dynamic structures for non-uniform adaptive filters
Geometric Modeling
Geometric ModelingGeometric modeling is a crucial aspect of computer-aided design (CAD) and computer graphics. It involves the creation of digital representations of physical objects and environments using mathematical and computational techniques. This process is used in various industries, including engineering, architecture, animation, and video game development. Geometric modeling plays a significant role in the design and visualization of complex structures, products, and virtual worlds. In this article, we will explore the importance of geometric modeling, its applications, and the challenges associated with this field. One of the primary applications of geometric modeling is in the field of engineering and product design. Engineers use geometric modeling software to create 3D models of mechanical parts, components, and assemblies. These digital representations allow engineers to visualize and analyze the behavior of the designed objects under various conditions. Geometric modeling also facilitates the simulation of the manufacturing processes, such as machining and 3D printing, enabling engineers to optimize the design for production. Furthermore, geometric modeling plays acrucial role in finite element analysis (FEA) and computational fluid dynamics (CFD), allowing engineers to evaluate the structural integrity and performance of the designed components. In the architectural and construction industry, geometric modeling is utilized for creating detailed 3D models of buildings, infrastructure, and urban environments. Architects and urban planners use geometric modeling software to develop accurate representations of their designs, enabling them to assess the spatial relationships, aesthetics, and functional aspects of the proposed structures. Geometric modeling also supports the generation of construction drawings, renderings, and virtual walkthroughs, which are essential for communicating design concepts to clients and stakeholders. Additionally, geometric modeling facilitates the integration of building information modeling (BIM), enabling the coordination and collaboration of various disciplines involved in the construction process. Moreover, geometric modeling is fundamental in the field of computer graphics and animation. Artists and animators use geometric modeling tools to create virtual characters, environments, and special effects for films, video games, and simulations. By manipulating thevertices, edges, and faces of 3D models, artists can sculpt and refine the visual appearance of their creations. Geometric modeling also involves the application of texture mapping, shading, and lighting techniques to enhance the realism and aesthetic quality of the rendered images. Furthermore, geometric modeling supports the animation of characters and objects through rigging, skinning, and keyframe interpolation, enabling artists to bring their creations to life. Despite its numerous applications and benefits, geometric modeling presents several challenges and limitations. One of the primary challenges is the complexity of representing and manipulating geometric shapes with high precision and efficiency. As the demand for more intricate and detailed models increases, geometric modeling software must continually evolve to handle larger datasets and more sophisticated operations. Additionally, ensuring the accuracy and consistency of geometric models across different software platforms and file formats remains a challenge in the industry. Interoperability issues often arise when transferring geometric data between different CAD and visualization tools, leading to data loss and compatibility issues. Another challenge in geometric modeling is the representation of freeform and organic shapes. While traditional modeling techniques are suitable for creating geometric primitives and regular structures, they may not be well-suited for capturing the complexity of natural forms and artistic designs. To address this limitation, advanced geometric modeling methods, such as NURBS (non-uniform rational B-splines) and subdivision surfaces, have been developed to enable the creation of smooth and curvilinear shapes. These techniques provide artists and designers with greater flexibility and control over the form of their creations, allowing for more expressive and organic designs. Furthermore, the optimization of geometric models for real-time rendering and interactive applications poses a significant challenge in the field of computer graphics. As the demand for immersive virtual experiences and interactive simulations grows, geometric modeling techniques must be optimized to deliverhigh-performance visuals on a variety of computing platforms. This requires the development of efficient algorithms for level-of-detail (LOD) management, mesh simplification, and real-time tessellation, allowing for the dynamic adjustment of geometric complexity based on the viewing distance and hardware capabilities. Inconclusion, geometric modeling is a fundamental and versatile discipline that plays a crucial role in various industries, including engineering, architecture, and computer graphics. Its applications range from the design and analysis of mechanical components to the creation of virtual worlds and characters for entertainment and simulation. Despite its challenges, including the representation of complex shapes and the optimization for real-time rendering, geometric modeling continues to evolve with advancements in computational techniques and software development. As technology continues to progress, the future of geometric modeling holds promise for enabling more efficient and expressive digital representations of the physical world.。
变截面Timoshenko悬臂梁自由振动分析_潘旦光
不同的 T im oshenko 梁振动问题 , 不同学 者提出各 种不同的解法[ 3-12] 。 这些求解 Ti moshenko 梁动力 特性的方法中 , 有的提供了自振特性的解析解 , 但只 能适应极为特殊的情况 , 有的计算过程过于复杂 , 应 用较困难 。 楼梦麟等曾应用模态摄动法求解了 3 种 常见的等截 面 T im oshenko 梁的动力 特性
2 模态摄动法基本理论
模态摄动法的基本思想是把式( 3) 和式( 4) 所表 征的变截面 T im oshenko 梁 看成是式( 5) 所表 示的 等截面 Euler 梁经过参数修改后得到的新系统 , 这 个新系统主模态函数及特征值可以利用 Euler 梁的 模态特征进行简单的摄动分析而近似的求得 。 即设 λ j =λ j +Δ λ j ( 6)
Free Vibration of Non-uniform Timoshenko Cantilever Beams
PAN Danguang , WU Shunchuan , ZHANG Wei
( Schoo l o f Civil and Environmenta l Eng ineering , Univ ersity of Science and T echnolog y Beijing , Beijing 100083 , P . R .China)
j , akj 和 b kj 这 2 n 个未 知 数 , 即 可 求 得 变 截 面 Δ λ
式中 , E 为杨氏弹性 模量 , I 为截 面的转动 惯量 , A 为梁截面的面积 , G 梁的剪切模量 , ρ 为密度 , χ 剪 切系数 , y 和 φ分别为梁的横向位移和转角 。 采用分离变量法 , 并将式 ( 2) 对 x 求导一次 , 则 梁的振动主模态函数可表示为 : 2
对齐颗粒度的英文
对齐颗粒度的英文一、单词1. Alignment- 英语释义:The act of arranging things in a straight line or in correct relative positions.- 用法:可作名词,例如:The alignment of the text in this document needs to be adjusted.(这个文档中的文字对齐需要调整。
) - 双语例句:The alignment of the gears is crucial for the smooth running of the machine.(齿轮的对齐对机器的平稳运转至关重要。
)2. Aligned- 英语释义:In a straight line or in correct relative positions (adjective form of alignment).- 用法:作形容词,如:The aligned columns in the table look very neat.(表格中对齐的列看起来非常整洁。
)- 双语例句:The pictures on the wall are not properly aligned.(墙上的画没有正确对齐。
)二、短语1. Fine - grained alignment- 英语释义:Alignment with a small or detailed level of granularity.- 用法:常用来描述较为细致程度的对齐情况,例如:We need to achieve a fine - grained alignment in this data analysis.(在这个数据分析中我们需要实现细粒度的对齐。
)- 双语例句:Fine - grained alignment of pixels can improve the quality of the image.(像素的细粒度对齐可以提高图像质量。
英语作文 工地施工
英语作文工地施工Construction sites are bustling hubs of activity where the transformation of ideas into tangible structures takes place. These dynamic environments are the backbone of urban development, responsible for shaping the landscapes that we inhabit and the infrastructure that supports our daily lives. From the initial groundbreaking to the final touches, the construction process is a symphony of precision, coordination, and relentless hard work.At the heart of every construction site lies a diverse workforce composed of skilled tradespeople each contributing their unique expertise. Architects meticulously design the blueprints, engineers analyze the structural integrity, and project managers oversee the intricate coordination of tasks. Masons lay bricks with unwavering precision, carpenters construct the framing with practiced hands, and electricians carefully weave the intricate web of wiring that will power the building. Each individual plays a crucial role in bringing the vision to life.The sheer scale and complexity of construction projects can be awe-inspiring. Towering cranes lift heavy materials with effortless grace, while excavators carve out the foundations with brute force. The cacophony of power tools, the rumble of machinery, and the rhythmic clanging of metal on metal create a symphony of progress that echoes through the site. The air is thick with the scent of fresh concrete and the dust kicked up by relentless activity.Navigating a construction site requires a heightened sense of awareness and safety protocols. Hard hats, steel-toed boots, and high-visibility vests are the uniform of the day, as workers must be vigilant against the numerous hazards present. Falling objects, uneven terrain, and heavy machinery pose constant threats, and the team must work in perfect coordination to mitigate these risks.Despite the inherent challenges, the construction industry is a testament to human ingenuity and resilience. When faced with obstacles, workers adapt and innovate, finding creative solutions to overcome them. Whether it's devising a new method for lifting a heavy load or designing a specialized tool to streamline a task, the problem-solving skills of construction professionals are truly remarkable.Beyond the physical labor, construction sites also require a deep understanding of project management and logistics. Coordinating the delivery of materials, scheduling subcontractors, and ensuringthat each phase of the project is completed on time and within budget are all crucial elements that contribute to the success of a construction endeavor.The impact of construction projects extends far beyond the immediate site. The buildings, roads, and infrastructure that emerge from these hubs of activity shape the way we live, work, and interact with our surroundings. A well-designed and constructed hospital can improve the quality of healthcare, while a sturdy bridge can facilitate the flow of commerce and transportation. The ripple effects of construction projects are felt throughout the community, and the importance of this industry cannot be overstated.Despite the challenges and risks, the construction industry remains a vital and dynamic field that attracts individuals with a strong work ethic, problem-solving skills, and a passion for creating tangible change. From the groundbreaking to the final ribbon-cutting, the construction process is a testament to the human spirit – a testament to our ability to transform ideas into reality, to overcome obstacles, and to leave an indelible mark on the world around us.。
Winkler-Pasternak 弹性地基 FGM 梁自由振动二维弹性解
Winkler-Pasternak 弹性地基 FGM 梁自由振动二维弹性解蒲育;滕兆春【摘要】Based on the two-dimension theory of linear elasticity,the free vibration differential equations for FGM beams resting on Winkler-Pasternak elastic foundations were derived.The material properties were supposed to change continuously along the thickness of the beam according to the power law ing the differential quadrature method (DQM),the dimensionless natural frequencies of FGM beams under four different boundary conditions were investigated.The formulations were validated by comparing the results obtained with those available in the literature for homogeneous beams on Winkler-Pasternak elastic foundations.The influences of the boundary conditions,material graded index,length-to-thickness ratio and elastic coefficients of foundations on the non-dimensional frequency parameters of FGMbeams were discussed.%基于二维线弹性理论,建立 Winkler-Pasternak 弹性地基上功能梯度(Functionally Graded Material,FGM)梁自由振动控制微分方程。
驾驶室标准
OECD STANDARD CODESFOR THE OFFICIAL TESTING OF AGRICULTURAL AND FORESTRY TRACTORSGeneral TextsOrganisation for Economic Co-operation and DevelopmentPARIS – February 2010OECD TRACTOR CODES – February 2010TABLE OF CONTENTSPage GENERAL TEXTSForeword 3Decision of the Council 6Appendix 1 to the Decision — Introduction to the Codes 10Appendix 2 to the Decision — Procedure for the Extensionof the Codes to Non-Members of the OECD 12Appendix 3 to the Decision — Method of Operation 14Appendix 4 to the Decision — Quality Control Requirements 16Appendix 5 to the Decision — List of National Designated Authoritiesand Testing Stations 17OECD TRACTOR CODES – February 2010FOREWORD1. The first Standard Code for the Official Testing of Agricultural Tractors was approved on 21 April 1959, by the Council of the OEEC (Organisation for European Economic Co-operation) which became the OECD (Organisation for Economic Co-operation and Development). This Code has since been extended to cover forestry tractors and other features of performance, safety and noise.The current OECD Codes for tractor testing relate to:•the performance of tractors (Code 2)*•the strength of protective structures for standard tractors (Dynamic Test) (Code 3) •the strength of protective structures for standard tractors (Static Test ) (Code 4) •noise measurement at the driver’s position(s) (Code 5)•the strength of the front-mounted roll-over protective structureson narrow-track wheeled agricultural and forestry tractors (Code 6) •the strength of the rear-mounted roll-over protective structureson narrow-track wheeled agricultural and forestry tractors (Code 7) •the strength of protective structures on tracklaying tractors (Code 8)•t he strength of protective structures for telehandlers (Code 9)•the strength of falling object protective structures for agricultural and forestry tractors (Code 10) 2. The present document cancels and replaces the previous editions. It includes Council Decisions C(2005)1, C(2006)88, C(2006)92, C(2006)149, C(2007)2, C(2007)89, C(2007)127, C(2008)120 and C(2008)128 as implemented and constitutes its published version.3. More than 2 750 tractor models have received performance test approval since the Codes were established in 1959. Furthermore, more than 10 800 variants of tractors were tested for noise measurement at the driving position, or in most cases, for the driver’s protection in case of tractor roll-over; having satisfied the safety criteria of the Codes they have been released for trading nationally or internationally by the participating countries, notably Member States of the European Union.