基于评价选择策略的Internet多机器人协作控制研究

针对Internet多机器人系统中存在的操作指令延迟、工作效率低、协作能力差等问题,提出了多机器人神经元群网络控制模型。在学习过程中,来自不同功能区域的多类型神经元连接形成动态神经元群集,来描述各机器人的运动行为与外部条件、内部状态之间复杂的映射关系,通过对内部权值连接的评价选择,以实现最佳的多机器人运动行为协调。以互联网足球机器人系统为实验平台,给出了学习算法描述。仿真结果表明,己方机器人成功实现了配合射门的任务要求,所提模型和方法提高了多机器人的协作能力,并满足系统稳定性和实时性要求。

丘陵油田三间房组储层三维地质模型和砂体预测

This paper is belonging to Chinese Petrochemical Corporation's science and technology project. Although it is difficult, it has important theoretical and practical value. The study was aimed to reveal inhomogeneity of two kinds of reservoirs of fan-shaped delta and braided river by using new theories, new methods and new technology about 3-D model building and reservoir knowledge repository throughout the world, and to build reservoir knowledge repository and 3-D geological model which would predict the type of sand body forming reason and distribution rule in order to improve exploration result in Qiuling oil fields. Multi-discipline theories such as petroleum structure geology, reservoir geology, petroleum geology, sequence geology, logging geology, geomathematics and so on are used as guide. The information of geology, seism, logging and production test is combined. Outcrop area and overlap area are combined. By making full use of computer, stable structure, reservoir geometric shape, spatial distribution and inhomogeneity of bed of interest are investigated, described and characterized. Petroleum pool 3-D static geological model of reservoir knowledge repository was built. Sand body distribution was predicted. It has guided oil development, lowed the investment and improved development benefits. Several results are achieved as follows: (1) Strata framework of Sanjianfang group in Qiuling oil field has been established. (2) Geometric shape, spatial distribution and evolve rule of two different forming reason's reservoir of fan-shaped delta and braided river of Sanjianfang group in Qiuling oil field are discussed. (3) The two kinds of reservoirs have lower pore and permeability and very strong inhomogeneity. (4) Reservoir knowledge repository of two different forming reasons has been built of Sanjianfang group, which includes 5 geological knowledge sublibrary. (5) 3-D geological model of two kinds of forming reason's reservoirs has been built. (6) That same sequence instruction a simulation and probability field were used to predict sand body of Sanjianfang group was put forward. Coincidence rate is high after production test. It shows this method has great popularity value. (7) A set of theories, methods and technologies of knowledge repository of two kinds of reservoir of braided river and fan-shaped delta and 3-D geological model building were finished. (8) A set of theories, methods and technologies of investigating, describing, characterizing and predicting two kinds of oil pool were developed. It gets noticeable economic benefit after exploration. Theory and method about extrusion basin are developed.

Synthesis of a group of diosgenyl saponins with combined use of glycosyl trichloroacetimidate and thioglycoside donors

With the combined use of glycosyl trichloroacetimidates and thioglycosides, a group of natural diosgenyl saponins (1-6) are efficiently synthesized, in either a stepwise or a 'one-pot' manner. The trichloroacetimidate is employed as an efficient temporary hydroxy protecting group in glycosylation with the glycosyl trichloroacetimidate. The intermolecular alkylthio-group transfer is demonstrated to be a common side-reaction during glycosylation with thioglycosides.

Trichloroacetimidate as an efficient protective group for alcohols

The trichloroacetimidate is disclosed to be a general and efficient protective group for alcohols, which can be deprotected under mild acidic, basic, or neutral conditions, and has orthogonal stability with the acetate and tert-butyldimethylsilyl (TBS) protections.

Synthesis of a group of diosgenyl saponins by a one-pot sequential glycosylation

A group of natural diosgenyl saponins was synthesized in a highly efficient manner employing the 'one-pot sequential glycosylation' protocol with the combined use of glycosyl trichloroacetimidates and thioglycosides. (C) 1999 Elsevier Science Ltd. All rights reserved.

