一类非完整约束动力学系统的人工场导向控制

对于一类具有轮式移动机构的非完整动力学系统，本文通过建立人工场的方法来实现其位姿镇定、轨迹跟踪和路径跟踪等控制问题。人工场用于导向和控制方向角，而通过辅助的线速度控制以获取最佳收敛路径。控制器设计中同时兼顾动力学扰动及实际系统速度和输出力矩的饱和限制，所得控制器对于跟踪问题仅需知道期望位姿，而且结构简单、鲁棒性强、便于实现。

基于Agent的分布式多机器人系统建模及分析

进行一个多装配机器人系统 DAMAS的模型研究 ,介绍离散事件动态系统的重要建模工具 Petri网 ,提出解决模型复杂性的有效方法 ,建立了系统中各个 Agent及整个系统的 Petri网模型 ,对这些模型及相互间的交互模型进行了重要的活性和有界性分析 ,对多机器人系统的协作机制进行了验证分析。

动态系统结构与分形公司

传统的静态企业结构不能适应快速变化的环境，企业需要可以快速重构的动态结构，以内部变化来适应外部变化。系统的构成单元应该具有决策智能、自组织、协商合作和自治能力。本文研究了企业动态结构的需求与特点，同时介绍了分形公司的动态结构思想。

准噶尔盆地三个泉凸起油气成藏条件及动力学研究

Sangequan Uplift in Junggar Basin is an inherited positive structure, which has undergone many times of violent tectonic movements, with high tectonic setting, and far away from the oil-source sag, reservoir forming condition is complex. Combining sequence stratigraphy, depositional facies, reservoir formation theory with seismic and well logging analysis, this paper conducted integrated study on the hydrocarbon migration, accumulation, entrapment conditions, the reservoir forming dynamics and the forming model, and acquired the following recognition: (1) The special reservoir formation conditions that enable Sangequan Uplift to form a giant oil-gas field of over 100 million tons of reserves are as follows: (D Deltaic frontal sandbody is developed in Jurassic Xishanyao Formation, Toutunhe Formation and Lower Cretaceous Hutubihe Formation, with good reservoir quality;? Abundant hydrocarbon resources are found in Western Well Pen-1 Sag, which provides sufficient oil sources for reservoir formation of Sagequan Uplift; ?The unconformity-fault-sandbody system has formed a favorable space transporting system and an open conduit for long-distance hydrocarbon migration; ?fault, low amplitude anticline and lithological traps were well developed, providing a favorable space for hydrocarbon accumulation. (2) The most significant source beds in the Western Well Pen-1 Sag are the Mid-Permian Lower Wuerhe Formation and Lower-Permian Fengcheng Formation. The oil in the Well Block Lu-9 and Shinan Oilfield all originated from the hydrocarbon source beds of Fengcheng Formation and Lower Wuerhe Formation in the Western Well Pen-1 Sag and migrated through Jidong and Jinan deep faults linking unconformity of different regions from sources to structural highs of the uplift and shallow horizons. (3) There were 2 reservoir formation periods in District Sangequan: the first was in late Cretaceous during which the upper part of Xishanyao Formation and Toutunhe Formation; the second was in Triassic, the main resources are high-maturity oil and gas from Fengcheng Formation and Wuerhe Formation in Western Pen-1 Well sag and the gas from coal measure strata of Xishanyao Formation, that were accumulated in Hutubihehe Formation. (4) Model of the hydrocarbon migration, accumulation, reservoir formation of the study area are categorized as three types starting from the hydrocarbon source areas, focusing on the faults and unconformity and aiming at reservoirs: ① Model of accumulation and formation of reservoir through faults or unconformities along the "beam" outside source; ②Model of migration, accumulation and reservoir formation through on-slope near source;③Model of migration, accumulation and reservoir formation of marginal mid-shallow burial biogas-intermediate gas. (5) Pinchout, overlap and lithologic traps are developed in transitional zones between Western Well Pen-1 sag and Luliang uplift. Many faulted blocks and faulted nose-like traps are associated with large structures on Sangequan uplift. Above traps will be new prospecting areas for further hydrocarbon exploration in future.

