分布式多机器人装配系统任务合作规划算法研究

:综述了多机器人系统任务规划的研究 ,介绍了基于 Agent的分布协作式多机器人装配系统 ,给出了分布式多机器人系统任务协商规划算法 ,采用了改进的合同网协议方法。针对多机器人任务规划算法的软件实现 ,采用了先进的分布式对象技术 ,介绍了算法的具体实现方法

面向装配作业的多机器人合作协调系统

分布、自主、协调与合作是多机器人系统的发展趋势。本文作者在研究易于协调合作的多机器人系统的基础上，采用分层递阶和多Ａｇｅｎｔ概念，构造了一个装配系统－ＭＲＯＣＡＳ系统。该系统具有任务自动建模分解，快速重组、良好柔性、友好人机界面，各机器人具有一定自主能力等特点，它实现了在较复杂环境下快速完成装配作业。

基于黑板结构的多传感器数据溶合系统FS-1

本文借助于数据溶合方法中的引导法构成的系统在移动式机器人定位中取得了令人满意的结果.本系统的特点是:用分布式黑板作为计算机构,使系统具有并行处理能力;把时间(时序)推理引入系统.在数据溶合中考虑了时间的重要作用.本文提出的溶合方法和结构原则上可用于其它相关的问题领域.

多轴伺服控制器在自动化装备中的应用

在对自动化装备技术改造的过程中,需要用“电子齿轮多轴交流伺服系统”来取代使用效果欠佳的机械齿轮系统.介绍了交流伺服传动技术在某大型卷接机组中应用的总体设计方案,详细论述了该系统的工作原理,阐述了工控机、DSP、PLC及多轴伺服控制器在该装备中的综合运用.并以安川多轴伺服控制器为例,详细介绍了该装备中引入多轴伺服控制器的硬件、软件设计.实际应用表明,该设计是成功的,各项性能指标均优于原来的机械装置,能够有效降低噪音,减少能耗.

基于DSRC的多功能不停车收费系统

DSRC标准是ISO/TC204制定的智能交通系统(ITS)中车—路信息通讯的协议。采用双片式ETC电子标签结合双界面IC卡的储值卡方案形成的多功能不停车收费系统,充分兼容了当前国内普遍应用的IC卡半自动收费方式,集中了IC卡收费系统和ETC收费系统的优点,方便、快捷、通行能力强,并解决了收费口的交通拥挤现象。

河道砂油藏产能预测系统研究

Productivity prediction is a serious factor to oil reservoir management and working out economic plans so that it is paid great attention to all the time. Gudao Oil Field, which has been yielding more than 100 million tons of crude oil accumulatively since it was put into developing in 1970's as a complete set of oil field, now entering double extra high water-bearing period after productivity construction, stable production and depletion stage. It's main layer series of development is thought to be type of channel sand reservoir in east China. Form channel sand reservoir in upper Guantao Group of Shengli Oil Field, there are several large oil fields such as Gudao, Gudong and Chengdao etc. with almost one-third reserves of whole Shengli Oil Field. It is considered the common characteristics in this area would be that the layer is less developed, the sand distribution is sporadic, the connectivity is weak, the heterogeneity is strong in plane, the oil layer is unconsolidated with big porosity, high permeability and serious sanding, and the oil is heavy. Because of the restricted factors to productivity of this kind of reservoir, it is very significant to study the productivity prediction this kind of reservoir. By selecting the upstream fluvial reservoir in Guantao Group of Neogene system as researching object, the author studied the forecasting technology with heterogeneous reservoir. Firstly, the author constructed the 3D subtle geological model quantificationally through researching exploitation geology in the way of combination of dynamic and static methods. Secondly, by the aid of dynamic material obtained while producing, the author analyzed the oil distribution law and influencing factors, then finished dynamic oil reservoir description on the basis of static oil reservoir description. Thirdly, via comparing and analyzing all the forecasting methods of productivity existed, the author developed a set of method to forecast productivity of single well and oil field which fit to channel sand reservoir. At last, under the support of ORACLE database, with the advanced computer technology, the author programmed the software called 'Channel Sand Reservoir Prediction System'. Up to now, this system has been putting into use in Gudao Oil Field and very successful.