迁移性安慰剂效应的多模态机制 ：从痛觉到情绪的行为、ERP和fMRI研究

Although studies on placebo effect proved the placebo expectation established by pain-alleviating treatment could significantly alleviate later pain perception, or the placebo expectation established by anxiety-reducing treatment could significantly reduce the intensity of induced negative feelings, it is still unclear whether or not the placebo effect can occur in a transferable manner. That is, we still don’t know if the placebo expectation derived from pain-alleviating can significantly reduce later negative emotional arousal or not. Experiment 1: We compared the effect of the verbal expectation (purely verbal induction and without pain-alleviating reinforcement) with the reinforced expectation (building the belief in the placebo’s ataractic efficiency on unpleasant picture processing by secret reduction of the intensity of the pain-evoking stimulus) on the negative emotion. The results showed that the expectation, which was reinforced by actual analgesia, was transferable and could produce significant placebo effect on negative emotional arousal. However, the expectation that was merely induced by verbal instruction did not have such power. Experiment 2 both examined the direct analgesic effect of the placebo on the sensory pain (how strong is the pain stimulus) and emotional pain (how disturbing is the pain stimulus) and the transferable ataractic effect of the placebo on the negative emotion (how disturbing is the emotional picture stimulus), and further proved that the placebo expectation that was established from pain-reducing reinforcement not only induced significant placebo effect on pain, but also significant placebo effect on unpleasant feeling. These results support the viewpoint that the reduction of affective pain based on the conditioning mechanism plays an important role in the placebo analgesia, but can’t explain the transferred placebo effect on visual unpleasantness. Experiment 3 continued to use the paradigm of the reinforced expectation group and recorded the EEG activities, the data showed that the transferable placebo treatment was accompanied with decreased P2 amplitude and increased N2 distributed, and significant differences between the transferable placebo condition and the control condition (i.e., P2 and N2) were observed within the first 150-300 ms, a duration brief enough to rule out the possibility that differences between the two conditions merely reflect a bias “to try to please the investigator. In Experiment 4, we selected the placebo responders in the pre-experiment and let them to go through the formal fMRI scan. The results found that the transferable placebo treatment reduced the negative emotional response, emotion-responsive regions such as the amygdala, insula, anterior cingulate cortex and the thalamus showed an attenuated activation. And in the placebo condition, there was an enhanced activation in the subcollosal gyrus, which may be involved in emotional regulation. In conclusion, the transferable placebo treatment induced the reliable placebo effect on the behavior, EEG activity and bold signal, and we attempted to discuss the pychophysiological mechanism based on the positive expectancy.

Message-Driven Processor Architecture: Verson 11

The Message-Driven Processor is a node of a large-scale multiprocessor being developed by the Concurrent VLSI Architecture Group. It is intended to support fine-grained, message passing, parallel computation. It contains several novel architectural features, such as a low-latency network interface, extensive type-checking hardware, and on-chip memory that can be used as an associative lookup table. This document is a programmer's guide to the MDP. It describes the processor's register architecture, instruction set, and the data types supported by the processor. It also details the MDP's message sending and exception handling facilities.

An Algorithm for Group Formation and Maximal Independent Set in an Amorphous Computer

Amorphous computing is the study of programming ultra-scale computing environments of smart sensors and actuators cite{white-paper}. The individual elements are identical, asynchronous, randomly placed, embedded and communicate locally via wireless broadcast. Aggregating the processors into groups is a useful paradigm for programming an amorphous computer because groups can be used for specialization, increased robustness, and efficient resource allocation. This paper presents a new algorithm, called the clubs algorithm, for efficiently aggregating processors into groups in an amorphous computer, in time proportional to the local density of processors. The clubs algorithm is well-suited to the unique characteristics of an amorphous computer. In addition, the algorithm derives two properties from the physical embedding of the amorphous computer: an upper bound on the number of groups formed and a constant upper bound on the density of groups. The clubs algorithm can also be extended to find the maximal independent set (MIS) and $Delta + 1$ vertex coloring in an amorphous computer in $O(log N)$ rounds, where $N$ is the total number of elements and $Delta$ is the maximum degree.

Proceedings of the Fourth PHANTOM Users Group Workshop

This Report contains the proceedings of the Fourth Phantom Users Group Workshop contains 17 papers presented October 9-12, 1999 at MIT Endicott House in Dedham Massachusetts. The workshop included sessions on, Tools for Programmers, Dynamic Environments, Perception and Cognition, Haptic Connections, Collision Detection / Collision Response, Medical and Seismic Applications, and Haptics Going Mainstream. The proceedings include papers that cover a variety of subjects in computer haptics including rendering, contact determination, development libraries, and applications in medicine, path planning, data interaction and training.

Proceedings of the Second PHANToM User's Group Workshop

On October 19-22, 1997 the Second PHANToM Users Group Workshop was held at the MIT Endicott House in Dedham, Massachusetts. Designed as a forum for sharing results and insights, the workshop was attended by more than 60 participants from 7 countries. These proceedings report on workshop presentations in diverse areas including rigid and compliant rendering, tool kits, development environments, techniques for scientific data visualization, multi-modal issues and a programming tutorial.