东营凹陷沙三中亚段湖相浊积岩储层特征及油气成藏规律研究

Turbidity sandstone reservoirs have been an important field of hydrocarbon exploration and development in the basins all over the world, as well as in China. Lithologic pools are composed of turbidity sandstones and other sandstones are frequently found in the Jiyang Depression that is a Mesozoic-Cenozoic non-marine oil-bearing basin. The Dongying Sag lies in the sedimentary center of the basin. The subtle traps with turbidity reservoirs are generally difficult to be predicted and described by using current techniques. The studies on turbidity reservoirs plays thus an important theoretical and theoretical practical role in exploration and development in the Jiyang Depression. The attention is, in this thesis, focused on the petrologic properties and oil accumulating behaviors in lake turbidity sedimentary systems in the middle part of the third section of Shahejie Formation in the Dongying Sag, especially in Dongxin area, which lies on the central uplift of the Sag. The paper has disclosed the origin types of turbidity sandstones, distribution pattern and controlling factors of turbidity sandstones, and set up hydrocarbon accumulation patterns of the middle part of the third section of Shahejie Formation in Dongxin, based on nonmarine high resolution sequence stratigraphy, event sedimentology and new theories of hydrocarbon forming. By studying prediction method and technology of turbidity sandstone reservoirs, using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, the paper has forecast low permeability turbidity sandstone reservoirs and pointed out advantage exploration aims to progressive exploration and development. The paper has obtained mainly many productions and acknowledges as follows: 1.Turbidity sandstone reservoirs of the third section of Shahejie Formationin Dongying Sag are formed in such specifical geological background as rift and extension of basin. The inherited Dongying delta and transgression make up many turbidity distribution areas by overlaying and joining together. The hydrocarbon migrates from depression area to adjacent turbidity sandstone continuously. Accumulation area which is sufficient in oil is formed. 2.The paper has confirmed distinguishable sign of sequence boundary , established stratigraphic framework of Dongying Sag and realized isotime stratigraphic correlation. Es3 of Dongying delta is divided into eleven stages. Among them, the second period of the lower section in Es3, the sixth period of the middle section in Es3, the third period of the upper section in Es3 correspond to eleven sedimentary isotime surface in seismic profile, namely Es3 is classified into eleven Formations. 3.According to such the features of turbidity sandstone as deep in burial, small in area, strong in subtle property, overlaying and joining together and occurring in groups, management through fault and space variations of restriction quantum are realized and the forecast precision of turbidity sandstone by using precise geological model developing, new techniques of high resolution seismic inversion constrained by logging, based on the analysis of all kinds of interwell seismic inversion techniques. 4.According to the features of low permeable turbidity sandstone reservoirs, new method of log interpretation model is put forward. At the same time, distinguish technology of familiar low resistivity oil layer in the turbidity sandstone reservoirs is studied based on petrophysical laboratory work and "four properties" interrelationship between lithological physical Jogging and bearing hydrocarbon properties. Log interpretation model and reservoir index interpretation model of low resistivity oil layer are set up. So the log interpretation precision is improved. 