* The former Code 1 was repealed.OECD TRACTOR CODES – February 20104. The approval by OECD of national tractor test reports is granted in co-operation with a Co-ordinating Centre for OECD tests selected through a call for tender.5. The importance of the Codes has continued in spite of the profound restructuring which has affected the agricultural machinery industry. Governments have shown interest to deregulate industrial policies and businesses wish to introduce quality assurance methods of the ISO 9000 type. This has demonstrated the significance of the Codes: the principle "one tractor-–one description–one test" is more than a set of regulatory measures, it is a means to simplify existing international trade procedures, to establish specifications and basic performance criteria and to ensure a minimum of quality for the traded material. The Codes bring transparency thereby contributing to increase the extent of the agricultural machinery market.present,29 countries, i.e. 25 of the 30 OECD Members and 4countries which are not 6. Atmembers of the OECD adhere to the Codes, which are open to the Member States of the United Nations Organization:−As for Members, these include Iceland, Japan, the Republic of Korea, Norway, Switzerland, Turkey, the United States, and 18 of the 27 states of the European Union (Five OECD members do not participate in the Codes, i.e., Australia, Canada, Hungary, Mexico and New Zealand);−As for non-Members, these are China, India, the Russian Federation and Serbia.7. Numerous other countries use the Codes entirely or partially for national testing, call for tender or regulation concerning imports. Private businesses also use the Codes within the framework of international operations and refer to them in their marketing activities. Agricultural advisory services refer to the Codes when searching for tractor type and power most suitable for diverse agricultural operations and structures. Farm media use them for comparative tests. In a nutshell, farmers and other users of the Codes draw from them increased safety, technical reliability and market confidence. Certain tests are equally useful in the implementation of national legislation regarding environmental protection.8. Frequent discussions between the Designated Authorities at Annual Meetings ensure a progressive harmonisation of such different approaches as exist in the European Union or North America or Asia. The OECD Codes refer to ISO standards as much as possible. Compared to the ISO, the OECD applies a centralised approval method for tests, which lends them international official standing. The ISO standardises certain aspects of manufacturing, measurement and testing of tractors in a partial and piecemeal manner, without there existing an international approval mechanism which allows to authenticate tractor description or performance and, therefore, not permitting comparison.9. The OECD is not competent for direct type approval or commercialisation of tractors, even though in many countries the OECD safety testing procedures serve to either admit or reject the protective structures. These Codes offer, therefore, a clear possibility to harmonise approval procedures regarding true performance, occupational safety and environmental impacts.OECD TRACTOR CODES – February 2010 10. A particular feature of the OECD Codes is that every other year a Test Engineers’ Conference is organised at the invitation of a participating country. These meetings of national engineers in charge of testing took place at:•AFRC, 1981, in Silsoe, United Kingdom;•DLG, 1983, in Gross-Umstadt, Germany;•Cemagref, 1985, in Antony, France;•SMP, 1987, in Alnarp, Sweden;•BLT, 1989, in Wieselburg, Austria;•University of Nebraska, 1991, in Lincoln, United States;•FAT, 1993, in Tänikon, Switzerland;•IMA, CNR, 1995, in Turin, Italy;•IAM-BRAIN, 1997, in Omiya, Japan;•SZZPLS, 1999, in Prague, Czech Republic;•MTT, 2001, in Vakola, Finland;•EMA, 2003, in Madrid, Spain;•CAMTC, 2005, Beijing, and COTTEC, Luoyang, China;•TAMTEST, 2007, in Ankara and Istanbul, Turkey;•RDA, 2009, in Suwon, South Korea.These conferences permit a correct and coherent interpretation of testing procedures and prepare their updating. They facilitate the verification of test reports carried out by the Co-ordinating Centre, which liaises between the national Testing Stations and the OECD for technical matters.11. The Codes may well provide indirectly free valuable information and even test methods to countries not participating in them; however, full benefits are not separable from true participation of a country in the Codes both officially and practically. All governments willing to create a business environment conducive to openness to international trade and companies with the intent of reducing regulatory costs have a joint interest in adhering formally to the Codes. Participation also allows one to influence rule setting.No test without formal participation should be traced to or identified with OECD in view of the uncertainties attached to the particularity of national methods and interpretations and the lack of reference to a central test clearance system.12. The full text of the OECD Tractor Codes (English and French) as well as summaries of test reports approved according to Code 2 are available on line at the following address:/tad/tractorOECD TRACTOR CODES – February 2010DECISION OF THE COUNCILREVISING THE OECD STANDARD CODESFOR THE OFFICIAL TESTING OF AGRICULTURAL AND FORESTRY TRACTORSTHECOUNCIL,Having regard to Article 5 a) and c) of the Convention on the Organisation for Economic Co-operation and Development of 14 December 1960;Having regard to the Decision of the Council of 19 April 2000 [C(2000)59/FINAL], amended on 13 February 2001 [C(2001)5/FINAL], 17 December 2001 [C(2001)267/FINAL], 25 February 2002 [C(2002)17/FINAL], 26 February 2003 [C(2003)14/FINAL], on 22 January 2004 [C(2003)252/FINAL], on 22 September 2006 [C(2006)88], on 7 July 2006 [C(2006)92], on 29 November 2006 [C(2006)149], on 7 February 2007 [C(2007)2], on 7 June 2007 [C(2007)89], on 29 November 2007 [C(2007)127], on 23 July 2008 [C(2008)120] and on 16 October 2008 [C(2008)128].On the proposal of the Committee for Agriculture;I. DECIDES:1. The OECD Standard Codes for the Official Testing of Agricultural and Forestry Tractors (hereinafter called the “OECD Tractor Codes”) shall be operated in accordance with the provisions of this Decision, and on the basis of the Rules and Directions set out in the Codes 2 to 10) thereto:Code 2: OECD Standard Code for the Official Testing of Agricultural and Forestry TractorPerformance;Code 3:OECD Standard Code for the Official Testing of Protective Structures onAgricultural and Forestry Tractors (Dynamic Test);Code 4:OECD Standard Code for the Official Testing of Protective Structures onAgricultural and Forestry Tractors (Static Test);Code 5:OECD Standard Code for the Official Measurement of Noise at the DrivingPosition(s) of Agricultural and Forestry Tractors;Code 6:OECD Standard Code for the Official Testing of Front-mounted ProtectiveStructures on Narrow-track Wheeled Agricultural and Forestry Tractors;Code 7:OECD Standard Code for the Official Testing of Rear-mounted ProtectiveStructures on Narrow-track Wheeled Agricultural and Forestry Tractors;Code 8:OECD Standard Code for the Official Testing of Protective Structures onAgricultural and Forestry Tracklaying Tractors.OECD TRACTOR CODES – February 2010 Code 9:OECD Standard Code for the Official Testing of Protective Structures forTelehandlers (Testing of Falling-Object and Roll-Over Protective Structures fitted to self-propelled variable reach all-terrain trucks for agricultural use);Code 10: OECD Standard Code for the Official Testing of Falling Object ProtectiveStructures on Agricultural and Forestry Tractors;2. The OECD Tractor Codes shall be:a) open to all Member Countries of the Organisation as well as to other States being Membercountries of the United Nations Organization or its Specialised Agencies desiring toparticipate therein in accordance with the Procedure set out in Appendix 2 to the Decision;b) implemented by the Authorities designated for that purpose by, the governments of the Statesparticipating in the Codes (hereinafter “Participating Country”). These Authorities areresponsible to their government of the operation of the Codes.3. If a Member country does not wish to apply one or more Codes or does not recognise them for imported tractors, it shall notify the Secretary-General of its decision, who will inform the other participating countries.4. The official authorities referred to in paragraph 2(b) above are responsible for using the Codes and, as the case may be, carrying out the tests and issuing the test reports. The National Designated Authority shall certify that the OECD Codes were followed in each test and that the corresponding test report complies with their requirements. The test report shall be verified by the OECD Secretariat prior to its release.5. A participating State desiring to lodge a complaint concerning non-execution of the aforementioned obligation may bring the matter before the OECD. The complaint shall be examined by the Committee for Agriculture which shall report to the Council.6. Expenditures required for the functioning of the OECD Tractor Codes shall be defrayed from appropriations under Part II of the Budget of the Organisation. Each country participating in the Codes agrees to the payment to the OECD of an annual contribution which is the sum of the following two elements:− a basic fee of € 3 000 (Euros);−an additional fee applied to each participating country (OECD Members and non-members) calculated according to the criteria set out in the Resolution of the Council C(63)155(Final)as amended,as they may be modified from time to time.The Secretariat should report any defaulting of payment to the Advisory Group for the Codes which shall take all appropriate measures, including the review of the status of the participating country.A participating country shall fall into arrears on 1 January of the year following the year of the call for the payment of the annual contribution (basic fee and additional fee) if this contribution remain fully or partly unpaid at that date. In this first year of arrears no documentation shall be sent to the country. In the second year of arrears, test reports sent by the country shall no longer be eligible for approval. In the third year of arrears, the defaulting country shall be notified of a proposal to exclude it from Participation in theOECD TRACTOR CODES – February 2010Tractor Codes. The decision of exclusion shall be adopted by the Council, on the proposal of the Annual Meeting of the National Designated Authorities and of the Committee for Agriculture, unless the Council decides by consensus not to adopt the decision. The decision of exclusion shall be notified to the country.Settlement by the country in arrears of the debt in the first or the second year shall reverse all the measures previously taken. Settlement of the debt in the third year and reversal of all the measures previously taken shall be subject to a decision by the Annual Meeting of the National Designated Authorities based on the results of an evaluation mission at the expense of the country in arrears, in accordance with the conditions for the admission procedure for a new country provided for in Appendix II to the Decision. Participants and observers to the OECD Tractor Codes shall be notified of all developments associated with the application of this procedure.The present procedure shall apply to arrears of the contributions due for 2006 and the successive years. Arrears of contributions due for one or more years before 2006 shall be subject to a separate settlement with the Organization.Before engaging any sanction action, the Secretariat shall inform the National Designated Authorities of arrear problems.7. The following international organisations may be represented by an observer at the meetings of Representatives of National Authorities:−the European Free Trade Association (EFTA);−the European Committee for Standardization (CEN);−the European Committee of Manufacturers of Agricultural Machinery (CEMA);−the Economic Commission for Europe of the United Nations (UN/ECE);−the International Commission of Agricultural Engineering (CIGR);−the European Confederation of Agriculture (CEA);−the International Federation of Agricultural Producers (IFAP);−the Food and Agriculture Organization of the United Nations (FAO);−the International Organization for Standardization (ISO);−the European Commission (EC).Special status applicable to European Commission (CEC)In accordance with the provisions of Article 13 of the Convention and Supplementary Protocol No. 1 to the Convention, the Commission of the European Communities takes part in the work of the Organisation actively and not as a mere observer. It has a permanent delegation headed by an ambassador who participates in the meetings of the Council of OECD. In several cases, the Commission contributes as such to the budgets for certain activities or, through grants, to the financing of them.In general, the Commission takes part in the preparation of studies and reports and of draft Acts of the Council. It may propose amendments to these texts. Not being a Member of the Organisation it does not, however, participate in decision-making, either in Committees or in the Council.8. Other international organisations involved in agricultural mechanisation may be represented by an observer at the meetings of Representatives of National Authorities, in accordance with the rules of the Organisation.OECD TRACTOR CODES – February 2010 II.INSTRUCTS the Committee for Agriculture to report to the Council, when it considers it appropriate, on the operation of the OECD Tractor Codes, and to submit to the Council, where necessary, proposals for modifying those Codes.III. The present decision replaces the Decision of the Council C(2000)59/FINAL and it amendments which are hereby repealed.IV. Appendices I, II, III, IV and V to the Decision and the Codes are as follows:OECD TRACTOR CODES – February 2010APPENDIX 1 TO THE DECISIONINTRODUCTION TO THE CODES1. There is a considerable amount of international trade of agricultural tractors. The purpose of these international Codes is to facilitate trade by enabling either an exporting or an importing country to accept with confidence the results of tests carried out in another country.2. The Standard Code for the Official Testing of Agricultural Tractors was established by the Decision of the Council of the Organisation for European Economic Co-operation (OEEC) of 21st April 1959 [C(59)76(Final)].3. This Code remained in force pursuant to the Decision of the Council of the Organisation for Economic Co-operation and Development (OECD) of 30th September 1961 [OECD/C(61)5], and it was made public pursuant to a Resolution of the Council of 3rd May 1962.4. A revised text was established by the Decision of the Council on 25th January 1966 [C(65)137(Final)] and amended by the addition of an optional test for protective structures by the Decision of the Council of 24th January 1967 [C(66)135(Final)]. Further minor amendments were made to these two Decisions, which were repealed and replaced by the Decision of the Council of 11th February 1970 [C(70)9(Final)].5. This Decision was also repealed and replaced by the Decision of the Council of 9th October 1973 [C(73)199], amended notably by the addition of a static test for protective structures, on 29 July 1983 [C(83)83(Final)], and a restricted performance code, on 28 December 1984 [C(84)163(Final)].6. The 1973 Decision was again repealed and replaced by the Decision of the Council of 24th November 1987 [C(87)53(Final)] which introduced a Code for measuring the noise level inside the protective structure.7. The Decision of 18 July 1990 [C(90)79(Final)] introduced two Codes for the testing of structures mounted on narrow-track wheeled tractors. The Decision of 27 November 1992 [C(92)173/FINAL] introduced a Code for testing of structures mounted on tracklaying tractors.8. The 1987 Decision was repealed and replaced by the Decision of the Council of 19 April 2000 [C(2000)59/FINAL].9. Since then, it has been amended by the following Decisions:C(2001)5/FINAL dated 13 February 2001C(2001)267/FINAL dated 17 December 2001C(2002)17/FINAL dated 25 February 2002C(2003)14/FINAL dated 26 February 2003C(2003)252/FINAL dated 22 January 2004C(2005)1 dated 29 March 2005C(2006)88 dated 22 September 2006C(2006)92 dated 7 July 2007C(2006)149 dated 29 November 2006C(2007)2 dated 7 February 2007C(2007)89 dated 7 June 2007C(2007)127 dated 29 November 2007C(2008)120 dated 23 July 2008C(2008)128 dated 16 October 200810. The present Codes repeal all previous Decisions and come into force with the present Decision of the Council.11. Tests carried out under the OECD Tractor Codes are given official approval provided that the OECD Secretariat