水下机器人神经网络自适应逆控制

水下环境的复杂性以及自身模型的不确定性,给水下机器人的控制带来很大困难。针对水下机器人的特点和控制方面所存在的问题,提出了基于预测 校正控制策略的水下机器人神经网络自适应逆控制结构及训练算法。通过在线辨识系统的前向模型,估计出系统的Jacobian矩阵,然后采用预报误差法实现控制器的自适应。同时,为了提高系统对于外扰的鲁棒性,在伪线性回归算法的基础上,在评价函数中引入微分项。理论分析和仿真结果表明,与原来的算法相比,微分项的引入改善了系统对于外扰的鲁棒性和动态性能。

具有训练、学习和零件识别能力的计算机视觉系统

本文提出的系统主要为了在自动化传输带上进行零件的自动识别、定位、定向。曾用该系统对三十多种钟表零件进行反复验证,效果甚佳。

强化学习算法中启发式回报函数的设计及其收敛性分析

回报函数设计的好与坏对学习系统性能有着重要作用,按回报值在状态-动作空间中的分布情况,将回报函数的构建分为两种形式:密集函数和稀疏函数,分析了密集函数和稀疏函数的特点.提出启发式回报函数的基本设计思路,利用基于保守势函数差分形式的附加回报函数,给学习系统提供更多的启发式信息,并对算法的最优策略不变性和迭代收敛性进行了证明.启发式回报函数能够引导学习,加快学习进程,从而可以实现强化学习在实际大型复杂系统应用中的实时控制和调度.

A Comparison of Hardware Implementations for Low-Level Vision Algorithms

Early and intermediate vision algorithms, such as smoothing and discontinuity detection, are often implemented on general-purpose serial, and more recently, parallel computers. Special-purpose hardware implementations of low-level vision algorithms may be needed to achieve real-time processing. This memo reviews and analyzes some hardware implementations of low-level vision algorithms. Two types of hardware implementations are considered: the digital signal processing chips of Ruetz (and Broderson) and the analog VLSI circuits of Carver Mead. The advantages and disadvantages of these two approaches for producing a general, real-time vision system are considered.

Basis Reduction Algorithms and Subset Sum Problems

This thesis investigates a new approach to lattice basis reduction suggested by M. Seysen. Seysen's algorithm attempts to globally reduce a lattice basis, whereas the Lenstra, Lenstra, Lovasz (LLL) family of reduction algorithms concentrates on local reductions. We show that Seysen's algorithm is well suited for reducing certain classes of lattice bases, and often requires much less time in practice than the LLL algorithm. We also demonstrate how Seysen's algorithm for basis reduction may be applied to subset sum problems. Seysen's technique, used in combination with the LLL algorithm, and other heuristics, enables us to solve a much larger class of subset sum problems than was previously possible.

Structure and Interpretation of Computer Programs

"The Structure and Interpretation of Computer Programs" is the entry-level subject in Computer Science at the Massachusetts Institute of Technology. It is required of all students at MIT who major in Electrical Engineering or in Computer Science, as one fourth of the "common core curriculum," which also includes two subjects on circuits and linear systems and a subject on the design of digital systems. We have been involved in the development of this subject since 1978, and we have taught this material in its present form since the fall of 1980 to approximately 600 students each year. Most of these students have had little or no prior formal training in computation, although most have played with computers a bit and a few have had extensive programming or hardware design experience. Our design of this introductory Computer Science subject reflects two major concerns. First we want to establish the idea that a computer language is not just a way of getting a computer to perform operations, but rather that it is a novel formal medium for expressing ideas about methodology. Thus, programs must be written for people to read, and only incidentally for machines to execute. Secondly, we believe that the essential material to be addressed by a subject at this level, is not the syntax of particular programming language constructs, nor clever algorithms for computing particular functions of efficiently, not even the mathematical analysis of algorithms and the foundations of computing, but rather the techniques used to control the intellectual complexity of large software systems.