5.The evolution law and its difference of the turbidity sandstone are embodies as follows: the source of sediments come from the south and east of the study area in the middle period of Es3. East source of sediments is pushed from west to east. However, the south source supply of sediments in the early and middle period of Es3 is in full, especially in Es3. subsequently, the supply is decreased gradually. Turbidity fan moves back toward the south and the size of fan is minished accordingly. The characteristic of turbidity sandstone in Dongying Sag is different in different structural positions. Dongxin in the middle-east of the central lift and Niuzhuang Sag He in Dongying delta front and prodelta deep lake subfacies. Although the turbidity sandstone of the two areas root in the Dongying delta sedimentary system, the sand body has different remarkably characteristic. 6.The sedimentary model of the turbiditys in study area have three types as follows: (1) collapse turbidity fan in respect of delta; (2) fault trench turbidity fan; (3) other types of microturbidity sandstone. Middle fan and outer fan, can be found mainly in sublacustrine fan. Middle fan includes braided channel microfacies, central microfacies and braided interchannel microfacies, which is main prospecting oil-bearing subfacies. The middle section of the third section of Shahejie Formation in study area (for example the central lift) can be divided into middle-lower and upper part. The middle-lower part is characteristic of turbidity fan. The upper part is sedimented mainly by delta-collapse fan. 7.The turbidity reservoirs of the middle part of the third section of Shahejie Formation in study area characterize by low maturity both in component and texture, strong in diagenesis and low in permeability. The reservoir can be classified into four types. Type III is the body of reservoir and comprises two types of H a and HI b. M a belongs to middle porosity - low permeability reservoir and distributes in the central lift. Hlb belongs to low porosity - low permeability and distributes in Haojia region. 8.A11 single sand body of lens turbidity reservoir of the middle part of the third section of Shahejie Formation in study area are surrounded by thick dark source rocks. The oil-water system is complex and behaves that every sandstone is single seal unit. The water body is 1/3-1-5 of the sand body. The edge water is not active. The gas exists in the top of reservoir in the form of mixed gas. For far-range turbidity fan with big scale channel, the area and volume of sand body is large and the gap is big in oil packing degree. There are lots of edge water and bottom water, and the latter increases rapidly during the course of development. 9.By exerting the modern hydrocarbon forming theories, the third section of Shahejie Formation in study area belongs to abnormally pressured fluid compartment. The lithological reservoir of the third section of Shahejie Formation is formed in the compartment. The reservoir-formed dynamic system belongs to lower self-source enclosed type. The result and the practice indicate that the form and accumulation of lithological oil reservoirs are controlled by the temperature and pressure of stratum, microfacies, thickness of sand body, fault and reservoir heterogeneity. 10. Based on studies above, the emphases focus on in south and north part of Dongying structure, west Dongxin region and south part Xinzhen structure in the application of production. The practice proves that the turbidity sandstone reservoirs in Ying 11 block and the fault-lithological reservoirs in Xin 133 block have been obtained significant breakthrough. The next target is still sandstone groups of the third section of Shahejie Formation in the bordering areas of Dongxin region for instance Xin 149 area, He 89 area, Ying 8 area etc.