Analysis of institutional arrangements and common pool resources governance: the case of Lake Tana sub-basin, Ethiopia

Although Common Pool Resources (CPRs) make up a significant share of total income for rural households in Ethiopia and elsewhere in developing world, limited access to these resources and environmental degradation threaten local livelihoods. As a result, the issues of management, governance of CPRs and how to prevent their over-exploitation are of great importance for development policy. This study examines the current state and dynamics of CPRs and overall resource governance system of the Lake Tana sub-basin. This research employed the modified form of Institutional Analysis and Development (IAD) framework. The framework integrates the concept of Socio-Ecological Systems (SES) and Interactive Governance (IG) perspectives where social actors, institutions, the politico-economic context, discourses and ecological features across governance and government levels were considered. It has been observed that overexploitation, degradation and encroachment of CPRs have increased dramatically and this threatens the sustainability of Lake Tana ecosystem. The stakeholder analysis result reveals that there are multiple stakeholders with diverse interest in and power over CPRs. The analysis of institutional arrangements reveals that the existing formal rules and regulations governing access to and control over CPRs could not be implemented and were not effective to legally bind and govern CPR user’s behavior at the operational level. The study also shows that a top-down and non-participatory policy formulation, law and decision making process overlooks the local contexts (local knowledge and informal institutions). The outcomes of examining the participation of local resource users, as an alternative to a centralized, command-and-control, and hierarchical approach to resource management and governance, have called for a fundamental shift in CPR use, management and governance to facilitate the participation of stakeholders in decision making. Therefore, establishing a multi-level stakeholder governance system as an institutional structure and process is necessary to sustain stakeholder participation in decision-making regarding CPR use, management and governance.

High-current inductors for high-power automotive DC-DC converters

This thesis is focused on the investigation of magnetic materials for high-power dcdc converters in hybrid and fuel cell vehicles and the development of an optimized high-power inductor for a multi-phase converter. The thesis introduces the power system architectures for hybrid and fuel cell vehicles. The requirements for power electronic converters are established and the dc-dc converter topologies of interest are introduced. A compact and efficient inductor is critical to reduce the overall cost, weight and volume of the dc-dc converter and optimize vehicle driving range and traction power. Firstly, materials suitable for a gapped CC-core inductor are analyzed and investigated. A novel inductor-design algorithm is developed and automated in order to compare and contrast the various magnetic materials over a range of frequencies and ripple ratios. The algorithm is developed for foil-wound inductors with gapped CC-cores in the low (10 kHz) to medium (30 kHz) frequency range and investigates the materials in a natural-convection-cooled environment. The practical effects of frequency, ripple, air-gap fringing, and thermal configuration are investigated next for the iron-based amorphous metal and 6.5 % silicon steel materials. A 2.5 kW converter is built to verify the optimum material selection and thermal configuration over the frequency range and ripple ratios of interest. Inductor size can increase in both of these laminated materials due to increased airgap fringing losses. Distributing the airgap is demonstrated to reduce the inductor losses and size but has practical limitations for iron-based amorphous metal cores. The effects of the manufacturing process are shown to degrade the iron-based amorphous metal multi-cut core loss. The experimental results also suggest that gap loss is not a significant consideration in these experiments. The predicted losses by the equation developed by Reuben Lee and cited by Colonel McLyman are significantly higher than the experimental results suggest. Iron-based amorphous metal has better preformance than 6.5 % silicon steel when a single cut core and natural-convection-cooling are used. Conduction cooling, rather than natural convection, can result in the highest power density inductor. The cooling for these laminated materials is very dependent on the direction of the lamination and the component mounting. Experimental results are produced showing the effects of lamination direction on the cooling path. A significant temperature reduction is demonstrated for conduction cooling versus natural-convection cooling. Iron-based amorphous metal and 6.5% silicon steel are competitive materials when conduction cooled. A novel inductor design algorithm is developed for foil-wound inductors with gapped CC-cores for conduction cooling of core and copper. Again, conduction cooling, rather than natural convection, is shown to reduce the size and weight of the inductor. The weight of the 6.5 % silicon steel inductor is reduced by around a factor of ten compared to natural-convection cooling due to the high thermal conductivity of the material. The conduction cooling algorithm is used to develop high-power custom inductors for use in a high power multi-phase boost converter. Finally, a high power digitally-controlled multi-phase boost converter system is designed and constructed to test the high-power inductors. The performance of the inductors is compared to the predictions used in the design process and very good correlation is achieved. The thesis results have been documented at IEEE APEC, PESC and IAS conferences in 2007 and at the IEEE EPE conference in 2008.