is satisfied that the test was carried out in accordance with the procedures laid down in the Code applied. In the case of tests on protective structures, in addition, there are pass/fail criteria which stipulate certain minimum performance levels for the structure tested. Other performance tests carried out under internationally recognised procedures may be reported if the procedures are available in published form and in an official language to the OECD Secretariat such that results will be clearly marked as not submitted for OECD approval.12. In order that full benefits, in terms of simplification of the work and reduction in costs, may be derived from these internationally accepted Codes, it is desirable that tests under the Codes be carried out in the tractor’s country of origin. This may not always be possible or convenient, for instance, if the producing country does not participate in the OECD Codes. In these cases, the importing country may wish to carry out the tests. For tests under Code 2, verification is made with the OECD to ensure that no other country has carried out the relevant tractor tests, hence avoiding unnecessary duplication of effort and cost.13. Stations can make whatever tests they wish, but only one OECD approval number will be issued for a given tractor or for a tractor-protective structure combination, unless modification to the tested models make it necessary to retest them within the limits specified in each Code, at that time a new OECD test report is then issued.14. Protective structures may be tested according to the dynamic method, the static method or both. Modifications will be handled in the same way as for tractors.15. Approval can be extended for modified tractors or tractor variants within the limitations of each Code. The extension may only be requested by the testing station where the original test has been carried out. Tractors which need approval by extension may give rise to the publication of a test report or an extension report, provided that reference to the originating tractor be visible in the test or extension report and that the modifications of the specifications and results, when relevant, be clearly identified. In this case, the reports will receive the same approval number, complemented by an appropriate numerical designation.16. The relevance of certain evaluation criteria not included in the OECD Tractor Codes, such as performance on agricultural soil, cannot be questioned. However, these criteria are not quantifiable enough to permit comparable tests between countries. As frequent as such tests may be in some stations they shall form no part of the OECD test reports.APPENDIX 2 TO THE DECISIONPROCEDURE FOR THE EXTENSION OF THE CODESTO NON-MEMBERS OF THE OECD1. Countries which are not Members of the OECD but which are Members of the United Nations Organization or its Specialised Agencies may submit a written application to the Secretary-General of the OECD if they wish to join the Codes.If the country intends to carry out tractor testing according to the Codes, the application shall provide detailed information that shall include in particular:a) A detailed description of any systems of tractor testing already in existence and the legalbasis upon which they rest;b) A list of tractors that have been tested in the course of the previous 5 years together with, ifpossible, copies of any test reports that may have been issued;c) Details of national production and trade of agricultural tractors, if any;d) Indications as to the availability of qualified testing staff;e) A detailed list of testing equipment available, together with technical specifications of suchequipment. This list should show the equipment available to complete each compulsory testunder at least one of the OECD Tractor Codes and also the equipment that is available tocomplete any optional tests which may, at any time, be carried out. The applicant countrymust undertake to update this list at regular intervals by providing information concerningnewly acquired testing equipment. The presentation outlined in the Quality Manual amendedto the Codes shall be followed. The list will be provided in English or French, both being theofficial languages of the Organisation.If the applicant country does not intend to carry out OECD tractor testing, a copy of the national regulations concerning domestic requirements applicable to tractors in use shall be sent to the OECD. The required information may be provided in the language of the applicant country. If this is a language other than English or French, a concise version in English or French will be attached.2. The application and documentation will be acknowledged by the OECD Secretariat which will visit the applicant country with a representative of a national Designated Authority and possibly the national Institute under contract with OECD acting as Co-ordinating Centre for the tests (hereafter called the “Co-ordinating Centre”).The purpose of the visit will be:a) to obtain information about legislative regulations concerning tractors including typeapproval, use and international trade;b) to explain the technical and administrative implications of the rules of the Codes as well astheir organisation and co-ordination on an international level;c) to ascertain that adequate technical and administrative facilities are available for the operationof the Codes if the country intends to carry out tests.The financing of the mission will be the responsibility of the applicant country.3.Upon admission to the Codes of a country intending to start testing, and in case it did not participate in the mission provided in paragraph 2 above, the Co-ordinating Centre may be invited to visit the testing station(s) in order to assist in setting up the testing site and to report drafting procedures in accordance with the Codes.4. The applicant country is authorised, before admission to the Codes, to attend the Annual Meetings of Representatives of the National Designated Authorities as an observer. The applicant country agrees that, upon admission, its representatives will attend the annual meeting. The applicant country agrees that its representatives attending the Annual Meetings will be persons directly responsible for the implementation of the Codes.5. The applicant country shall agree to accept the necessary minimum supervision by the OECD, which is essential if the Codes are to maintain their standards. If, in the course of implementation of the Codes by the applicant country, it is considered necessary, the Organisation may be required to send a person or persons responsible for Codes application in that country to a selected OECD country for a period of further instruction and/or to accept further periodical visits from engineers selected by the OECD for that purpose. The timing, duration and financing of such missions will be decided by the OECD in consultation with the Authorities of the applicant country.6. Provided the OECD is satisfied with the results of the review specified in paragraph 2, the Committee for Agriculture of the OECD will be asked to recommend that the Council should admit the applicant country to the Codes.7. Following the approval by the Council, the Secretary-General of the OECD will notify the applicant country that the application has been approved. The National Designated Authorities in all countries participating in the Codes will also be informed of the acceptance of the country concerned.APPENDIX 3 TO THE DECISIONMETHOD OF OPERATION1. The names and addresses of the national Authorities designated for operating the Codes and any changes in their designation will be circulated by the OECD to all countries participating in the Codes and to all observers.2. The operation and development of the Codes shall be reviewed at the Annual Meeting of representatives of the Designated Authorities where Participating Member and non member Countries hold office strictly in alphabetic order. This Annual Meeting shall report on its work and make such proposals as deemed necessary to the Council of the OECD, subject to prior endorsement by the Committee for Agriculture.3. The Officers of the Annual Meeting will be a Chairman, two Vice-Chairmen, who will be nominated at the end of the previous session. They shall take up their duties upon official approval of the Summary Record from the previous Annual Meeting.4. In order to ensure continuity and efficient co-operation with the Secretariat, except as otherwise provided in the Rules of Procedure of the Organisation, it is desirable that a Chairman-Designate be appointed to fill one of the offices of Vice-Chairman together with the Past-Chairman. Their terms should not exceed two years. The chairmanship should reflect the participation of various regions of the world and alternate between representatives of European Union Member States and other countries.5. The chairmanship shall be carried out in one of the two official languages of the Organisation, even if interpretation in a third language is available at the meetings.6. The co-ordination of Codes implementation on an international level shall be ensured by the OECD. However, the verification of individual test reports submitted by the participating Members as well as the related tasks may be delegated, by contract, to a national institute of a Member Country which will act as Co-ordinating Centre for the OECD Tests. The costs incurred shall be recovered under the annual contract between the OECD Secretariat and this Institute.7. An Advisory Group is made up of the Officers of the Annual Meeting, and the Co-ordinating Centre. The Advisory Group shall assist in the preparation of the next Annual Meeting and, where necessary, propose solutions to the Secretariat to deal with urgent problems which may arise out of Codes implementation. The Advisory Group is convened by the Secretariat at the request of any one of its Members or any country participating in the Codes to provide counsel in writing and invite one or more participating countries to be represented.。
结构动力学课件—dyanmics of structures-ch(2)
CHAPTER 18. ANALYSIS OF UNDAMPED FREE VIBRATION
The second orthogonality condition, For a nonuniform beam, the equation of motion in free vibrations
CHAPTER 17. PARTIAL DIFFERENTIAL EQUATIONS OF MOTION
173 BEAM FLEXURE: INCLUDING AXIALFORCE EFFECTS
momentequilibrium equation now becomes
Rotation of beam axis
Example E182. Cantilever Beam
CHAPTER 18. ANALYSIS OF UNDAMPED FREE VIBRATION
CHAPTER 18. ANALYSIS OF UNDAMPED FREE VIBRATION
CHAPTER 18. ANALYSIS OF UNDAMPED FREE VIBRATION
183 BEAM FLEXURE: WITH DISTRIBUTED ELASTIC SUPPORT Separating variables as before
giving two independent equations
CHAPTER 18. ANALYSIS OF UNDAMPED FREE VIBRATION
equilibrium relationship for vertical forces
四大安全会议论文题目
2009and2010Papers:Big-4Security ConferencespvoOctober13,2010NDSS20091.Document Structure Integrity:A Robust Basis for Cross-site Scripting Defense.Y.Nadji,P.Saxena,D.Song2.An Efficient Black-box Technique for Defeating Web Application Attacks.R.Sekar3.Noncespaces:Using Randomization to Enforce Information Flow Tracking and Thwart Cross-Site Scripting Attacks.M.Van Gundy,H.Chen4.The Blind Stone Tablet:Outsourcing Durability to Untrusted Parties.P.Williams,R.Sion,D.Shasha5.Two-Party Computation Model for Privacy-Preserving Queries over Distributed Databases.S.S.M.Chow,J.-H.Lee,L.Subramanian6.SybilInfer:Detecting Sybil Nodes using Social Networks.G.Danezis,P.Mittal7.Spectrogram:A Mixture-of-Markov-Chains Model for Anomaly Detection in Web Traffic.Yingbo Song,Angelos D.Keromytis,Salvatore J.Stolfo8.Detecting Forged TCP Reset Packets.Nicholas Weaver,Robin Sommer,Vern Paxson9.Coordinated Scan Detection.Carrie Gates10.RB-Seeker:Auto-detection of Redirection Botnets.Xin Hu,Matthew Knysz,Kang G.Shin11.Scalable,Behavior-Based Malware Clustering.Ulrich Bayer,Paolo Milani Comparetti,Clemens Hlauschek,Christopher Kruegel,Engin Kirda12.K-Tracer:A System for Extracting Kernel Malware Behavior.Andrea Lanzi,Monirul I.Sharif,Wenke Lee13.RAINBOW:A Robust And Invisible Non-Blind Watermark for Network Flows.Amir Houmansadr,Negar Kiyavash,Nikita Borisov14.Traffic Morphing:An Efficient Defense Against Statistical Traffic Analysis.Charles V.Wright,Scott E.Coull,Fabian Monrose15.Recursive DNS Architectures and Vulnerability Implications.David Dagon,Manos Antonakakis,Kevin Day,Xiapu Luo,Christopher P.Lee,Wenke Lee16.Analyzing and Comparing the Protection Quality of Security Enhanced Operating Systems.Hong Chen,Ninghui Li,Ziqing Mao17.IntScope:Automatically Detecting Integer Overflow Vulnerability in X86Binary Using Symbolic Execution.Tielei Wang,Tao Wei,Zhiqiang Lin,Wei Zou18.Safe Passage for Passwords and Other Sensitive Data.Jonathan M.McCune,Adrian Perrig,Michael K.Reiter19.Conditioned-safe Ceremonies and a User Study of an Application to Web Authentication.Chris Karlof,J.Doug Tygar,David Wagner20.CSAR:A Practical and Provable Technique to Make Randomized Systems Accountable.Michael Backes,Peter Druschel,Andreas Haeberlen,Dominique UnruhOakland20091.Wirelessly Pickpocketing a Mifare Classic Card.(Best Practical Paper Award)Flavio D.Garcia,Peter van Rossum,Roel Verdult,Ronny Wichers Schreur2.Plaintext Recovery Attacks Against SSH.Martin R.Albrecht,Kenneth G.Paterson,Gaven J.Watson3.Exploiting Unix File-System Races via Algorithmic Complexity Attacks.Xiang Cai,Yuwei Gui,Rob Johnson4.Practical Mitigations for Timing-Based Side-Channel Attacks on Modern x86Processors.Bart Coppens,Ingrid Verbauwhede,Bjorn De Sutter,Koen De Bosschere5.Non-Interference for a Practical DIFC-Based Operating System.Maxwell Krohn,Eran Tromer6.Native Client:A Sandbox for Portable,Untrusted x86Native Code.(Best Paper Award)B.Yee,D.Sehr,G.Dardyk,B.Chen,R.Muth,T.Ormandy,S.Okasaka,N.Narula,N.Fullagar7.Automatic Reverse Engineering of Malware Emulators.(Best Student Paper Award)Monirul Sharif,Andrea Lanzi,Jonathon Giffin,Wenke Lee8.Prospex:Protocol Specification Extraction.Paolo Milani Comparetti,Gilbert Wondracek,Christopher Kruegel,Engin Kirda9.Quantifying Information Leaks in Outbound Web Traffic.Kevin Borders,Atul Prakash10.Automatic Discovery and Quantification of Information Leaks.Michael Backes,Boris Kopf,Andrey Rybalchenko11.CLAMP:Practical Prevention of Large-Scale Data Leaks.Bryan Parno,Jonathan M.McCune,Dan Wendlandt,David G.Andersen,Adrian Perrig12.De-anonymizing Social Networks.Arvind Narayanan,Vitaly Shmatikov13.Privacy Weaknesses in Biometric Sketches.Koen Simoens,Pim Tuyls,Bart Preneel14.The Mastermind Attack on Genomic Data.Michael T.Goodrich15.A Logic of Secure Systems and its Application to Trusted Computing.Anupam Datta,Jason Franklin,Deepak Garg,Dilsun Kaynar16.Formally Certifying the Security of Digital Signature Schemes.Santiago Zanella-Beguelin,Gilles Barthe,Benjamin Gregoire,Federico Olmedo17.An Epistemic Approach to Coercion-Resistance for Electronic Voting Protocols.Ralf Kuesters,Tomasz Truderung18.Sphinx:A Compact and Provably Secure Mix Format.George Danezis,Ian Goldberg19.DSybil:Optimal Sybil-Resistance for Recommendation Systems.Haifeng Yu,Chenwei Shi,Michael Kaminsky,Phillip B.Gibbons,Feng Xiao20.Fingerprinting Blank Paper Using Commodity Scanners.William Clarkson,Tim Weyrich,Adam Finkelstein,Nadia Heninger,Alex Halderman,Ed Felten 21.Tempest in a Teapot:Compromising Reflections Revisited.Michael Backes,Tongbo Chen,Markus Duermuth,Hendrik P.A.Lensch,Martin Welk22.Blueprint:Robust Prevention of Cross-site Scripting Attacks for Existing Browsers.Mike Ter Louw,V.N.Venkatakrishnan23.Pretty-Bad-Proxy:An Overlooked Adversary in Browsers’HTTPS Deployments.Shuo Chen,Ziqing Mao,Yi-Min Wang,Ming Zhang24.Secure Content Sniffing for Web Browsers,or How to Stop Papers from Reviewing Themselves.Adam Barth,Juan Caballero,Dawn Song25.It’s No Secret:Measuring the Security and Reliability of Authentication via’Secret’Questions.Stuart Schechter,A.J.Bernheim Brush,Serge Egelman26.Password Cracking Using Probabilistic Context-Free Grammars.Matt Weir,Sudhir Aggarwal,Bill Glodek,Breno de MedeirosUSENIX Security2009promising Electromagnetic Emanations of Wired and Wireless Keyboards.