pairs emitted from an s-wave Superconductor, which Couples to two normal leads via a single-level quantum dot. Within the framework of scattering matrix theory. the concurrence is used to quantify the entanglement. And the result shows that the entanglement degree is generally influenced by the initial separation of the two electrons in a Cooper pair and the normal transmission eigenvalues T-1, T-2. But it is only determined by the eigenvalues in the tunnelling limit, T-1. T-2 << 1, what is more. it is measurable. (C) 2008 Elsevier B.V. All rights reserved.

Surface morphology control of strained InAs/GaAs(331)A films: From nanowires to island-pit pairs

We have studied the effect of molecular beam epitaxy growth conditions on the surface morphology of strained InAs/GaAs(331)A films. Our results reveal that InAs nanowires aligned along the [1 (1) over bar0] direction are formed under As-rich conditions, which is explained by the effect of anisotropic buffer layer surface roughing. Under In-rich conditions, however, the surface morphology of the InAs layers is characterized by a feature of island-pit pairs. In this case, cooperative nucleation of islands and pits can lower the activation barrier for domain growth. These results suggest that the surface morphology of strained InAs layers is highly controllable. (C) 2005 American Institute of Physics.

Storage of photoexcited electron-hole pairs in an AlAs/GaAs heterostructure created by electron transfer in real and kappa spaces

The storage of photoexcited electron-hole pairs is experimentally carried out and theoretically realized by transferring electrons in both real and k spaces through resonant Gamma - X in an AlAs/GaAs heterostructure. This is proven by the peculiar capacitance jump and hysteresis in the measured capacitance-voltage curves. Our structure may be used as a photonic memory cell with a long storage time and a fast retrieval of photons as well.

Excitation transfer in vertically self-organized pairs of unequal-sized InAs/GaAs quantum dots

The excitation transfer processes in vertically self organized pairs of unequal-sized quantum dots (QD's), which are created in InAs/GaAs bilayers with different InAs deposition amounts in the first and second layers, have been investigated experimentally by photoluminescence technique. The distance between the two dot layers is varied from 3 to 12 nm. The optical properties of the formed pairs of unequal-sized QD's with clearly discernible ground-state transition energy depend on the spacer thickness. When the spacer layer of GaAs is thin enough, only one photoluminescence peak related to the large QD ensemble has been observed as a result of strong electronic coupling in the InAs QD pairs. The results provide evidence for nonresonant energy transfer from the smaller QDs in the second layer to the larger QD's in the first layer in such an asymmetric QD pair.

基于时延Petri网的多UUV系统的任务分配策略

针对多水下机器人(unmanned underwater vehicle,UUV)系统动态任务分配问题展开研究,在对系统的体系结构和任务分配机制进行分析的基础上,利用时延 Petri 网理论对系统的任务分配进行建模,提出了一种新的任务分配策略:群体协调层采用集中式任务分配策略,由主 UUV 将任务实时下达给各从 UUV;监控规划层采用基于适应度的分布式任务分配方式,充分发挥各异构 UUV 自身的智能。仿真结果验证了模型的合理性和任务分配策略的有效性。