Comparison of K-ary N-cube and de Bruijn Overlays in QoS-Constrained Multicast Applications

Research on the construction of logical overlay networks has gained significance in recent times. This is partly due to work on peer-to-peer (P2P) systems for locating and retrieving distributed data objects, and also scalable content distribution using end-system multicast techniques. However, there are emerging applications that require the real-time transport of data from various sources to potentially many thousands of subscribers, each having their own quality-of-service (QoS) constraints. This paper primarily focuses on the properties of two popular topologies found in interconnection networks, namely k-ary n-cubes and de Bruijn graphs. The regular structure of these graph topologies makes them easier to analyze and determine possible routes for real-time data than complete or irregular graphs. We show how these overlay topologies compare in their ability to deliver data according to the QoS constraints of many subscribers, each receiving data from specific publishing hosts. Comparisons are drawn on the ability of each topology to route data in the presence of dynamic system effects, due to end-hosts joining and departing the system. Finally, experimental results show the service guarantees and physical link stress resulting from efficient multicast trees constructed over both kinds of overlay networks.

The ways in which new public management ideas impact upon the administrative culture of 'street-level' bureaucrats and professionals working within Irish social policy

The conventional meaning of culture is ‘widely shared and strongly held values’ of a particular group or society (Bradley and Parker, 2006: 89). Culture is not a rigid concept; it can be influenced or altered by new ideas or forces. This research examines the ways in which one set of ideas in particular, that is, those associated with New Public Management, have impacted upon the administrative culture of 'street-level' bureaucrats and professionals within Irish social policy. Lipsky (1980: 3) defined 'street-level' bureaucrats as ‘public service workers who interact directly with citizens in the course of their jobs, and who have substantial discretion in the execution of their work’. Utilising the Competing Values Framework (CVF) in the analysis of eighty three semi-structured interviews with 'street-level' bureaucrats and professionals, an evaluation is made as to the impact of NPM ideas on both visible and invisible aspects of administrative culture. Overall, the influence of NPM is confined to superficial aspects of administrative culture such as; increased flexibility in working hours and to some degree job contracts; increased time commitment; and a customer service focus. However, the extent of these changes varies depending on policy sector and occupational group. Aspects of consensual and hierarchical cultures remain firmly in place. These coincide with features of developmental and market cultures. Contrary to the view that members of hierarchical and consensual culture would pose resistance to change, this research clearly illustrates that a very large appetite for change exists in the attitudes of 'street-level' bureaucrats and professionals within Irish social policy, with many of them suggesting changes that correspond to NPM ideas. This study demonstrates the relevance of employing the CVF model as it is clear that administrative culture is very much a dynamic system of competing and co-existing cultures.

Policy-driven self-management for an automotive middleware

This paper describes work towards the deployment of self-managing capabilities into an advanced middleware for automotive systems. The middleware will support a range of futuristic use-cases requiring context-awareness and dynamic system configuration. Several use-cases are described and their specific context-awareness requirements identified. The discussion is accompanied by a justification for the selection of policy-based computing as the autonomics technique to drive the self-management. The specific policy technology to be deployed is described briefly, with a focus on its specific features that are of direct relevance to the middleware project. A selected use-case is explored in depth to illustrate the extent of dynamic behaviour achievable in the proposed middleware architecture, which is composed of several policy-configured services. An early demonstration application which facilitates concept evaluation is presented and a sequence of typical device-discovery events is worked through

End-to-End QoS Enhancement ofHSDPA End-User Multi-flow Traffic Using RAN Buffer Management

High speed downlink packet access (HSDPA) was introduced to UMTS radio access segment to provide higher capacity for new packet switched services. As a result, packet switched sessions with multiple diverse traffic flows such as concurrent voice and data, or video and data being transmitted to the same user are a likely commonplace cellular packet data scenario. In HSDPA, radio access network (RAN) buffer management schemes are essential to support the end-to-end QoS of such sessions. Hence in this paper we present the end-to-end performance study of a proposed RAN buffer management scheme for multi-flow sessions via dynamic system-level HSDPA simulations. The scheme is an enhancement of a time-space priority (TSP) queuing strategy applied to the node B MAC-hs buffer allocated to an end user with concurrent real-time (RT) and non-real-time (NRT) flows during a multi-flow session. The experimental multi- flow scenario is a packet voice call with concurrent TCP-based file download to the same user. Results show that with the proposed enhancements to the TSP-based RAN buffer management, end-to-end QoS performance gains accrue to the NRT flow without compromising RT flow QoS of the same end user session

Laxity dynamics and LLF schedulability analysis on multiprocessor platforms

LLF (Least Laxity First) scheduling, which assigns a higher priority to a task with a smaller laxity, has been known as an optimal preemptive scheduling algorithm on a single processor platform. However, little work has been made to illuminate its characteristics upon multiprocessor platforms. In this paper, we identify the dynamics of laxity from the system’s viewpoint and translate the dynamics into LLF multiprocessor schedulability analysis. More specifically, we first characterize laxity properties under LLF scheduling, focusing on laxity dynamics associated with a deadline miss. These laxity dynamics describe a lower bound, which leads to the deadline miss, on the number of tasks of certain laxity values at certain time instants. This lower bound is significant because it represents invariants for highly dynamic system parameters (laxity values). Since the laxity of a task is dependent of the amount of interference of higher-priority tasks, we can then derive a set of conditions to check whether a given task system can go into the laxity dynamics towards a deadline miss. This way, to the author’s best knowledge, we propose the first LLF multiprocessor schedulability test based on its own laxity properties. We also develop an improved schedulability test that exploits slack values. We mathematically prove that the proposed LLF tests dominate the state-of-the-art EDZL tests. We also present simulation results to evaluate schedulability performance of both the original and improved LLF tests in a quantitative manner.