(Outstanding Student Paper)Martin Vuagnoux,Sylvain Pasini2.Peeping Tom in the Neighborhood:Keystroke Eavesdropping on Multi-User Systems.Kehuan Zhang,XiaoFeng Wang3.A Practical Congestion Attack on Tor Using Long Paths,Nathan S.Evans,Roger Dingledine,Christian Grothoff4.Baggy Bounds Checking:An Efficient and Backwards-Compatible Defense against Out-of-Bounds Errors.Periklis Akritidis,Manuel Costa,Miguel Castro,Steven Hand5.Dynamic Test Generation to Find Integer Bugs in x86Binary Linux Programs.David Molnar,Xue Cong Li,David A.Wagner6.NOZZLE:A Defense Against Heap-spraying Code Injection Attacks.Paruj Ratanaworabhan,Benjamin Livshits,Benjamin Zorn7.Detecting Spammers with SNARE:Spatio-temporal Network-level Automatic Reputation Engine.Shuang Hao,Nadeem Ahmed Syed,Nick Feamster,Alexander G.Gray,Sven Krasser8.Improving Tor using a TCP-over-DTLS Tunnel.Joel Reardon,Ian Goldberg9.Locating Prefix Hijackers using LOCK.Tongqing Qiu,Lusheng Ji,Dan Pei,Jia Wang,Jun(Jim)Xu,Hitesh Ballani10.GATEKEEPER:Mostly Static Enforcement of Security and Reliability Policies for JavaScript Code.Salvatore Guarnieri,Benjamin Livshits11.Cross-Origin JavaScript Capability Leaks:Detection,Exploitation,and Defense.Adam Barth,Joel Weinberger,Dawn Song12.Memory Safety for Low-Level Software/Hardware Interactions.John Criswell,Nicolas Geoffray,Vikram Adve13.Physical-layer Identification of RFID Devices.Boris Danev,Thomas S.Heydt-Benjamin,Srdjan CapkunCP:Secure Remote Storage for Computational RFIDs.Mastooreh Salajegheh,Shane Clark,Benjamin Ransford,Kevin Fu,Ari Juels15.Jamming-resistant Broadcast Communication without Shared Keys.Christina Popper,Mario Strasser,Srdjan Capkun16.xBook:Redesigning Privacy Control in Social Networking Platforms.Kapil Singh,Sumeer Bhola,Wenke Lee17.Nemesis:Preventing Authentication and Access Control Vulnerabilities in Web Applications.Michael Dalton,Christos Kozyrakis,Nickolai Zeldovich18.Static Enforcement of Web Application Integrity Through Strong Typing.William Robertson,Giovanni Vigna19.Vanish:Increasing Data Privacy with Self-Destructing Data.(Outstanding Student Paper)Roxana Geambasu,Tadayoshi Kohno,Amit A.Levy,Henry M.Levy20.Efficient Data Structures for Tamper-Evident Logging.Scott A.Crosby,Dan S.Wallach21.VPriv:Protecting Privacy in Location-Based Vehicular Services.Raluca Ada Popa,Hari Balakrishnan,Andrew J.Blumberg22.Effective and Efficient Malware Detection at the End Host.Clemens Kolbitsch,Paolo Milani Comparetti,Christopher Kruegel,Engin Kirda,Xiaoyong Zhou,XiaoFeng Wang 23.Protecting Confidential Data on Personal Computers with Storage Capsules.Kevin Borders,Eric Vander Weele,Billy Lau,Atul Prakash24.Return-Oriented Rootkits:Bypassing Kernel Code Integrity Protection Mechanisms.Ralf Hund,Thorsten Holz,Felix C.Freiling25.Crying Wolf:An Empirical Study of SSL Warning Effectiveness.Joshua Sunshine,Serge Egelman,Hazim Almuhimedi,Neha Atri,Lorrie Faith Cranor26.The Multi-Principal OS Construction of the Gazelle Web Browser.Helen J.Wang,Chris Grier,Alex Moshchuk,Samuel T.King,Piali Choudhury,Herman VenterACM CCS20091.Attacking cryptographic schemes based on”perturbation polynomials”.Martin Albrecht,Craig Gentry,Shai Halevi,Jonathan Katz2.Filter-resistant code injection on ARM.Yves Younan,Pieter Philippaerts,Frank Piessens,Wouter Joosen,Sven Lachmund,Thomas Walter3.False data injection attacks against state estimation in electric power grids.Yao Liu,Michael K.Reiter,Peng Ning4.EPC RFID tag security weaknesses and defenses:passport cards,enhanced drivers licenses,and beyond.Karl Koscher,Ari Juels,Vjekoslav Brajkovic,Tadayoshi Kohno5.An efficient forward private RFID protocol.Come Berbain,Olivier Billet,Jonathan Etrog,Henri Gilbert6.RFID privacy:relation between two notions,minimal condition,and efficient construction.Changshe Ma,Yingjiu Li,Robert H.Deng,Tieyan Li7.CoSP:a general framework for computational soundness proofs.Michael Backes,Dennis Hofheinz,Dominique Unruh8.Reactive noninterference.Aaron Bohannon,Benjamin C.Pierce,Vilhelm Sjoberg,Stephanie Weirich,Steve Zdancewicputational soundness for key exchange protocols with symmetric encryption.Ralf Kusters,Max Tuengerthal10.A probabilistic approach to hybrid role mining.Mario Frank,Andreas P.Streich,David A.Basin,Joachim M.Buhmann11.Efficient pseudorandom functions from the decisional linear assumption and weaker variants.Allison B.Lewko,Brent Waters12.Improving privacy and security in multi-authority attribute-based encryption.Melissa Chase,Sherman S.M.Chow13.Oblivious transfer with access control.Jan Camenisch,Maria Dubovitskaya,Gregory Neven14.NISAN:network information service for anonymization networks.Andriy Panchenko,Stefan Richter,Arne Rache15.Certificateless onion routing.Dario Catalano,Dario Fiore,Rosario Gennaro16.ShadowWalker:peer-to-peer anonymous communication using redundant structured topologies.Prateek Mittal,Nikita Borisov17.Ripley:automatically securing web2.0applications through replicated execution.K.Vikram,Abhishek Prateek,V.Benjamin Livshits18.HAIL:a high-availability and integrity layer for cloud storage.Kevin D.Bowers,Ari Juels,Alina Oprea19.Hey,you,get offof my cloud:exploring information leakage in third-party compute clouds.Thomas Ristenpart,Eran Tromer,Hovav Shacham,Stefan Savage20.Dynamic provable data possession.C.Christopher Erway,Alptekin Kupcu,Charalampos Papamanthou,Roberto Tamassia21.On cellular botnets:measuring the impact of malicious devices on a cellular network core.Patrick Traynor,Michael Lin,Machigar Ongtang,Vikhyath Rao,Trent Jaeger,Patrick Drew McDaniel,Thomas Porta 22.On lightweight mobile phone application certification.William Enck,Machigar Ongtang,Patrick Drew McDaniel23.SMILE:encounter-based trust for mobile social services.Justin Manweiler,Ryan Scudellari,Landon P.Cox24.Battle of Botcraft:fighting bots in online games with human observational proofs.Steven Gianvecchio,Zhenyu Wu,Mengjun Xie,Haining Wang25.Fides:remote anomaly-based cheat detection using client emulation.Edward C.Kaiser,Wu-chang Feng,Travis Schluessler26.Behavior based software theft detection.Xinran Wang,Yoon-chan Jhi,Sencun Zhu,Peng Liu27.The fable of the bees:incentivizing robust revocation decision making in ad hoc networks.Steffen Reidt,Mudhakar Srivatsa,Shane Balfe28.Effective implementation of the cell broadband engineTM isolation loader.Masana Murase,Kanna Shimizu,Wilfred Plouffe,Masaharu Sakamoto29.On achieving good operating points on an ROC plane using stochastic anomaly score prediction.Muhammad Qasim Ali,Hassan Khan,Ali Sajjad,Syed Ali Khayam30.On non-cooperative location privacy:a game-theoretic analysis.Julien Freudiger,Mohammad Hossein Manshaei,Jean-Pierre Hubaux,David C.Parkes31.Privacy-preserving genomic computation through program specialization.Rui Wang,XiaoFeng Wang,Zhou Li,Haixu Tang,Michael K.Reiter,Zheng Dong32.Feeling-based location privacy protection for location-based services.Toby Xu,Ying Cai33.Multi-party off-the-record messaging.Ian Goldberg,Berkant Ustaoglu,Matthew Van Gundy,Hao Chen34.The bayesian traffic analysis of mix networks.Carmela Troncoso,George Danezis35.As-awareness in Tor path selection.Matthew Edman,Paul F.Syverson36.Membership-concealing overlay networks.Eugene Y.Vasserman,Rob Jansen,James Tyra,Nicholas Hopper,Yongdae Kim37.On the difficulty of software-based attestation of embedded devices.Claude Castelluccia,Aurelien Francillon,Daniele Perito,Claudio Soriente38.Proximity-based access control for implantable medical devices.Kasper Bonne Rasmussen,Claude Castelluccia,Thomas S.Heydt-Benjamin,Srdjan Capkun39.XCS:cross channel scripting and its impact on web applications.Hristo Bojinov,Elie Bursztein,Dan Boneh40.A security-preserving compiler for distributed programs:from information-flow policies to cryptographic mechanisms.Cedric Fournet,Gurvan Le Guernic,Tamara Rezk41.Finding bugs in exceptional situations of JNI programs.Siliang Li,Gang Tan42.Secure open source collaboration:an empirical study of Linus’law.Andrew Meneely,Laurie A.Williams43.On voting machine design for verification and testability.Cynthia Sturton,Susmit Jha,Sanjit A.Seshia,David Wagner44.Secure in-VM monitoring using hardware virtualization.Monirul I.Sharif,Wenke Lee,Weidong Cui,Andrea Lanzi45.A metadata calculus for secure information sharing.Mudhakar Srivatsa,Dakshi Agrawal,Steffen Reidt46.Multiple password interference in text passwords and click-based graphical passwords.Sonia Chiasson,Alain Forget,Elizabeth Stobert,Paul C.van Oorschot,Robert Biddle47.Can they hear me now?:a security analysis of law enforcement wiretaps.Micah Sherr,Gaurav Shah,Eric Cronin,Sandy Clark,Matt Blaze48.English shellcode.Joshua Mason,Sam Small,Fabian Monrose,Greg MacManus49.Learning your identity and disease from research papers:information leaks in genome wide association study.Rui Wang,Yong Fuga Li,XiaoFeng Wang,Haixu Tang,Xiao-yong Zhou50.Countering kernel rootkits with lightweight hook protection.Zhi Wang,Xuxian Jiang,Weidong Cui,Peng Ning51.Mapping kernel objects to enable systematic integrity checking.Martim Carbone,Weidong Cui,Long Lu,Wenke Lee,Marcus Peinado,Xuxian Jiang52.Robust signatures for kernel data structures.Brendan Dolan-Gavitt,Abhinav Srivastava,Patrick Traynor,Jonathon T.Giffin53.A new cell counter based attack against tor.Zhen Ling,Junzhou Luo,Wei Yu,Xinwen Fu,Dong Xuan,Weijia Jia54.Scalable onion routing with torsk.Jon McLachlan,Andrew Tran,Nicholas Hopper,Yongdae Kim55.Anonymous credentials on a standard java card.Patrik Bichsel,Jan Camenisch,Thomas Gros,Victor Shouprge-scale malware indexing using function-call graphs.Xin Hu,Tzi-cker Chiueh,Kang G.Shin57.Dispatcher:enabling active botnet infiltration using automatic protocol reverse-engineering.Juan Caballero,Pongsin Poosankam,Christian Kreibich,Dawn Xiaodong Song58.Your botnet is my botnet:analysis of a botnet takeover.Brett Stone-Gross,Marco Cova,Lorenzo Cavallaro,Bob Gilbert,MartinSzydlowski,Richard A.Kemmerer,Christopher Kruegel,Giovanni VignaNDSS20101.Server-side Verification of Client Behavior in Online Games.Darrell Bethea,Robert Cochran and Michael Reiter2.Defeating Vanish with Low-Cost Sybil Attacks Against Large DHTs.S.Wolchok,O.S.Hofmann,N.Heninger,E.W.Felten,J.A.Halderman,C.J.Rossbach,B.Waters,E.Witchel3.Stealth DoS Attacks on Secure Channels.Amir Herzberg and Haya Shulman4.Protecting Browsers from Extension Vulnerabilities.Adam Barth,Adrienne Porter Felt,Prateek Saxena,and Aaron Boodman5.Adnostic:Privacy Preserving Targeted Advertising.Vincent Toubiana,Arvind Narayanan,Dan Boneh,Helen Nissenbaum and Solon Barocas6.FLAX:Systematic Discovery of Client-side Validation Vulnerabilities in Rich Web Applications.Prateek Saxena,Steve Hanna,Pongsin Poosankam and Dawn Song7.Effective Anomaly Detection with Scarce Training Data.William Robertson,Federico Maggi,Christopher Kruegel and Giovanni Vignarge-Scale Automatic Classification of Phishing Pages.Colin Whittaker,Brian Ryner and Marria Nazif9.A Systematic Characterization of IM Threats using Honeypots.Iasonas Polakis,Thanasis Petsas,Evangelos P.Markatos and Spiros Antonatos10.On Network-level Clusters for Spam Detection.Zhiyun Qian,Zhuoqing Mao,Yinglian Xie and Fang Yu11.Improving Spam Blacklisting Through Dynamic Thresholding and Speculative Aggregation.Sushant Sinha,Michael Bailey and Farnam Jahanian12.Botnet Judo:Fighting Spam with Itself.A.Pitsillidis,K.Levchenko,C.Kreibich,C.Kanich,G.M.Voelker,V.Paxson,N.Weaver,S.Savage13.Contractual Anonymity.Edward J.Schwartz,David Brumley and Jonathan M.McCune14.A3:An Extensible Platform for Application-Aware Anonymity.Micah Sherr,Andrew Mao,William R.Marczak,Wenchao Zhou,Boon Thau Loo,and Matt Blaze15.When Good Randomness Goes Bad:Virtual Machine Reset Vulnerabilities and Hedging Deployed Cryptography.Thomas Ristenpart and Scott Yilek16.InvisiType:Object-Oriented Security Policies.Jiwon Seo and Monica m17.A Security Evaluation of DNSSEC with NSEC3.Jason Bau and John Mitchell18.On the Safety of Enterprise Policy Deployment.Yudong Gao,Ni Pan,Xu Chen and Z.Morley Mao19.Where Do You Want to Go Today?Escalating Privileges by Pathname Manipulation.Suresh Chari,Shai Halevi and Wietse Venema20.Joe-E:A Security-Oriented Subset of Java.Adrian Mettler,David Wagner and Tyler Close21.Preventing Capability Leaks in Secure JavaScript Subsets.Matthew Finifter,Joel Weinberger and Adam Barth22.Binary Code Extraction and Interface Identification for Security Applications.Juan Caballero,Noah M.Johnson,Stephen McCamant,and Dawn Song23.Automatic Reverse Engineering of Data Structures from Binary Execution.Zhiqiang Lin,Xiangyu Zhang and Dongyan Xu24.Efficient Detection of Split Personalities in Malware.Davide Balzarotti,Marco Cova,Christoph Karlberger,Engin Kirda,Christopher Kruegel and Giovanni VignaOakland20101.Inspector Gadget:Automated Extraction of Proprietary Gadgets from Malware Binaries.Clemens Kolbitsch Thorsten Holz,Christopher Kruegel,Engin Kirda2.Synthesizing Near-Optimal Malware Specifications from Suspicious Behaviors.Matt Fredrikson,Mihai Christodorescu,Somesh Jha,Reiner Sailer,Xifeng Yan3.Identifying Dormant Functionality in Malware Programs.Paolo Milani Comparetti,Guido Salvaneschi,Clemens Kolbitsch,Engin Kirda,Christopher Kruegel,Stefano Zanero4.Reconciling Belief and Vulnerability in Information Flow.Sardaouna Hamadou,Vladimiro Sassone,Palamidessi5.Towards Static Flow-Based Declassification for Legacy and Untrusted Programs.Bruno P.S.Rocha,Sruthi Bandhakavi,Jerry I.den Hartog,William H.Winsborough,Sandro Etalle6.Non-Interference Through Secure Multi-Execution.Dominique Devriese,Frank Piessens7.Object Capabilities and Isolation of Untrusted Web Applications.Sergio Maffeis,John C.Mitchell,Ankur Taly8.TrustVisor:Efficient TCB Reduction and Attestation.Jonathan McCune,Yanlin Li,Ning Qu,Zongwei Zhou,Anupam Datta,Virgil Gligor,Adrian Perrig9.Overcoming an Untrusted Computing Base:Detecting and Removing Malicious Hardware Automatically.Matthew Hicks,Murph Finnicum,Samuel T.King,Milo M.K.Martin,Jonathan M.Smith10.Tamper Evident Microprocessors.Adam Waksman,Simha Sethumadhavan11.Side-Channel Leaks in Web Applications:a Reality Today,a Challenge Tomorrow.Shuo Chen,Rui Wang,XiaoFeng Wang Kehuan Zhang12.Investigation of Triangular Spamming:a Stealthy and Efficient Spamming Technique.Zhiyun Qian,Z.Morley Mao,Yinglian Xie,Fang Yu13.A Practical Attack to De-Anonymize Social Network Users.Gilbert Wondracek,Thorsten Holz,Engin Kirda,Christopher Kruegel14.SCiFI-A System for Secure Face Identification.(Best Paper)Margarita 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关系推理的简单神经网络模块(译文及原文)
操作的单个函数,其中每批中每个成员都是来自同一对象集的特定对象-对象对。这种操作 模式鼓励对计算关系的更广的普遍化,因为要求 不要过度拟合任何特定对象对的特性。
考虑 MLP 如何学习相同的函数。MLP 将从对象集同时接收所有对象作为其输入。然后,它 必须学习并在其权重参数中嵌入 N2(其中 N 是对象的数量)的相同函数,以计算所有可能 的对象对。随着对象数量的增长,这将很快就变得困难。因此,学习关系函数 N2 的成本乘 以每个样本使用的单一前馈传导, (如 MLP 中) , 替换为每个对象集合的 N2 前馈传导成本 (即 对于集合中每个可能的对象对) ,并只学习一次关系函数(如 RN 中) 。 RN 在一系列对象上运行 等式 1 中的求和确保 RN 在输入中相对对象的顺序不变。 该不 变性保证了 RN 的输入遵从集的顺序不变特性,并保证输出顺序不变。最终,这种不变性确 保 RN 的输出包含通常代表对象集中存在的关系的信息。
2.关系网络(RN)
RN 是具有用于关系推理结构的神经网络模块。 RN 背后的设计思想是约束神经网络的功 能形式,从而使其抓住关系推理的核心共同属性。换句话说,计算关系的能力是在不需要学 习的情况下引入到 RN 体系结构中的,就像空间的推理能力一样,转换不变量属性是内置在 CNN 中的,而顺序依赖的推理能力是内置在递归神经网络中的。 在最简单的形式中,RN 是一个复合函数:
3.任务
我们将 RN-增强网络应用于各种基于关系推理的任务。为了演示这些网络的通用性,我们选 择了一些不同领域的任务,包括视觉问答、基于文本学会回答有关图像的问题(图 1) 。这是一个具有挑战性的问 题领域,因为它需要高级的场景理解[ 1,29]。体系结构必须对在视觉输入、语言输入及其 结合中的特性执行复杂的关系推理,包括空间及其他。然而,大多数的视觉问答数据集需要 在没有完全特定的词汇的情况下进行推理, 或者更坏, 在培训数据中没有世界上的广泛而复 杂知识。它还包含歧义并存在强烈的语言偏差,使模型不对视觉输入进行推理[1,31,36] 的情况下学习应答策略来开发这些偏差。 为了控制这些问题, 并提取视觉问答挑战的核心, 特开发了 CLEVR 视觉问答数据集[15]。 CLEVR 包含 3D 呈现的对象图像,如球体和柱体(图 2) 。每个图像都与不同类别的一些问题