Exercise training can induce cardiac autophagy at end-stage chronic conditions: Insights from a graft-versus-host-disease mouse model

Chronic graft-versus-host disease (cGVHD) is a frequent cause of morbimortality after allogeneic hematopoietic stem cell transplantation (allo-HSCT), and severely compromises patients' physical capacity. Despite the aggressive nature of the disease, aerobic exercise training can positively impact survival as well as clinical and functional parameters. We analyzed potential mechanisms underlying the recently reported cardiac function improvement in an exercise-trained cGVHD murine model receiving lethal total body irradiation and immunosuppressant treatment (Fiuza-Luces et al., 2013. Med Sci Sports Exerc 45, 1703-1711). We hypothesized that a cellular quality-control mechanism that is receiving growing attention in biomedicine, autophagy, was involved in such improvement. Our results suggest that exercise training elicits a positive autophagic adaptation in the myocardium that may help preserve cardiac function even at the end-stage of a devastating disease like cGVHD. These preliminary findings might provide new insights into the cardiac exercise benefits in chronic/debilitating conditions.

Muscle function and body composition profile in adolescents withrestrictive anorexia nervosa: Does resistance training help?

The aim of this study was to analyze the effects of short-term resistance training on the body composition profile and muscle function in a group of Anorexia Nervosa restricting type (AN-R) patients. The sample consisted of AN-R female adolescents (12.8 ± 0.6 years) allocated into the control and intervention groups (n¼18 each). Body composition and relative strength were assessed at baseline, after 8 weeks and 4 weeks following the intervention. Body mass index (BMI) increased throughout the study (p = 0.011). Significant skeletal muscle mass (SMM) gains were found in the intervention group (p = 0.045, d = 0.6) that correlated to the change in BMI (r = 0.51, p < 0.031). Meanwhile, fat mass (FM) gains were significant in the control group (p = 0.047, d = 0.6) and correlated (r > 0.60) with change in BMI in both the groups. Significant relative strength increases (p < 0.001) were found in the intervention group and were sustained over time.

Robotic grasping by showing: an experimental comparison of two novel algorithms.

Neal M J, Boyce D, Rowland J J, Lee M H, and Olivier P L. Robotic grasping by showing: an experimental comparison of two novel algorithms. In Proceedings of IFAC - SICICA'97, pages 345-350, Annecy, France, 1997.

Improving bilingual higher education: Training university professors in content and language integrated learning

With increasing international mobility, higher education must cater to the varying linguistic and cultural needs of students. Successful delivery of courses through English as the vehicular language is essential to encourage international enrollment. However, this cannot be achieved without preparing university professors in the many intricacies delivering their subjects in English may pose. This paper aims to: share preliminary data concerning Content and Language Integrated Learning (CLIL) at Laureate Network Universities worldwide as few studies have been conducted at the tertiary level, reflect upon data regarding student and teacher satisfaction with CLIL at the Universidad Europea de Madrid (UEM), and to propose improvements in English-taught subjects.

The What? and How? of education and training for information professionals in a changing world: some experiences from Wales, Slovakia and the Asia-Pacific region

Tedd, L.A. (2003). The What? and How? of education and training for information professionals in a changing world: some experiences from Wales, Slovakia and the Asia-Pacific region. Journal of Information Science, 29(1), 79-86.

Systematic assessment of the training needs of health library staff

Urquhart, C., Spink, S., Thomas, R. & Durbin, J. (2005). Systematic assessment of the training needs of health library staff. Library and Information Research, 29(93), 35-42. Sponsorship: National Library for Health (NLH)

Training needs analysis of healthcare library staff, undertaken for South Yorkshire Workforce Development Confederation

Urquhart, C., Durbin, J. & Spink, S. (2004). Training needs analysis of healthcare library staff, undertaken for South Yorkshire Workforce Development Confederation. Aberystwyth: Department of Information Studies, University of Wales Aberystwyth. Sponsorship: South Yorkshire WDC (NHS)

Assessing training and professional development needs of library staff. Report for National Library of Health

Urquhart, C., Spink, S. & Thomas, R., Assessing training and professional development needs of library staff. Report for National Library of Health. (2005). Aberystwyth: Department of Information Studies, University of Wales Aberystwyth Sponsorship: National Library for Health (NHS Information Authority)

Training for professional librarians in Slovakia by distance-learning methods: an overview of the PROLIB and EDULIB projects

Tedd, L.A., Dahl, K., Francis, S.,Tet?evov?, M.& ?ihlavn?kov?, E.(2002).Training for professional librarians in Slovakia by distance-learning methods: an overview of the PROLIB and EDULIB projects. Library Hi Tech, 20(3), 340-351. Sponsorship: European Union and the Open Society Institute