Retificador monofásico com fator de potência quase unitário

Dissertação para a obtenção do grau de Mestre em Engenharia Eletrotécnica Ramo de Automação e Eletrónica Industrial

Identificação e representação automática de percursos de autocarros

Trabalho final de Mestrado para obtenção do grau de Mestre em Engenharia de Redes de Comunicação e Multimédia

Les théories de la complexité et la systémique en gouvernance clinique: le cas des soins intensifs chirurgicaux

Deux thématiques importantes des technologies de la santé: la pratique médicale fondée sur des preuves probantes et l’évaluation des interventions en médecine sont fondées sur une approche positiviste et une conception mécaniste des organisations en santé. Dans ce mémoire, nous soulevons l’hypothèse selon laquelle les théories de la complexité et la systémique permettent une conceptualisation différente de ces deux aspects de la gouvernance clinique d’une unité de Soins Intensifs Chirurgicaux (SIC), qui est considérée comme un système adaptatif dynamique non linéaire qui nécessite une approche systémique de la cognition. L’étude de cas d’une unité de SIC, permet de démontrer par de nombreux exemples et des analyses de micro-situations, toutes les caractéristiques de la complexité des patients critiques et instables et de la structure organisationnelle des SIC. Après une critique épistémologique de l’Evidence-Based Medicine nous proposons une pratique fondée sur des raisonnements cliniques alliant l’abduction, l’herméneutique et la systémique aux SIC. En nous inspirant des travaux de Karl Weick, nous suggérons aussi de repenser l’évaluation des modes d’interventions cliniques en s’inspirant de la notion d’organisation de haute fiabilité pour mettre en place les conditions nécessaires à l’amélioration des pratiques aux SIC.