桥梁工程英语专业词汇
轴向拉力, 轴向拉伸: axial tension
轴向拉力 轴向张力: axialtensileforce
承台
cushion cap
承台: bearing platform|cushioncap|pile caps
桩承台: pile cap|platformonpiles
弹性
elasticity
springiness
spring
give
flexibility
弹性: elasticity|Flexibility|stretch
彈性: Elastic|Elasticidad|弾性
弹性体: elastomer|elastic body|SPUA
平ቤተ መጻሕፍቲ ባይዱ面假定
plane cross-section assumption
主梁
主梁: girder|main beam|king post
桥主梁: bridge girder
主梁翼: main spar
单墩
单墩: single pier
单墩尾水管: single-pier draught tube
单墩肘形尾水管: one-pier elbow draught tube
结构优化设计
刚强度: stiffness|stiffne|westbank stiffness
光强度: light intensity|intensity
箍筋
hooping
箍筋: stirrup|reinforcement stirrup|hooping
箍筋柱: tied column|hooped column
桥梁工程英语词汇
fiduciary level
可靠度: Reliability|degree of reliability
不可靠度: Unreliability
高可靠度: High Reliability
几何特性
geometrical characteristic
几何特性: geometrical characteristic
预应力混凝土
prestressed concrete
预应力混凝土: prestressed concrete|prestre edconcrete
预应力混凝土梁: prestressed concrete beam
预应力混凝土管: prestressed concrete pipe
预应力钢筋束
预应力钢筋束: pre-stressing tendon|pre-stre ingtendon
刚构桥
rigid frame bridge
刚构桥: rigid frame bridge
形刚构桥: T-shaped rigid frame bridge
持续刚构桥: continuous rigid frame bridge
刚度比
stiffness ratio
ratio of rigidity
刚度比: ratio of rigidity|stiffness ratio
有限元分析
finite element analysis
有限元分析: FEA|finite element analysis (FEA)|ABAQUS
反有限元分析: inverse finite element analysis
有限元分析软件: HKS ABAQUS|MSC/NASTRAN MSC/NASTRAN
一维非定常对流扩散方程非均匀网格上的高精度紧致差分格式
一维非定常对流扩散方程非均匀网格上的高精度紧致差分格式黄雪芳;郭锐;葛永斌【摘要】A high accuracy compact finite difference scheme with non-uniform grids is pro-posed to solve unsteady convection diffusion equations, which are used to describe boundary layer problems or locally large gradient problems, etc. The new method starts from the dis-cretization of the steady convection diffusion equation. Firstly, the spatial derivatives are discretized by using the Taylor series expansion on non-uniform grids. Then, the second order backward Eulerian difference formula is used to discretize the temporal derivative term. The three-level full implicit compact difference scheme on non-uniform grids for solving the one-dimensional unsteady convection diffusion equation is derived. The new scheme has the second order accuracy in time and the third to fourth order accuracy in space and is unconditionally stable. Finally, some numerical experiments are conducted to demonstrate the high accuracy and the advantages in solving boundary layer problems or locally large gradient problems.%本文在非均匀网格上给出了求解非定常对流扩散方程的一种高精度紧致差分格式,特别适合边界层和大梯度等问题的求解。
船舶与离岸结构的极限强度
Ultimate Strength of Ships and Offshore StructuresCarlos Guedes Soares 1#The Author(s)2021The assessment of the ultimate strength of floating struc-tures is an essential step in their design process and thus it is included as one of the checks in the Rules of Classification Societies.Several years ago,the Rule re-quirement was based on the section modulus associated with the yield condition,a situation that has been shown to be clearly conservative by an amount that would de-pend on the geometry of the section.The development of methods to quantify the ultimate strength,including the ability of numerical methods to deal with those predic-tions in a relatively cost-efficient manner,led to proposals that the ultimate strength should be used as the reference value expressing the strength of the ship hull structure (Guedes Soares et al.1996),which was adopted 10years later by the Classification Societies in their Common Structural Rules (CSR 2006;IACS 2014).Indeed,the present status of design relies on ultimate strength assess-ment and on nonlinear wave induced loads,which have been covered in and earlier special issue (Guedes Soares and Duan 2018).Different numerical methods have been developed for ulti-mate strength assessment and new simplified approaches are continuously being proposed,as simplified methods dully calibrated and validated are always welcome as substitutes of very heavy computational approaches.The Common Structural Rules,prescribe simplified methods such as the one of Smith (1977)for the assessment of hull girder collapse and of Gordo and Guedes Soares (1993)for the ulti-mate strength of stiffened panels.The ultimate strength assessment,which was primarily concerned with intact structures,have been extended to dam-aged structures,including both the prediction of damage in-duced in accidental situations as the residual strength of dam-aged structures.Again,it has been the improved capabilities of numerical methods that allowed the study of the complicat-ed geometries of damaged structures that allowed the design work to rely on this type of predictions.This special issue covers various of these aspects,including papers of review nature with others presenting new research results.The paper by Tekgoz et al.(2020)is a typical review paper that covers the area of the ultimate strength of ageing and damaged ship structures,dealing extensively with numer-ical,analytical and experimental work on plates,stiffened panels and hull girders that have suffered aging due for exam-ple to corrosion and fatigue or damage due for example to minor collisions.Liu et al.(2020)concentrates on aluminium structures and at the same time as it presents a good review of the work done on ultimate strength of plates and stiffened panels in alumin-ium,it also includes a research contribution using finite ele-ment analyses to study the influence of manufacturing tech-nology on the ultimate compressive strength of aluminium-alloy stiffened panels.As an important problem in aluminium structures is the heat-affected zone associated with welding,the study compares the performance of these panels with ex-truded ones,which are being used in progressively more applications.Barsotti et al.(2020)present an overview of recent indus-trial developments of marine composites limit states assess-ments and design approaches,focusing on pleasure crafts and yachts as well as navy ships.Inter-ply and intra-ply failure modes are discussed and the corresponding limit states are presented.The main factors influencing marine composite ro-bustness were found to be three-dimensional aspects in failure*Carlos Guedes Soares******************************.ulisboa.pt1Centre for Marine Technology and Ocean Engineering (CENTEC),Instituto Superior Técnico,Universidade de Lisboa,1409-001Lisboa,Portugalhttps:///10.1007/s11804-020-00190-yPublished online: 15 January 2021Journal of Marine Science and Application (2020) 19:509–511modes and manufacturing methods as well as fire resistance and joining techniques.Romanoff et al.(2020)deals with a very special type of problem somewhat associated with cruise ships,in which de-velopments of laser-welded thin-walled steel plates have been made in order to keep light weight at the same time avoiding the weld induced distortions induced by conventional arc welding.This type of structural elements have found applica-tion in other vessels and the authors review work that has been done in collision simulations based on finite element analysis of this type of structures.Wahab et al.(2020)present a different type of prob-lem,which is related with fixed offshore jacket platforms that have been used for many years and are subjected to the problems of planning appropriately their maintenance and eventually develop studies of life extension.The de-sign limit state of these platforms is generally the ultimate strength and thus the paper deals with the problems that degrade the strength of these structures,discussing how a good maintenance plan can maintain the structural strength for longer periods.The other papers in this issue deal with more specific prob-lems,presenting research results.A first group deals with the buckling strength of shell structures mainly used in subsea applications,while the other papers deal with stiffened panels and with ship hull girders.Cho et al.(2020)deal with steel-welded hemispheres under external hydrostatic pressure,Zhang et al.(2020)with the buckling of multiple intersecting spherical shells under uni-form external pressure and Al-Hamati et al.(2020)study the buckling properties of a subsea function chamber for oil and gas processing in deep-waters.Lee and Paik(2020)study the ultimate compressive strength computational modelling for stiffened plate panels with non-uniform thickness,a situation that occurs when there is the need to have a transition between plates with different thicknesses.The rest of the papers deal with the hull girder.Nouri and Khedmati(2020)and Vu and Dong(2020)study the ultimate strength of hull girders deteriorated with different types of corrosion,while Xu and Guedes Soares(2020)study the in-fluence of collision damage on the ultimate strength of hull girders.They consider a box girder representing the parallel middle body of tankers and similar vessels and they validate their finite element model against experiments,before analysing the effect of an impact on different locations, assessing afterwards the residual strength of the damaged structure.Primorac et al.(2020)continue with the topic of damaged ship hulls by collision or grounding and they analyse the problem of conducting a structural reliability assessment of these damaged ship hulls adopting the procedures recommended in IMO(2006),and they discuss the various limitations of the presently recommended approach.This set of papers present a good overview of current problems related with the strength assessment of ship and offshore structures,with a certain emphasis on damaged structures,as this type of topic has attracted the attention of several researches in the recent past,and these are in general more complicated problems than dealing with un-damaged structures.We hope that this collection of papers will contribute to an overview of this general topic,which can be of interest to readers.510Journal of Marine Science and ApplicationOpen Access This article is licensed under a Creative CommonsAttribution4.0International License,which permits use,sharing,adap-tation,distribution and reproduction in any medium or format,as long asyou give appropriate credit to the original author(s)and the source,pro-vide a link to the Creative Commons licence,and indicate if changes weremade.The images or other third party material in this article are includedin the article's Creative Commons licence,unless indicated otherwise in acredit line to the material.If material is not included in the article'sCreative Commons licence and your intended use is not permitted bystatutory regulation or exceeds the permitted use,you will need to obtainpermission directly from the copyright holder.To view a copy of thislicence,visit /licenses/by/4.0/.ReferencesAl-Hamati AA,Duan M,An C,Guedes Soares C,Estefen S(2020)Buckling properties of SFC for oil/gas processing in deep-waters.J Mar Sci Appl19(4)642-657Barsotti B,Gaiotti M,Rizzo CM(2020)Recent Industrial Developmentsof Marine Composites Limit States and Design Approaches onStrength.J Mar Sci Appl19(4)553-566Cho S-R,Muttaqie T,Lee SH,Paek J,Sohn JM(2020)Ultimate StrengthAssessment of Steel-Welded Hemispheres Under ExternalHydrostatic Pressure.J Mar Sci Appl19(4)615-633CSR(2006)ABS,DNV,LLOYD’S mon StructuralRules for Double Hull Oil TankersGordo JM and Guedes Soares C(1993)Approximate Load ShorteningCurves for Stiffened Plates under Uniaxial Compression.FaulknerD,Cowling MJ&Incecik A,(Eds.).Integrity of OffshoreStructures,5,Proc5th International Symposium on Integrity ofOffshore Structures.Univ Glasgow,17-18June:EMAS;189-211Guedes Soares C,Duan WY(2018)Wave Loads on Ships and OffshoreStructures.J Mar Sci Appl17(3):281–283Guedes Soares C,Dogliani M,Ostergaard C,Parmentier G,Pedersen PT(1996)Reliability Based Ship Structural Design.Trans Soc NavalArchitects Marine Eng(SNAME)104:357–389IACS(2014)Common structural rules for bulk carriers and oil tankers.Societies,International Association of ClassificationIMO(2006)Maritime Safety Committee MSC81/INF.6.Goal-basednew ship construction standards-linkage between FSA and GBSInternational Maritime OrganisationLee HH,Paik JK(2020)Ultimate Compressive Strength ComputationalModelling for Stiffened Plate Panels with Non-Uniform Thickness.J Mar Sci Appl19(4)658-673Liu B,Doan VT,Garbatov Y,Wu WG,Guedes Soares C(2020)Studyon Ultimate Compressive Strength of Aluminium-Alloy Plates andStiffened Panels.J Mar Sci Appl19(4)534-552Nouri Z,Khedmati MR(2020)Progressive Collapse Analysis of a FPSO Vessel Hull Girder under Vertical Bending considering Different Corrosion Models.J Mar Sci Appl19(4)674-692Primorac BB,Parunov J,Guedes Soares C(2020)Structural Reliability Analysis of Ship Hulls Accounting for Collision or Grounding Damage.J Mar Sci Appl19(4)717-733Romanoff J,Körgesaar M,Remes H(2020)Emerging Challenges for Numerical Simulations of Quasi-Static Collision Experiments on Laser-Welded Thin-Walled Steel Structures.J Mar Sci Appl19(4) 567-583Smith CS(1977)Influence of Local Compressive Failure on Ultimate Longitudinal Strength of a Ship's Hull,Proc.Conf.on Practical Design of Ships and Mobile Units(PRADS),Tokyo,73-79Tekgoz M,Garbatov Y,Guedes Soares C(2020)Review of Ultimate Strength Assessment of Ageing and Damaged Ship Structures.J Mar Sci Appl19(4)512-533Vu VT,Dong DT(2020)Hull Girder Ultimate Strength Assessment Considering Local Corrosion.J Mar Sci Appl19(4)693-704 Wahab MMA,Kurian VJ,Liew MS,Kim DK(2020)Condition Assessment Techniques for Aged Fixed-type Offshore Platforms considering Decommissioning:A Historical Review.J Mar Sci Appl19(4)584-614Xu W,Guedes Soares C(2020)Numerical Investigation on the Ultimate Strength of Box Beams with Impact Damage.J Mar Sci Appl19(4) 705-716Zhang J,Li SQ,Cui WC,Xiang K,Wang F,Tang WX(2020)Buckling of Multiple Intersecting Spherical Shells Under Uniform External Pressure.J Mar Sci Appl19(4)634-641511C.G.Soares:Ultimate Strength of Ships and Offshore Structures。
微带耦合器的中英文对照翻译