Generic support for policy-based self-adaptive systems

This paper presents a policy definition language which forms part of a generic policy toolkit for autonomic computing systems in which the policies themselves can be modified dynamically and automatically. Targeted enhancements to the current state of practice include: policy self-adaptation where the policy itself is dynamically modified to match environmental conditions; improved support for non autonomics-expert developers; and facilitating easy deployment of adaptive policies into legacy code. The policy definition language permits powerful expression of self-managing behaviours and facilitates a diverse policy behaviour space. Features include support for multiple versions of a given policy type, multiple configuration templates, and meta policies to dynamically select between policy instances. An example deployment scenario illustrates advanced functionality in the context of a multi policy stock trading system which is sensitive to environmental volatility.

Maintaining design intent for aircraft manufacture

Design and manufacture of aircraft requires deep multi-disciplinary understanding of system behaviour. The intention of the designer can get lost due to the many changes occurring to the product and the inability of the methods and tools used to capture it. Systems engineering and optimisation tools underpin industrial approaches to design, but are not without issue. The challenge is to find a route from concept to manufacture which enables designers to maintain their original intent. The novelty in this work is that the parameterisation used to build the CAD model reflects the manufacturing capability, ensuring design intent is maintained from concept to manufacture.

Sediment dynamics and tidal inlet relocation in mixed-energy settings: the case of Ancão inlet (Algarve - Portugal)

Tese de dout., Ciências do Mar, Faculdade de Ciências do Mar e do Ambiente, Univ. do Algarve, 2003

Classificação e previsão de cardiotocogramas usando algoritmos baseados em redes neuronais

Mestrado em Computação e Instrumentação Médica

Experimental assessment of pressure drop in air stripping columns

One important step in the design of air stripping operations for the removal of VOC is the choice of operating conditions, which are based in the phase ratio. This parameter sets on directly the stripping factor and the efficiency of the operation. Its value has an upper limit determined by the flooding regime, which is previewed using empirical correlations, namely the one developed by Eckert. This type of approach is not suitable for the development of algorithms. Using a pilot scale column and a convenient solution, the pressure drop was determined in different operating conditions and the experimental values were compared with the estimations. This particular research will be incorporated in a global model for simulating the dynamics of air stripping using a multi variable distributed parameter system.

Gérer la ville au Bénin : la mise en œuvre du Registre foncier urbain à Cotonou, Porto-Novo et Bohicon