Optimierung von Betriebsstrategien für elektrifizierte Antriebskonzepte

Im Rahmen dieser Arbeit wird eine gemeinsame Optimierung der Hybrid-Betriebsstrategie und des Verhaltens des Verbrennungsmotors vorgestellt. Die Übernahme von den im Steuergerät verwendeten Funktionsmodulen in die Simulationsumgebung für Fahrzeuglängsdynamik stellt eine effiziente Applikationsmöglichkeit der Originalparametrierung dar. Gleichzeitig ist es notwendig, das Verhalten des Verbrennungsmotors derart nachzubilden, dass das stationäre und das dynamische Verhalten, inklusive aller relevanten Einflussmöglichkeiten, wiedergegeben werden kann. Das entwickelte Werkzeug zur Übertragung der in Ascet definierten Steurgerätefunktionen in die Simulink-Simulationsumgebung ermöglicht nicht nur die Simulation der relevanten Funktionsmodule, sondern es erfüllt auch weitere wichtige Eigenschaften. Eine erhöhte Flexibilität bezüglich der Daten- und Funktionsstandänderungen, sowie die Parametrierbarkeit der Funktionsmodule sind Verbesserungen die an dieser Stelle zu nennen sind. Bei der Modellierung des stationären Systemverhaltens des Verbrennungsmotors erfolgt der Einsatz von künstlichen neuronalen Netzen. Die Auswahl der optimalen Neuronenanzahl erfolgt durch die Betrachtung des SSE für die Trainings- und die Verifikationsdaten. Falls notwendig, wird zur Sicherstellung der angestrebten Modellqualität, das Interpolationsverhalten durch Hinzunahme von Gauß-Prozess-Modellen verbessert. Mit den Gauß-Prozess-Modellen werden hierbei zusätzliche Stützpunkte erzeugt und mit einer verminderten Priorität in die Modellierung eingebunden. Für die Modellierung des dynamischen Systemverhaltens werden lineare Übertragungsfunktionen verwendet. Bei der Minimierung der Abweichung zwischen dem Modellausgang und den Messergebnissen wird zusätzlich zum SSE das 2σ-Intervall der relativen Fehlerverteilung betrachtet. Die Implementierung der Steuergerätefunktionsmodule und der erstellten Steller-Sensor-Streckenmodelle in der Simulationsumgebung für Fahrzeuglängsdynamik führt zum Anstieg der Simulationszeit und einer Vergrößerung des Parameterraums. Das aus Regelungstechnik bekannte Verfahren der Gütevektoroptimierung trägt entscheidend zu einer systematischen Betrachtung und Optimierung der Zielgrößen bei. Das Ergebnis des Verfahrens ist durch das Optimum der Paretofront der einzelnen Entwurfsspezifikationen gekennzeichnet. Die steigenden Simulationszeiten benachteiligen Minimumsuchverfahren, die eine Vielzahl an Iterationen benötigen. Um die Verwendung einer Zufallsvariablen, die maßgeblich zur Steigerung der Iterationanzahl beiträgt, zu vermeiden und gleichzeitig eine Globalisierung der Suche im Parameterraum zu ermöglichen wird die entwickelte Methode DelaunaySearch eingesetzt. Im Gegensatz zu den bekannten Algorithmen, wie die Partikelschwarmoptimierung oder die evolutionären Algorithmen, setzt die neu entwickelte Methode bei der Suche nach dem Minimum einer Kostenfunktion auf eine systematische Analyse der durchgeführten Simulationsergebnisse. Mit Hilfe der bei der Analyse gewonnenen Informationen werden Bereiche mit den bestmöglichen Voraussetzungen für ein Minimum identifiziert. Somit verzichtet das iterative Verfahren bei der Bestimmung des nächsten Iterationsschrittes auf die Verwendung einer Zufallsvariable. Als Ergebnis der Berechnungen steht ein gut gewählter Startwert für eine lokale Optimierung zur Verfügung. Aufbauend auf der Simulation der Fahrzeuglängsdynamik, der Steuergerätefunktionen und der Steller-Sensor-Streckenmodelle in einer Simulationsumgebung wird die Hybrid-Betriebsstrategie gemeinsam mit der Steuerung des Verbrennungsmotors optimiert. Mit der Entwicklung und Implementierung einer neuen Funktion wird weiterhin die Verbindung zwischen der Betriebsstrategie und der Motorsteuerung erweitert. Die vorgestellten Werkzeuge ermöglichten hierbei nicht nur einen Test der neuen Funktionalitäten, sondern auch eine Abschätzung der Verbesserungspotentiale beim Verbrauch und Abgasemissionen. Insgesamt konnte eine effiziente Testumgebung für eine gemeinsame Optimierung der Betriebsstrategie und des Verbrennungsmotorverhaltens eines Hybridfahrzeugs realisiert werden.

Modeling Stock Order Flows and Learning Market-Making from Data

Stock markets employ specialized traders, market-makers, designed to provide liquidity and volume to the market by constantly supplying both supply and demand. In this paper, we demonstrate a novel method for modeling the market as a dynamic system and a reinforcement learning algorithm that learns profitable market-making strategies when run on this model. The sequence of buys and sells for a particular stock, the order flow, we model as an Input-Output Hidden Markov Model fit to historical data. When combined with the dynamics of the order book, this creates a highly non-linear and difficult dynamic system. Our reinforcement learning algorithm, based on likelihood ratios, is run on this partially-observable environment. We demonstrate learning results for two separate real stocks.