Design and Analysis of Wideband Nonuniform Branch Line Coupler and Its Application in a Wideband Butler MatrixYuli K. Ningsih,1,2 M. Asvial,1 and E. T. RahardjoAntenna Propagation and Microwave Research Group (AMRG), Department of Electrical Engineering, Universitas Indonesia, New Campus UI, West Java, Depok 16424, Indonesia Department of Electrical Engineering, Trisakti University, Kyai Tapa, Grogol, West Jakarta 11440, IndonesiaReceived 10 August 2011; Accepted 2 December 2011Academic Editor: Tayeb A. DenwdnyCopyright © 2012 Yuli K. Ningsih et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.AbstractThis paper presents a novel wideband nonuniform branch line coupler. An exponential impedance taper is inserted, at the series arms of the branch line coupler, to enhance the bandwidth. The behavior of the nonuniform coupler was mathematically analyzed, and its design of scattering matrix was derived. For a return loss better than 10 dB, it achieved 61.1% bandwidth centered at 9GHz. Measured coupling magnitudes and phase exhibit good dispersive characteristic. For the 1dB magnitude difference and phase error within 3∘, it achieved 22.2% bandwidth centered at 9GHz. Furthermore, the novel branch line coupler was implemented for a wideband crossover. Crossover was constructed by cascading two wideband nonuniform branch line couplers. These components were employed to design a wideband Butler Matrix working at 9.4GHz. The measurement results show that the reflection coefficient between the output ports is better than 18dB across 8.0GHz–9.6GHz, and the overall phase error is less than 7.1. IntroductionRecently, a switched-beam antenna system has been widely used in numerous applications, such as in mobile communication system, satellite system, and modern multifunction radar. This is due to the ability of the switched-beam antenna to decrease the interference and to improve the quality of transmission and also to increase gain and diversity.The switched-beam system consists of a multibeam switching network and antenna array. The principle of a switched-beam is based on feeding a signal into an array of antenna with equal power and phase difference. Different structures of multibeam switching networks have been proposed, such as the Blass Matrix, the Nolen Matrix, the Rotman Lens, and the Butler Matrix .One of the most widely known multibeam switching networks with a linear antenna is the Butler Matrix. Indeed, it seems to be the most attractive option due to its design simplicity and low power loss .In general, the Butler Matrix is an N × N passive feeding network, composed of branch line coupler, crossover, and phase shifter. The bandwidth of the Butler Matrix is greatly dependent on the performance of the components. However, the Butler Matrix has a narrow bandwidth characteristic due to branch line coupler and crossover has a limited bandwidth.As there is an increased demand to provide high data throughput , it is essential that the Butler Matrix has to operate over a wide frequency band when used for angle diversity. Therefore, many papers have reported for the bandwidth enhancement of branch line coupler . In reference , design and realization of branch line coupler on multilayer microstrip structure was reported. These designs can achieve a wideband characteristic. However, the disadvantages of these designs are large in dimension and bulk.Reference introduces a compact coupler in an N-section tandem-connected structure. The design resulted in a wide bandwidth. Another design, two elliptically shaped microstrip lines which are broadside coupled through an elliptically shaped slot, was employed in . This design was used in a UWB coupler with high return loss and isolation. However, these designs require a more complex manufacturing.In this paper, nonuniform branch line coupler using exponential impedance taper is proposed which can enhance bandwidth and can be implemented for Butler Matrix, as shown in Figure 1. Moreover, it is a simple design without needs of using multilayer technology. This will lead in cost reduction and in design simplification.Figure 1:Geometry structure of a new nonuniform branch line coupler design with exponential impedance taper at the series arm.To design the new branch line coupler, firstly, the series arm’s impedance is modified. The shunt arm remains unchanged. Reduced of the width of the transmission line at this arm is desired by modifying the series arm. Next, by exponential impedance taper at the series arm, a good match over a high frequency can be achieved.2. Mathematical Analysis of Nonuniform Branch Line CouplerThe proposed nonuniform branch line coupler use λ/4 branches with impedance of 50Ω at the shunt arms and use the exponential impedance taper at the series arms, as shown in Figure 1. Since branch line coupler has a symmetric structure, the even-odd mode theory can be employed to analyze the nonuniform characteristics. The four ports can be simplified to a two-port problem in which the even and odd mode signals are fed to two collinear inputs [22]. Figure 2 shows the schematic of circuit the nonuniform branch line coupiers.Figure 2:Circuit of the nonuniform branch line coupler.The circuit of Figure 2 can be decomposed into the superposition of an even-mode excitation and an odd-mode excitation is shown in Figures and .Figure 3:Decomposition of the nonuniform branch line coupler into even and odd modes of excitation.The ABCD matrices of each mode can be expressed following . In the case of nonuniform branch line coupler, the matrices for the even and odd modes become:A branch line coupler has been designed based on the theory of small reflection, by the continuously tapered line with exponential tapers , as indicated in Figure 1, wherewhich determines the constant as:Useful conversions for two-port network parameters for the even and odd modes of S11and S21 can be defined as follows :whereSince the amplitude of the incident waves for these two ports are ±1/2, the amplitudes of the emerging wave at each port of the nonuniform branch line coupler can be expressed asParameters even and odd modes of S11 nonuniform branch line coupler can be expressed as and as follows:An ideal branch line coupler is designed to have zero reflection power and splits the input power in port 1 (P1) into equal powers in port 3 (P3) and port 4 (P4). Considering to , anumber of properties of the ideal branch line coupler maybe deduced from the symmetry and unitary properties of its scattering matrix. If the series and shunt arm are one-quarter wavelength, by using , resulted in S11 = 0.As both the even and odd modes of S11 are 0, the values of S11 and S21 are also 0. The magnitude of the signal at the coupled port is then the same as that of the input port.Calculating and under the same , the even and odd modes of S21 nonuniform branch line coupler will be expressed as follows inBased on ,S11 can be expressed as follows Following ,S41 nonuniform branch line coupler can be calculating as followsFrom this result, both S31 and S41 nonuniform branch line couplers have equal magnitudes of −3dB. Therefore, due to symmetry property, we also have thatS11=S22=S33=S44=0,S13=S31,S14=S41,S21=S34, and . Therefore, the nonuniform branch line coupler has the following scattering matrix in3. Fabrication and Measurement Result of Wideband Nonuniform Branch Line CouplerTo verify the equation, the nonuniform branch line coupler was implemented and its -parameter was measured. It was integrated on TLY substrate, which has a thickness of 1.57mm. Figure 4shows a photograph of a wideband nonuniform branch line coupler. Each branch at the series arm comprises an exponentially tapered microstrip line which transforms the impedance from ohms to ohms. This impedance transformation has been designed across a discrete step length mm.Figure 4:Photograph of a proposed nonuniform branch line coupler.Figure 5 shows the measured result frequency response of the novel nonuniform branch line coupler. For a return loss and isolation better than 10dB, it has a bandwidth of about 61.1%; it extends from 7 to 12.5GHz. In this bandwidth, the coupling ratio varies between 2.6 dB up to 5.1dB. If the coupling ratio is supposed approximately 3 ±1dB, the bandwidth of about 22.2% centered at 9GHz.Figure 5:Measurement result for nonuniform branch line coupler.As expected, the phase difference between port 3 (P3) and port 4 (P4) is 90°. At 9 GHz, thephases of and are 85.54° and 171°, respectively. These values differ from ideal value by 4.54°. The average phase error or phase unbalance between two branch line coupler outputs is about 3°. But even the phase varies with frequency; the phase difference is almost constant and very close to ideal value of 90° as shown in Figure 6.Figure 6:Phase characteristic of nonuniform branch line coupler.4. Design and Fabrication of the Wideband Butler MatrixFigure 7 shows the basic schematic of the Butler Matrix . Crossover also known as 0dB couplers is a four-port device and must provide for a very good matching and isolation, while the transmitted signal should not be affected. In order to achieve wideband characteristic crossover, this paper proposes the cascade of two nonuniform branch line couplers.Figure 7:Basic schematic of the Butler Matrix .Figure 8shows the microstrip layout of the optimized crossover. The crossover has a frequency bandwidth of 1.3GHz with VSWR = 2, which is about 22.2% of its centre frequency at 9 GHz. Thus, it is clear from these results that a nonuniform crossover fulfills most of the required specifications, as shown in Figure 9.Figure 8:Photograph of microstrip nonuniform crossover.Figure 9:Measurement result for nonuniform crossover.Figure 10 shows the layout of the proposed wideband Butler Matrix. This matrix uses wideband nonuniform branch line coupler, wideband nonuniform crossover, and phase-shift transmission lines.Figure 10:Final layout of the proposed wideband Butler Matrix .The wideband Butler Matrix was measured using Network Analyzer. Figure 11 shows the simulation and measurement results of insertion loss when a signal was fed into port 1, port 2, port 3, and port 4, respectively. The insertion loss are varies between 5dB up to 10dB. For the ideal Butler matrix, it should be better than 6dB. Imperfection of fabrication could contribute to reduction of the insertion loss.Figure 11:Insertion loss of the proposed Butler Matrix when different ports are fed.The simulated and measured results of the return loss at each port of the widedend Butler Matrix is shown in Figure 12. For a return loss better than 10dB, it has a bandwidth about17% centered at 9.4GHz.Figure 12:Return loss of the proposed Butler Matrix when different ports are fed.Figure 13 shows the phase difference of measured results when a signal was fed into port 1, port 2, port 3, and port 4, respectively. The overall phase error was less than 7°. There are several possible reasons for this phase error. A lot of bends in high frequency can produce phase error. Moreover, the imperfection of soldering, etching, alignment, and fastening also could contribute to deviation of the phase error.Figure 13:Phase difference of the proposed Butler Matrix when different ports are fed.Table 1shows that each input port was resulted a specific linear phase at the output ports. The phase differences each between the output ports are of the same value. The phase difference can generate a different beam ( θ). If port 1 (P1) is excited, the phase difference was 45°, the direction of generated beam ( θ) will be 14.4°for 1L. It is summarized in Table 1.Table 1:Output phase difference and estimated direction of generated beam.5. ConclusionA novel nonuniform branch line coupler has been employed to achieve a wideband characteristic by exponential impedance taper technique. It is a simple design without needs of using multilayer technology and this will lead to cost reduction and design simplification. The scattering matrix of the nonuniform branch line coupler was derived and it was proved that the nonuniform branch line coupler has equal magnitude of −3dB. Moreover, the novel nonuniform branch line coupler has been employed to achieve a wideband 0dB crossover. Furthermore, these components have been implemented in the Butler Matrix and that achieves wideband characteristics.ReferencesT. A. Denidni and T. E. Libar, “Wide band four-port butler matrix for switched multibeam antenna arrays,” in Proceedings of the IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC '03), vol. 3, pp. 2461–2464, 2003. View at Publisher ·View at Google Scholar2 E. Siachalou, E. Vafiadis, S. S. Goudos, T. Samaras, C. S. Koukourlis, and S. Panas, “On the design of switched-beam wideband base stations,” IEEE Antennas and Propagation Magazine, vol. 46, no. 1, pp. 158–167, 2004. View at Publisher ·View at Google Scholar ·View at Scopus3P. S. Hall and S. J. 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动态资本结构决策-关于美国上市公司的实证分析
动态资本结构决策:关于美国上市公司的实证分析摘要:这篇论文旨在通过动态资本结构模型分析美国上市公司的资本结构和融资决策。
自m-m理论(1958)问世以来,融资决策和资本结构始终是学者和企业管理者所热衷的话题。
企业的资本结构反映的是企业债权与股权的比例关系。
它很大程度上影响着企业未来的偿债和再融资能力;并说明了其当前甚至未来长期的盈利性,是企业财务管理和融资决策的重要指标之一。
合理的融资结构将尽可能的降低融资成本和发挥财务杠杆的调节作用,从而使企业获得更高的自有资金收益率。
然而,在日常经营中,企业决策层更倾向于通过同业经验值的比对做出资本结构调整。
因此,一些影响企业资本结构的要素在近十余年中被接连发现,并引起广泛的讨论。
本文将对于影响资本结构的若干要素进行动态实证检验。
根据动态资本结构模型,我们从205家纽交所上市的本土公司报表中发现:2004至2007财年中,企业成长性、有形性、企业规模、盈利性等因素对企业的融资决策和资本结构有重大影响。
本文将系统测试以上要素与资本结构的相关性;并着重检验在动态特征下,这些相关性是否能应用到更广泛的样本公司中。
关键词:动态资本结构模型、融资决策、财务杠杆、成长性、有形性、企业规模,和盈利性等dynamic capital structure decisions: evidences from u.s. firmsabstract: this paper estimates capital structure andfinancing decisions of publicly traded firms by the dynamic capital structure model in u.s. capital market. from the panel data of 205 firms during the period 2006-2007, we observe that among growth opportunities, tangibility, size, profitability exist significant impact on financing decisions of firms. importantly, the findings in the paper suggested that the dynamic nature and characteristic of the capital structure decisions in firms is better to simulate the real procedure of financing decision.i.introductionsince the extremely valuable contribution of modigliani and miller (1958) theorem on capital structure has been investigated, the financing decisions of firms were not only discussed concerning its capital structure, but also the firm’s value. when managers of one firm decide on using debt finance, they just participate into the procedure which reallocates the expected cash flows far away from equity claimants in return for offering cash up front. the elements which influence and drive these kinds of procedures or decisions are regarded as elusive issues in the area, despite decades of theoretical literature and empirical researches in quantity. theoretically, the factors which affect capitalstructure decisions are considered including size, growth opportunities, profitability, expected bankruptcy vs. agency costs, and assets structure vs. non-debt tax shields. even the conflicting results for some firm-specific characteristics emerging from empirical test, however, most of the predictions on the topic have been confirmed by the work of their loyalists. even in recent decades, literatures in this field have not provided solid and uniform empirical findings of those main theories to distinguish their strengths and weaknesses. these give our adequate capabilities and reasons to structure the empirical analysis of capital structure and its influencing factors. moreover, the evidences showing on prior studies suggested that despite the differences in accounting, legal and institutional structures, factors which impact the capital structure choice of firms are coincide across developed countries. more specifically, the approach taken in this paper attempts to provide insights into the following questions. firstly, which factors appear to influence the financing decisions of firms in u.s. capital market? secondly, how these factors in different u.s. firms play a similar dynamic impact on the capital structure?in this paper, the main contribution on capital structure lies in how different elements affect the financing leverage. the findings of this paper reveal significant characteristics of firms regarding their financing behaviour in u.s. capital market. the strong evidences in this paper suggests that firms always delay response the new circumstances and then adjust themselves, which may indicated that the costs of adjustment are significant enough to prevent firms from adjusting to their desired ratios completely in the current period. then, the results of the paper confirm viewpoint that profitability and tangible assets of firms displays a positive impact for future’s leverage (one year lagged leverage) on their capital structure by determining three definitions of leverage ratio. thirdly, the empirical results are strong supporting previous literatures that firms with greater growth opportunities have lower leverage ratios. fourthly, size, ln(sales) and ln(assets), exerts uncommonly salient and interested impacts on firms’debt ratios. ln(sales) presents the positive impact to leverage; but ln(assets) provides the negative impact to it.in section iii, i review the main literatures of capitalstructure theories, developing of dynamic capital structure models, prediction of influencing factors in previous works, and hypothesizes i will test in this dissertation. section iv describes our data sources, sample selection, variables, and methodologies i use to examine these implications. in section v, the empirical model and spss statistics process is employed, and a brief estimation results for the dynamic leverage models will be discusses by correlations, ols, adj. r2, and f-test. finally, section