La gestion des villes d’Afrique de l’Ouest pose problème à la période contemporaine : extension urbaine non maitrisée, services de base insuffisants, insécurité foncière. À travers l’aide internationale, d’importantes réformes visant à améliorer son efficacité ont pourtant été mises en place, mais elles semblent avoir été inefficaces. Dépassant ce constat d’échec, la thèse vise à comprendre comment se déroule l’acte de gérer la ville dans les circonstances particulières des villes d’Afrique de l’Ouest. La mise en œuvre du Registre foncier urbain (RFU), système d’information foncière municipal multi-fonctions introduit au Bénin à travers des programmes de développement au début des années 1990, constitue le prisme à travers lequel la gestion urbaine est analysée. Celle-ci est ainsi approchée par les actes plutôt que par les discours. S’appuyant sur une démarche socio-anthropologique, la mise en œuvre de l’instrument est analysée depuis le point de vue des acteurs locaux et selon une double grille de lecture : d’une part, il s’agit de saisir les logiques de l’appropriation locale dont le RFU a fait l’objet au sein des administrations; d’autre part, il s’agit de comprendre son interaction avec le territoire, notamment avec les dynamiques complexes d’accès au sol et de sécurisation foncière. Une étude de cas multiple a été menée dans trois communes : Cotonou, Porto-Novo et Bohicon. Deux ensembles de conclusions en découlent. Tout d’abord, le RFU s’est imposé comme l’instrument pivot de la fiscalité locale, mais est mis en œuvre de manière minimale. Ce fonctionnement particulier est une adaptation optimale à un contexte fait de rivalités professionnelles au sein d’administrations cloisonnées, d’enjeux politico-financiers liés aux différentes sources de revenus communaux et de tensions politico-institutionnelles liées à une décentralisation tardive. Les impacts du RFU en termes de développement des compétences professionnelles nationales sont insuffisants pour réformer la gestion urbaine depuis l’intérieur de l’administration municipale. Ensuite, alors qu’il vise à centraliser l’information sur les propriétaires présumés de la terre, le RFU se heurte à la marchandisation de cette information et à la territorialisation de la régulation foncière. La mise en œuvre du RFU s’en trouve affectée de deux manières : d’une part, elle s’insère dans ces circuits marchands de l’information foncière, avec cependant peu de succès ; d’autre part, elle a un impact différencié selon les territoires de la régulation foncière. En définitive, l’acte de gérer la ville au Bénin n’est pas devenu automatique avec l’introduction d’instruments comme le RFU. La municipalité se repose plutôt sur les piliers classiques de l’action publique, l’administration et le politique, pour gérer la ville plurielle de manière différenciée. À l’endroit des concepteurs d’action publique, cette thèse plaide pour une prise en compte des modes de régulation existant dans les sociétés africaines, fussent-ils pluriels, reconnaissant les voies originales que prend la construction des institutions en Afrique.

Efficient Watermarking Schemes for Speaker Verification Guaranteeing Non-repudiation

Presently different audio watermarking methods are available; most of them inclined towards copyright protection and copy protection. This is the key motive for the notion to develop a speaker verification scheme that guar- antees non-repudiation services and the thesis is its outcome. The research presented in this thesis scrutinizes the field of audio water- marking and the outcome is a speaker verification scheme that is proficient in addressing issues allied to non-repudiation to a great extent. This work aimed in developing novel audio watermarking schemes utilizing the fun- damental ideas of Fast-Fourier Transform (FFT) or Fast Walsh-Hadamard Transform (FWHT). The Mel-Frequency Cepstral Coefficients (MFCC) the best parametric representation of the acoustic signals along with few other key acoustic characteristics is employed in crafting of new schemes. The au- dio watermark created is entirely dependent to the acoustic features, hence named as FeatureMark and is crucial in this work. In any watermarking scheme, the quality of the extracted watermark de- pends exclusively on the pre-processing action and in this work framing and windowing techniques are involved. The theme non-repudiation provides immense significance in the audio watermarking schemes proposed in this work. Modification of the signal spectrum is achieved in a variety of ways by selecting appropriate FFT/FWHT coefficients and the watermarking schemes were evaluated for imperceptibility, robustness and capacity char- acteristics. The proposed schemes are unequivocally effective in terms of maintaining the sound quality, retrieving the embedded FeatureMark and in terms of the capacity to hold the mark bits. Robust nature of these marking schemes is achieved with the help of syn- chronization codes such as Barker Code with FFT based FeatureMarking scheme and Walsh Code with FWHT based FeatureMarking scheme. An- other important feature associated with this scheme is the employment of an encryption scheme towards the preparation of its FeatureMark that scrambles the signal features that helps to keep the signal features unreve- laed. A comparative study with the existing watermarking schemes and the ex- periments to evaluate imperceptibility, robustness and capacity tests guar- antee that the proposed schemes can be baselined as efficient audio water- marking schemes. The four new digital audio watermarking algorithms in terms of their performance are remarkable thereby opening more opportu- nities for further research.