vi provides concluding remarks. in order to facilitate a comparison, we follow rajan and zingales (1995) and booth et al. (2001) which provide international evidence on capital structure for developed countries.ii.literature reviewa.capital structure theoriesthe modern theories of capital structure began with the seminal work of modigliani and miller (1958). afterwards, even many theories of capital structure have been proposed, only a few seem to have many advocates and supporters. observably, due to deadweight of introduced taxation and bankruptcy costs, “trade-off theory” has been regarded as one of the core contents of capital structure. furthermore,myers (1984) raised the “pecking order theory” in which there is a financing hierarchy of retained earnings, debt, and then equity. subsequently, the idea of firms engaging in “market timing” has become more popular. in particularly, agency theory is latent in the background of some theoretical discussion. agency problems and concerns are often centralized into the trade-off framework to broadly interpret.modigliani and miller (1958) proposed the leverage of firm does not affect its values. they mentioned that under a perfect capital market, the total value of a firm is equal to the market value of the total cash flows which generated by its assets and is not affected by its choice of capital structure. later, in their 1963 “correction”, modigliani and miller suggested the cost of capital of levered equity is equal to the cost of capital of unlevered equity plus a premium that is proportional to the market value debt-equity ratio. considering with corporate taxation, the optimal financing strategy seems to employ the maximum possible leverage. it maximizes the amount of income belong to private investors, debt and equity holders, while minimizes the government’s claim on profits by taxes.the classical ideas of trade-off theory should trace back to kraus and litzenberger (1973) who regarded a balance between the tax saving benefits of debt and the dead-weight costs of bankruptcy. as discussed in myers (1984), the statistic trade-off theory suggested that the actual debt ratio tends to a target or optimum, and it prophesies a cross-sectional relationship among itself and asset risk, size, profitability, tax status and asset types. in terms of empirical research, size and tangibility as influencing factors of capital structure derived from trade-off theory; and myers (1977) also introduced market-to-book ratio as another factor base on the theory.similar to other theories, there are also different arguments of the costs of debt. due to product and factor market interactions, in some firms, raising efficiency requires the stakeholders of the firm should make significant firm-specific investments. however, capital structures make these firm-specific investments insecurity that may decrease such kind of investment. moreover, capital structure is thought to either enhance or block productive interactions among all of stakeholders. maksimovic and titman (1991)argued that financial leverage may motivate firms producing high quality products. jaggia and thakor (1994) pointed that the importance of managerial investments in human capital. while the pecking order theory has long roots in capital structure, it was developed by stewart c. myers and nicolas majluf (1984). it stated that the pecking order arises if the costs of issuing new securities exceed other costs and benefits of dividends and debt. the financing costs that produce pecking order behavior include the transaction costs associated with new issues and the costs that arise because of management’s superior information about the firm’s prospects and the value of its risky securities (fama and french, 1999). comparing three types of funds to firms, equity has serious adverse selection, debt has only minor adverse selection, and retained earnings avoid the problem. for insider of a firm, retained earnings are better sources of fund than outside financing. for outside investor, equity is strictly riskier than debt. hence, the rational investors will revalue firm’s securities when it announces a security issue.agency theory is found by coase (1937) and fama and jensen (1983), who have identified the principal-agent frameworkwhere one party, a principal, delegates work to another party, the agent. berle and means (1932) firstly linked it to governance structures: the conflict between managers (agents) and the shareholders (principals) may create by sets of contract between executive team and board of directors. on capital structure perspective, the debt as a governance device is used to reduce the conflict (jensen, 1986). the increasing debt drops the agency costs of free cash flow by reducing the amount available to managers who are contractually bound to repay the interest payments. in case of default, debt holders may take the firm to bankruptcy court and get a claim over its assets. managers would lose their decision rights and possibly their employment in the firm. this threat prevents managers from undertaking wasteful actions and they aim to utilize assets efficiently, increasing firm value.as another corporate finance theories, market timing theory describes that how firms in the economy decide whether to finance their investment with equity or with debt instruments. it is meant to be contrasted with the pecking order theory and the trade-off theory. according to market timing behavior,firms tend to issue equity following a stock price run-up. in addition, lucas and mcdonald (1990) create a dynamic adverse selection model to combines elements of the pecking order with the market timing idea. this model is used to explain pre-issue run-ups but not post-issue underperformance. baker and wurgler (2002) argue that capital structure is best understood as the cumulative effect of past attempts to time the market. the basic viewpoint is that managers regard current conditions in both debt and equity markets. if they need financing, they use whichever market currently looks more favorable. if there is no market looks favorable, they may consider deferring issuances. inversely, if current conditions look unusually favorable, funds may be raised even if the firm has no need for funds immediately.b.developing of dynamic capital structure model obviously, the dynamic capital structure model is one of acceptable method in empirical studies. however, this method is deficient in empirical research. the features of this model base on relaxing perfect market assumptions analysis which mentioned by modigliani and miller’s (1958), but emphasizing market imperfection. the significant and existed literatures of market imperfections include that kraus and litzenberger(1973), scott (1976), and kim (1978) who mentioned that corporate tax may affect the optimal capital structure in imperfect market; jalilvand and harris (1984) and myers (1984) as well as supported that adjustment costs and constraints may prevent firms from completely adjusting their target capital structures and immediately offsetting the effects of events which take them away from their target ratios. fischer, heinkel and zechner (1989a) and leland (1998) proposed that target debt ratio is determined by the various trade-off between the costs and benefits of debt financing, which change over time and depend on the firm’s investment history and its product price. thus, time-series changes in observed debt ratios are influenced by changes in the target debt ratio as well as by economic changes and corporate actions that guide firms moving either away or towards their targets. an important insight from examining optimal dynamic capital structure choice is to refine the meaning of an optimal leverage ratio. fisher et al. (1989) mentioned that firms will allow their financial structure to change over time due to costs of recapitalizing. any ratio lying within a set of boundaries is optimal, so similar firms could have different leverage ratios at any point in time.the dynamic capital structure model in the paper follows ozkan (2000) who suggested that is a much stronger estimation technique for examining the capital structure with a dynamic target view. he mentioned two important features of corporate borrowing behaviour. first, firms have a long-run optimal target debt ratio which is assumed to be a function of several firm-specific characteristics which vary over time, over firms, or over both time and firms. second, an adjustment process takes place, which involves a lag in adjusting to changes in the optimal target debt ratio. our model in this paper is based on ozkan (2000) model, and focus on the optimal target financing ratio in short-term period.c.predictions and hypothesisthis section provides a brief review of the prominent predictions about which observable firm-specific characteristics connect to financial leverage; and how they influence financial decisions in firms.1.leverage and profitabilityaccording to pecking order model, myers and majluf (1984) indicated that financing decisions of firms follow a hierarchy. the observed capital structure of firms react thecumulative requirement for external financing; therefore, firms prefer retained earnings as their first source of financing investment, then the debt financing, and last the new equity issuing. profitable firms face lower expected costs of financial distress and more valuable interest tax shields. thus, from the tax and bankruptcy costs perspective, profitable firms will employ more debt. from the agency costs perspective, the discipline produced by debt is more worthy for profitable firms as the firms which have serious free cash flow problems (jensen, 1986). base on this view, profitability guide firms to use retained earnings over external finance. in dynamic capital structure model, due to various frictions, leverage can be predicted to be negatively related to profitability. in addition, kayhan and titman (2007) proved that leverage and profitability are negatively related because firms passively accumulate profits. hence, the obtained evidences in recent studies (ozkan, 2001; and kayhan and titman, 2007) suggest as following:h1: firms with low levels of profitability will have more debts or high level of financial leverage.2.leverage and tangibilitytangible assets, such as property, plant, and equipment,might be estimated higher value than intangible assets in liquidation for outsider, such as there is always lowers expected distress costs for the value of goodwill in an acquisition (alderson and betker, 1995; and shleifer and vishny, 1992). and, the assets have alternative uses and are good collaterals for debt finance since it can be took away and redeployed by creditors when the firm defaults (williamson, 1988). thus, tangible assets can easily be used as collateral when firms raise debt (titman and wessels, 1988; and harris and raviv, 1991). firms with proportionately more tangible assets also find it difficult to shift to riskier projects when specific assets secure their debt (johnson, 1997; detragiache, 1994). all these arguments suggest a positive relation between tangibility and financial leverage. base on mentioned above, the prior studies (titman and wessels, 1988; and harris and raviv, 1991; alderson and betker, 1995; and shleifer and vishny, 1992) suggest that:h2: firms with high levels of tangibility will have more debts.3.leverage and sizesize as measured by assets, sales, or firm age, is an inverse proxy for volatility and for the costs of bankruptcy.generally, the larger and more diversified firms may be considered using more debt, and face lower default risk. in addition, older firms which possess better reputations in debt markets generally face the lower debt-related agency costs. the trade-off theory forecasts that larger and more mature firms have correspondingly higher level of debts. moreover, the pecking order theory is used to interpret an inverse relation between leverage and firm size, or leverage and firm age.from literature review of empirical works, we find that the impact of a firm’s size on its leverage decision is not clear. conflicting results on the relationship between size and leverage appeared in previous studies. following homaifar et al. (1994), titman and wessels (1988), and ozkan (1996), the paper supports that:h3: firms which possess large size will have more debts.4.leverage and growth opportunitiesmyers (1977) suggested that amount of debt issued by a firm is lower when its investment opportunities consists of growth options which would increase the firm’s value when undertaken. and, titman and wessels (1988) also pointed thatfirms in growing industries face higher agency costs since they have more flexibility in taking future investments. moreover, growth opportunities cannot be collateralized and do not generate current income. they are intangible in nature and more valuable when the firm is alive. their value will fall precipitously and suddenly if the firm faces bankruptcy. all of these suggest that facing the greater growth opportunities, expected bankruptcy costs of firms will be higher (myers, 1984; williamson, 1988; and harris and raviv, 1990). larger expected bankruptcy costs would, in turn, imply lower financial leverage.the market-to-book asset ratio is most commonly used for growth opportunities. adam and goyal (2008) show that it is also the most reliable. a higher market-to-book ratio, however, may also be influenced by stock mispricing. if market timing drives capital structure decisions, a highermarket-to-book ratio should reduce leverage as firms exploit equity mispricing through equity issuances. from thetrade-off theory perspective, growth opportunities reduce free cash flow problems, increase costs of financial distress, and exacerbate debt-related agency problems. in other words, growing firms place a greater value on stakeholderco-investment. thus, the trade-off theory predicts that growth reduces leverage. thus, the fourth hypothesis in this paper should be defined that:h4: firms owned high level of growth opportunities may reduce their debts.iii.data and methodologya.data collectionto test the hypotheses mentioned above, i design to use the sample which consists of u.s. firms with no missing values for the variables under investigation for the period from 2006 to 2007. the primary data in this paper are companies’annual balance sheets and income statements which collected from thomson one banker, which is one complete source for integrated information and technology applications in the global financial services industry. the initial sample in the paper selects from the population that covers all the publicly traded companies in nyse. the conditions of sample are claimed that: useful data of every firm should be available in thomson one banker; the industries of total firms will be classified by four-digit sic code; all of data should base on us$. for all firms, complete data for a particular year is available, in which case no missing observations is recorded. for thepurpose of the ‘lagged’ analysis, firms would be not selected until have complete data for the two relevant years. and, ozkan (2001) suggested that the panel aspects of the data with incorporating dynamic effects provides a more integrated perspective to observe the financial decisions of firms, as controlling for unobservable firm-specific effects and firm-invariant time-specific effects. to sum up, the panel data in this paper has been constructed as follow:。
分数阶多机器人的领航-跟随型环形编队控制
第38卷第1期2021年1月控制理论与应用Control Theory&ApplicationsV ol.38No.1Jan.2021分数阶多机器人的领航–跟随型环形编队控制伍锡如†,邢梦媛(桂林电子科技大学电子工程与自动化学院,广西桂林541004)摘要:针对多机器人系统的环形编队控制复杂问题,提出一种基于分数阶多机器人的环形编队控制方法,应用领航–跟随编队方法来控制多机器人系统的环形编队和目标包围,通过设计状态估测器,实现对多机器人的状态估计.由领航者获取系统中目标状态的信息,跟随者监测到领航者的状态信息并完成包围环绕编队控制,使多机器人系统形成对动态目标的目标跟踪.根据李雅普诺夫稳定性理论和米塔格定理,得到多机器人系统环形编队控制的充分条件,实现对多机器人系统对目标物的包围控制,通过对一组多机器人队列的目标包围仿真,验证了该方法的有效性.关键词:分数阶;多机器人;编队控制;环形编队;目标跟踪引用格式:伍锡如,邢梦媛.分数阶多机器人的领航–跟随型环形编队控制.控制理论与应用,2021,38(1):103–109DOI:10.7641/CTA.2020.90969Annular formation control of the leader-follower multi-robotbased on fractional orderWU Xi-ru†,XING Meng-yuan(School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin Guangxi541004,China) Abstract:Aiming at the complex problem of annular formation control for fractional order multi robot system,an an-nular formation control method based on fractional order multi robot is proposed.The leader follower formation method is used to control the annular formation and target envelopment of the multi robot systems.The state estimation of multi robot is realized by designing state estimator.The leader obtains the information of the target state in the system,the followers detects the status of the leader and complete annular formation control,the multi-robot system forms the target tracking of the dynamic target.According to Lyapunov stability theory and Mittag Leffler’s theorem,the sufficient conditions of the annular formation control for the multi robot systems are obtained in order to achieve annular formation control of the leader follower multi robot.The effectiveness of the proposed method is verified by simulation by simulation of a group of multi robot experiments.Key words:fractional order;multi-robots;formation control;annular formation;target trackingCitation:WU Xiru,XING Mengyuan.Annular formation control of the leader-follower multi-robot based on fractional order.Control Theory&Applications,2021,38(1):103–1091引言近年来,随着机器人技术的崛起和发展,各式各样的机器人技术成为了各个领域不可或缺的一部分,推动着社会的发展和进步.与此同时,机器人面临的任务也更加复杂,单个机器人已经无法独立完成应尽的责任,这就使得多机器人之间相互协作、共同完成同一个给定任务成为当前社会的研究热点.多机器人系统控制的研究主要集中在一致性问题[1]、多机器人编队控制问题[2–3]、蜂拥问题[4–5]等.其中,编队控制问题作为多机器人系统的主要研究方向之一,是国内外研究学者关注的热点问题.编队控制在生活生产、餐饮服务尤其是军事作战等领域都发挥着极大的作用.例如水下航行器在水中的自主航行和编队控制、军事作战机对空中飞行器的打击以及无人机在各行业的应用等都是多机器人编队控制上的用途[6–7].目前,多机器人编队控制方法主要有3种,其中在多机器收稿日期:2019−11−25;录用日期:2020−08−10.†通信作者.E-mail:****************;Tel.:+86132****1790.本文责任编委:黄攀峰.国家自然科学基金项目(61603107,61863007),桂林电子科技大学研究生教育创新计划项目(C99YJM00BX13)资助.Supported by the National Natural Science Foundation of China(61603107,61863007)and the Innovation Project of GUET Graduate Education (C99YJM00BX13).104控制理论与应用第38卷人系统编队控制问题上应用最广泛的是领航–跟随法[8–10];除此之外,还有基于行为法和虚拟结构法[11].基于行为的多机器人编队方法在描述系统整体时不够准确高效,且不能保证系统控制的稳定性;而虚拟结构法则存在系统灵活性不足的缺陷.领航–跟随型编队控制法具有数学分析简单、易保持队形、通信压力小等优点,被广泛应用于多机器人系统编队[12].例如,2017年,Hu等人采用分布式事件触发策略,提出一种新的自触发算法,实现了线性多机器人系统的一致性[13];Zuo等人利用李雅普诺夫函数,构造具有可变结构的全局非线性一致控制律,研究多机器人系统的鲁棒有限时间一致问题[14].考虑到分数微积分的存储特性,开发分数阶一致性控制的潜在应用具有重要意义.时中等人于2016年设计了空间遥操作分数阶PID 控制系统,提高了机器人系统的跟踪性能、抗干扰性、鲁棒性和抗时延抖动性能[15].2019年,Z Yang等人探讨了分数阶多机器人系统的领航跟随一致性问题[16].而在多机器人的环形编队控制中,对具有分数阶动力学特性的多机器人系统的研究极其有限,大部分集中在整数阶的阶段.而采用分数阶对多机器人系统目标包围编队控制进行研究,综合考虑了非局部分布式的影响,更好地描述具有遗传性质的动力学模型.使得系统的模型能更准确的反映系统的性态,对多机器人编队控制的研究非常有利.目标包围控制问题是编队控制的一个分支,是多智能体编队问题的重点研究领域.随着信息技术的高速发展,很多专家学者对多机器人系统的目标包围控制问题进行了研究探讨.例如,Kim和Sugie于2017年基于一种循环追踪策略设计分布式反馈控制律,保证了多机器人系统围绕一个目标机器人运动[17].在此基础上,Lan和Yan进行了拓展,研究了智能体包围多个目标智能体的问题,并把这个问题分为两个步骤[18]. Kowdiki K H和Barai K等人则研究了单个移动机器人对任意时变曲线的跟踪包围问题[19].Asif M考虑了机器人与目标之间的避障问题,提出了两种包围追踪控制算法;并实现了移动机器人对目标机器人的包围追踪[20].鉴于以上原因,本文采用了领航–跟随型编队控制方法来控制多机器人系统的环形编队和目标包围,通过设计状态估测器,实现对多机器人的状态估计.系统中目标状态信息只能由领航者获取,确保整个多机器人系统编队按照预期的理想编队队形进行无碰撞运动,并最终到达目标位置,对目标、领航者和跟随者的位置分析如图1(a)所示,图1(b)为编队控制后的状态.通过应用李雅普诺夫稳定性理论,得到实现多机器人系统环形编队控制的充分条件.最后通过对一组多机器人队列进行目标包围仿真,验证了该方法的有效性.(a)编队控制前(b)编队控制后图1目标、领航者和追随者的位置分析Fig.1Location analysis of targets,pilots and followers2代数图论与分数阶基础假定一个含有N个智能体的系统,通讯网络拓扑图用G={v,ε}表示,定义ε=v×v为跟随者节点之间边的集合,v={v i,i=1,2,···,N}为跟随者节点的集合.若(v i,v j)∈ε,则v i与v j为相邻节点,定义N j(t)={i|(v i,v j)∈ε,v i∈v}为相邻节点j的标签的集合.那么称第j个节点是第i 个节点的邻居节点,用N j(t)={i|(v i,v j)∈ε,v i∈v}表示第i个节点的邻居节点集合.矩阵L=D−A称为与图G对应的拉普拉斯矩阵.其中:∆是对角矩阵,对角线元素i=∑jN i a ij.若a ij=a ji,i,j∈I,则称G是无向图,否则称为有向图.如果节点v i与v j之间一组有向边(v i,v k1)(v k1,v k2)(v k2,v k3)···(v kl,v j),则称从节点v i到v j存在有向路径.定义1Riemann-Liouville(RL)分数阶微分定义:RLD atf(t)=1Γ(n−a)d nd t ntt0f(τ)(t−τ)a−n+1dτ,(1)其中:t>t0,n−1<α<n,n∈Z+,Γ(·)为伽马函数.定义2Caputo(C)分数阶微分定义:CDαtf(t)=1Γ(n−α)tt0f n(τ)(t−τ)α−n+1dτ,(2)其中:t>t0,n−1<α<n,n∈Z+,Γ(·)为伽马第1期伍锡如等:分数阶多机器人的领航–跟随型环形编队控制105函数.定义3定义具有两个参数α,β的Mittag-Leffler方程为E α,β(z )=∞∑k =1z kΓ(αk +β),(3)其中:α>0,β>0.当β=1时,其单参数形式可表示为E α,1(z )=E α(z )=∞∑k =1z kΓ(αk +1).(4)引理1[21]假定存在连续可导函数x (t )∈R n ,则12C t 0D αt x T (t )x (t )=x T (t )C t 0D αt x (t ),(5)引理2[21]假定x =0是系统C t 0D αt x (t )=f (x )的平衡点,且D ⊂R n 是一个包含原点的域,R 是一个连续可微函数,x 满足以下条件:{a 1∥x ∥a V (t ) a 2∥x ∥ab ,C t 0D αt V (t ) −a 3∥x ∥ab,(6)其中:t 0,x ∈R ,α∈(0,1),a 1,a 2,a 3,a,b 为任意正常数,那么x =0就是Mittag-Leffler 稳定.3系统环形编队控制考虑包含1个领航者和N 个跟随者的分数阶非线性多机器人系统.领航者的动力学方程为C t 0D αt x 0(t )=u 0(t ),(7)式中:0<α<1,x 0(t )∈R 2是领航者的位置状态,u 0(t )∈R 2是领航者的控制输入.跟随者的动力学模型如下:C t 0D αt x i (t )=u i (t ),i ∈I,(8)式中:0<α<1,x i (t )∈R 2是跟随者的位置状态,u i (t )∈R 2是跟随者i 在t 时刻的控制输入,I ={1,2,···,N }.3.1领航者控制器的设计对于领航者,选择如下控制器:u 0(t )=−k 1(x 0(t )−˜x 0(t ))−k 2sgn(x 0(t )−˜x 0(t )),(9)C t 0D αt x 0(t )=u 0(t )=−k 1(x 0(t )−˜x 0(t ))−k 2sgn(x 0(t )−˜x 0(t )).(10)设计一个李雅普诺夫函数:V (t )=12(x 0(t )−˜x 0(t ))T (x 0(t )−˜x 0(t )).(11)根据引理1,得到该李雅普诺夫函数的α阶导数如下:C 0D αt V(t )=12C 0D αt (x 0(t )−˜x 0(t ))T (x 0(t )−˜x 0(t )) (x 0(t )−˜x 0(t ))TC 0D αt (x 0(t )−˜x0(t ))=(x 0(t )−˜x 0(t ))T [C 0D αt x 0(t )−C 0D αt ˜x0(t )]=(x 0(t )−˜x 0(t ))T [−k 1(x 0(t )−˜x 0(t ))−k 2sgn(x 0(t )−˜x 0(t ))−C 0D αt ˜x0(t )]=−k 1(x 0(t )−˜x 0(t ))T (x 0(t )−˜x 0(t ))−k 2∥x 0(t )−˜x 0(t )∥−(x 0(t )−˜x 0(t ))TC 0D αt ˜x0(t )=−2k 1V (t )−k 2∥x 0(t )−˜x 0(t )∥+∥C 0D αt ˜x0(t )∥∥x 0(t )−˜x 0(t )∥=−2k 1V (t )−(k 2−∥C 0D ∝t ˜x0(t )∥)∥x 0(t )−˜x 0(t )∥ −2k 1V (t ).(12)令a 1=a 2=12,a 3=2k 1,ab =2,a >0,b >0,得到a 1∥x 0(t )−˜x 0(t )∥a V (t ) a 2∥x 0(t )−˜x 0(t )∥ab ,(13)C t 0D αt V(t ) −a 3∥x 0(t )−˜x 0(t )∥ab .(14)根据引理2,可知lim t →∞∥x 0(t )−˜x 0(t )∥=0,即x 0(t )逐渐趋近于˜x 0(t ).为了使跟随者能够跟踪观测到领航者的状态,设计了一个状态估测器.令ˆx i ∈R 2是追随者对领航者的状态估计,给出了ˆx i 的动力学方程C 0D αt ˆx i=β(∑j ∈N ia ij g ij (t )+d i g i 0(t )),(15)其中g ij =˜x j (t )−˜x i (t )∥˜x j (t )−˜x i (t )∥,˜x j (t )−˜x i (t )=0,0,˜x j (t )−˜x i (t )=0.(16)对跟随者取以下李雅普诺夫函数:V (t )=12N ∑i =1(ˆx i (t )−x 0(t ))T (ˆx i (t )−x 0(t )).(17)计算该函数的α阶导数如下:C 0D αt V(t )=12C 0D αtN ∑i =1(ˆx i (t )−x 0(t ))T (ˆx i (t )−x 0(t )) N ∑i =1(ˆx i (t )−x 0(t ))TC 0D αt (ˆx i (t )−x 0(t ))=N ∑i =1(ˆx i (t )−x 0(t ))T [C 0D αt ˆxi (t )−C 0D αt x 0(t )]=N ∑i =1(ˆx i (t )−x 0(t ))T [β(∑j ∈N ia ijˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥+d iˆx 0(t )−ˆx i (t )∥ˆx 0(t )−ˆx i (t )∥)−C 0D αt x 0(t )]=N ∑i =1(ˆx i (t )−x 0(t ))T β(∑j ∈N i a ij ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i(t )∥+106控制理论与应用第38卷d iˆx 0(t )−ˆx i (t )∥ˆx 0(t )−ˆx i (t )∥)−N ∑i =1(ˆx i (t )−x 0(t ))TC 0D αt x 0(t )=βN ∑i =1(ˆx i (t )−x 0(t ))T ∑j ∈N i a ij ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥+βN ∑i =1(ˆx i (t )−x 0(t ))Td i ˆx 0(t )−ˆx i (t )∥ˆx 0(t )−ˆx i(t )∥−N ∑i =1(ˆx i (t )−x 0(t ))TC 0D αt x 0(t ).(18)在上式中,令C 0D αt V (t )=N 1+N 2以方便后续计算,其中:N 1=βN ∑i =1(ˆx i (t )−x 0(t ))T ∑j ∈N i a ij ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥+βN ∑i =1(ˆx i (t )−x 0(t ))Td i ˆx 0(t )−ˆx i (t )∥ˆx 0(t )−ˆx i (t )∥=β2[N ∑i =1N ∑j =1a ij (ˆx i (t )−x 0(t ))T ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥+N ∑j =1N ∑i =1a ij (ˆx j (t )−x 0(t ))Tˆx i (t )−ˆx j (t )∥ˆx i (t )−ˆx j (t )∥]−βN ∑i =1d i∥ˆx 0(t )−ˆx i (t )∥2∥ˆx 0(t )−ˆx i (t )∥=β2N ∑i =1N ∑j =1a ij [(ˆx i (t )−x 0(t ))Tˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥−(ˆx j (t )−x 0(t ))T ˆx i (t )−ˆx j (t )∥ˆx i (t )−ˆx j (t )∥]−βN ∑i =1d i∥ˆx 0(t )−ˆx i (t )∥2∥ˆx 0(t )−ˆx i (t )∥=β2N ∑i =1N ∑j =1a ij [ˆx T i(t )ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥−x T 0(t )ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥−ˆx T j(t )ˆx i (t )−ˆx j (t )∥ˆx i (t )−ˆx j (t )∥+x T0(t )ˆx i (t )−ˆx j (t )∥ˆx i (t )−ˆx j (t )∥]−βN ∑i =1d i ∥ˆx 0(t )−ˆx i (t )∥=β2N ∑i =1N ∑j =1a ij [ˆx T i (t )ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥−ˆx T j (t )ˆx i (t )−ˆx j (t )∥ˆx i (t )−ˆx j (t )∥]−βN ∑i =1d i ∥ˆx 0(t )−ˆx i (t )∥2∥ˆx 0(t )−ˆx i (t )∥=β2N ∑i =1N ∑j =1a ij (ˆx T i(t )−ˆx Tj (t ))ˆx j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥−βN ∑i =1d i ∥ˆx 0(t )−ˆx i (t )∥2∥ˆx 0(t )−ˆx i (t )∥=−β(12N ∑i =1N ∑j =1a ij (ˆx T j (t )−ˆx T i (t ))׈x j (t )−ˆx i (t )∥ˆx j (t )−ˆx i (t )∥+N ∑i =1d i ∥ˆx 0(t )−ˆx i (t )∥2∥ˆx 0(t )−ˆx i (t )∥),(19)N 2=−N ∑i =1(ˆx i (t )−x 0(t ))TC 0D αt x 0(t )=N ∑i =1∥ˆx i (t )−x 0(t )∥∥C 0D αt x 0(t )∥×cos {ˆx i (t )−x 0(t ),−C 0D αt x 0(t )}.(20)由于∥C 0D αt x 0(t )∥k 1∥x 0(t )−˜x 0(t )∥+k 2∥sgn(x 0(t )−˜x 0(t ))∥ k 1∥x 0(t )−˜x 0(t )∥+k 2.(21)根据定义3,当lim t →∞∥x 0(t )−˜x 0(t )∥=0时,存在T >0(T 为实数),使得在t >T 时∥x 0(t )−˜x 0(t )∥ ε成立,那么对于t >T ,有0<∥C 0D αt x 0(t )∥ k 1ε+k 2=M 2,可得−N ∑i =1(ˆx i (t )−x 0(t ))TC 0D αt x 0(t )N ∑i =1∥ˆx i (t )−x 0(t )∥M 2M 2N max {∥ˆx i (t )−x 0(t )∥},(22)C 0D αt V(t ) −(β−M 2N )max i ∈I{∥ˆx i (t )−x 0(t )∥}−2β1λmin V (t ).(23)根据引理2,得lim t →∞∥ˆx i (t )−x 0(t )∥=0.(24)由上式可知,ˆx i (t )在对目标的追踪过程中逐渐趋近于x 0(t ).3.2跟随者控制器的设计在本文中,整个多机器人系统中领导者能够直接获得目标的位置信息,将这些信息传递给追随者,因此需要为每个追随者设计观测器来估计目标的状态.令ϕi (t )∈R 2由跟随者对目标i 的状态估计,给出ϕi (t )的动力学方程C 0D αt ϕi(t )=α(∑j ∈N ia ij f ij (t )+d i f i 0(t )),(25)其中f ij =ϕj (t )−ϕi (t )∥ϕj (t )−ϕi (t )∥,ϕj (t )−ϕi (t )=0,0,ϕj (t )−ϕi (t )=0.(26)取如下李雅普诺夫函数:V (t )=12N ∑i =1(ϕi (t )−r (t ))T (ϕi (t )−r (t )).(27)计算α阶导数如下:C 0D αt V(t )=第1期伍锡如等:分数阶多机器人的领航–跟随型环形编队控制10712N ∑i =1(ϕi (t )−r (t ))T (ϕi (t )−r (t )) N ∑i =1(ϕi (t )−r (t ))TC 0D αt (ϕi (t )−r (t ))=N ∑i =1(ϕi (t )−r (t ))T [C 0D αt ϕi (t )−C 0D αt r (t )]=N ∑i =1(φi (t )−r (t ))T [α(∑j ∈N ia ij f ij (t )+d i f i 0(t ))]−C 0D αt r (t )=N ∑i =1(ϕi (t )−r (t ))T α(∑j ∈N ia ij ϕj (t )−ϕi (t )∥ϕj (t )−ϕi (t )∥+d i ϕ(t )−ϕi (t )∥ϕ(t )−ϕi (t )∥)=βN ∑i =1(ϕi (t )−r (t ))T ∑j ∈N i a ijϕj (t )−ϕi (t )∥ϕj (t )−ϕi(t )∥+βN ∑i =1(ϕi (t )−r (t ))T d i ϕ(t )−ϕi (t )∥ϕ(t )−ϕi(t )∥−N ∑i =1(ϕi (t )−r (t ))TC 0D αt r (t ),(28)可得lim t →∞∥x i (t )−˜x i (t )∥=0.(29)由上式可知,x i (t )在对目标的追踪过程中逐渐趋近于˜x i (t ).4仿真结果与分析本节通过仿真结果来验证本文所提出的方法.图2为通信图,其中:V ={1,2,3,4}表示跟随者集合,0代表领导者.以5个机器人组成的队列为例进行验证,根据领航者对目标的跟随轨迹,分别进行了仿真.图2通信图Fig.2Communication diagrams假设系统中目标机器人的动态为C 0D αt r (t )=[cos t sin t ]T ,令初始值r 1(0)=r 2(0)=1,α=0.98,k 1=1,k 2=4,可知定理3中的条件是满足的.根据式(24)和式(29),随着时间趋于无穷,领航者及其跟随者的状态估计误差趋于0,这意味着领航者的状态可以由跟随者渐近精确地计算出来.令k 2>M 1,M 1=M +M ′>0,则lim t →∞∥x 0(t )−˜x 0(t )∥=0,x 0渐近收敛于领航者的真实状态.此时取时滞参数µ=0.05,实验结果见图3,由1个领航者及4个跟随者组成的多机器人系统在进行目标围堵时,最终形成了以目标机器人为中心的包围控制(见图3(b)).(a)领航者和跟随者的初始位置分析(b)编队形成后多机器人的位置关系图3目标、领航者和追随者的位置分析Fig.3Location analysis of target pilots and followers综合图4–5曲线,跟随者对领航者进行渐进跟踪,领航者同目标机器人的相对位置不变,表明该领航跟随型多机器人系统最终能与目标机器人保持期望的距离,并且不再变化.图4领航者及其跟随者的状态估计误差Fig.4The state estimation error of the leader and followers108控制理论与应用第38卷图5编队形成时领航者与目标的相对位置关系Fig.5The relative position relationship between leader andtarget仿真结果表明,多个机器人在对目标物进行包围编队时,领航者会逐渐形成以目标物运动轨迹为参照的运动路线,而跟随者则渐近的完成对领航者的跟踪(如图6所示),跟随者在对领航者进行跟踪时,会出现一定频率的抖振,但这些并不会影响该多机器人系统的目标包围编队控制.5总结本文提出了多机器人的领航–跟随型编队控制方法,选定了一台机器人作为领航者负责整个编队的路径规划任务,其余机器人作为跟随者.跟随机器人负责实时跟踪领航者,并尽可能与领航机器人之间保持队形所需的距离和角度,确保整个多机器人系统编队按照预期的理想编队队形进行无碰撞运动,并最终到达目标位置.通过建立李雅普诺夫函数和米塔格稳定性理论,得到了实现多机器人系统环形编队的充分条件,并通过对一组多机器人队列的目标包围仿真,验证了该方法的有效性.图6领航者与跟随者对目标的状态估计Fig.6State estimation of target by pilot and follower参考文献:[1]JIANG Yutao,LIU Zhongxin,CHEN Zengqiang.Distributed finite-time consensus algorithm for 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考虑局部均值和类全局信息的快速近邻原型选择算法
第40卷第6期自动化学报Vol.40,No.6 2014年6月ACTA AUTOMATICA SINICA June,2014考虑局部均值和类全局信息的快速近邻原型选择算法李娟1,2王宇平1摘要压缩近邻法是一种简单的非参数原型选择算法,其原型选取易受样本读取序列、异常样本等干扰.为克服上述问题,提出了一个基于局部均值与类全局信息的近邻原型选择方法.该方法既在原型选取过程中,充分利用了待学习样本在原型集中k个同异类近邻局部均值和类全局信息的知识,又设定原型集更新策略实现对原型集的动态更新.该方法不仅能较好克服读取序列、异常样本对原型选取的影响,降低了原型集规模,而且在保持高分类精度的同时,实现了对数据集的高压缩效应.图像识别及UCI(University of California Irvine)基准数据集实验结果表明,所提出算法集具有较比较算法更有效的分类性能.关键词数据分类,原型选择,局部均值,类全局信息,自适应学习引用格式李娟,王宇平.考虑局部均值和类全局信息的快速近邻原型选择算法.自动化学报,2014,40(6):1116−1125DOI10.3724/SP.J.1004.2014.01116A Fast Neighbor Prototype Selection Algorithm Based on Local Mean andClass Global InformationLI Juan1,2WANG Yu-Ping1Abstract The condensed nearest neighbor(CNN)algorithm is a simple non-parametric prototype selection method, but its prototype selection process is susceptible to pattern read sequence,abnormal patterns and so on.To deal with the above problems,a new prototype selection method based on local mean and class global information is proposed. Firstly,the proposed method makes full use of those local means of the k heterogeneous and homogeneous nearest neighbors to each be-learning pattern and the class global information.Secondly,an updating process is introduced to the proposed stly,updating strategies are adopted in order to realize dynamic update of the prototype set. The proposed method can not only better lessen the influence of the pattern selected sequence and abnormal patterns on prototype selection,but also reduce the scale of the prototype set.The proposed method can achieve a higher compression efficiency that can guarantee the higher classification accuracy synchronously for original data set.Two image recognition data sets and University of California Irvine(UCI)benchmark data sets are selected as experimental data sets.The experiments show that the proposed method based on the classification performance is more effective than the compared algorithms.Key words Data classification,prototype selection,local mean,global class information,adaptive learningCitation Li Juan,Wang Yu-Ping.A fast neighbor prototype selection algorithm based on local mean and class global information.Acta Automatica Sinica,2014,40(6):1116−1125在机器学习和数据挖掘任务中,作为一种简单成熟的分类算法KNN(k-nearest neighbors algorithm)[1]获得广泛的应用.作为数据挖掘领域的十大经典算法之一,KNN算法具有理论简单、易收稿日期2013-06-19录用日期2013-11-11Manuscript received June19,2013;accepted November11, 2013国家自然科学基金(61272119)资助Supported by National Natural Science Foundation of China (61272119)本文责任编委章毓晋Recommended by Associate Editor ZHANG Yu-Jin1.西安电子科技大学计算机学院西安7100712.陕西师范大学远程教育学院西安7100621.School of Computer Science and Technology,Xidian Univer-sity,Xi an7100712.School of Distance Education,Shaanxi Normal University,Xi an710062于实现、无需预先训练分类器、可适用各种数据分布环境等优势,然而尤其处理大规模数据集时,由于其简单的处理策略而导致产生难以接受的时间和空间消耗.故在分类算法中,如何对大规模数据集去除冗余节点,保留高效分类贡献的代表点,进而降低数据规模、提高分类速度,成为了研究热点.为此,一种有效的处理策略即原型选择就是对原始数据集进行必要缩减,即在保证不降低甚至提高分类精度等性能的基础上,对原始训练集处理从中获取能够反映原始数据集分布及分类特性的代表样本集即原型集,进而降低数据规模和噪音的敏感度,提高分类算法执行效率.6期李娟等:考虑局部均值和类全局信息的快速近邻原型选择算法11171相关技术1.1原型选择算法原型选择算法的重要应用之一是作为某个分类算法的预处理步骤,可与各种分类算法相结合,降低分类算法的数据规模.本文选定原型选择算法与近邻算法相结合,通过分类精度比较所提出算法的执行效率.原型选择算法目标为在不降低分类性能的基础上,去除噪音等异常节点,降低训练集规模,进而提高算法执行效率.其常见模型[2]为:设T R(Training set)为训练集(包含一些无用信息,如噪音、冗余信息等),寻求选择子集T P(Training prototype set),T P⊂T R使得T P不包含多余原型,且Acc(T P)∼=Acc(T R)(Acc(X)表示X作为训练集所获得的分类精度).而在分类过程中,使用T P代替T R作为分类判断基准数据,从而降低了运算的数据规模.原型选择算法一经提出,就获得了长足的发展,产生了诸多的研究成果.其中剪辑近邻法(Edited nearest neighbor,ENN)[3]与压缩近邻法(Con-densed nearest neighbour,CNN)[4]是较早提出的样本选择算法.CNN算法的缺点是对原样本集样本的排列顺序敏感,而且压缩集中含有较多的冗余样本.围绕着CNN算法,产生了一系列改进算法:如FCNN(Fast condensed nearest neighbor)[5]侧重降低样本读取序列敏感性和尽可能获取类决策边界原型;GCNN(Generalized condensed nearest neighbor)[6]引入了同异类近邻,克服了CNN仅使用同类近邻的不足;MNV(Mutual neighborhood value)[7]使用互近邻值降低算法样本读取序列敏感性;RNN(Reduced nearest neighbor rule)[7]侧重于改进CNN算法原型集不能删除的缺陷等;基于聚类策略的类边界样本选择算法,如IKNN(Im-proved k-nearest neighbor classification)[8]和PSC (Prototype selection by clustering)[9]等.上述算法仍然具备算法对噪音的敏感性.通常压缩近邻法即剪辑法,通过去除噪声点和清理不同类别重叠区的样本点来达到代表点选择的目的.编辑法主要采取剔除原始样本集中的噪音等策略,是一种非增量算法,不适用于大规模数据集处理.为此,如何降低传统增量原型选择算法对样本读取序列、异常点敏感,成为增量原型选择算法的研究热点,同时也是本文研究的主要问题.1.2局部均值或类均值分类算法针对KNN算法的噪音敏感性及传统只关注近邻样本忽略其样本分布等弊端,很多研究者考虑了近邻局部均值或类均值信息与样本分布的关系,将近邻局部信息和类统计或均值信息纳入到近邻分类算法中.其中Mitani等[10]提出了一种基于局部均值的非参数分类方法,克服离群点对分类性能的影响,尤其在小样本情形下分类性能较好.Brown 等[11]使用了各自类近邻类样本距离加权信息进行分类,区别于文献[10]中样本集距离加权信息;Han 等[12]引入了类中心思想,充分利用训练样本的整体信息分类;在此基础上,Zeng等[13]提出了基于局部均值和类均值的分类算法,既利用未分类样本在每类里的近邻局部均值信息,又利用类均值的整体知识进行分类;而Brighton等[14]则定义了待学习样本的Reachable和Coverage概念,在此基础上同ENN算法相结合,提出了迭代样本过滤算法(The iterative casefiltering,ICF),Wang等[15]对其进行改进,提出了ISSARC(An iterative algorithm for sample selection based on the reachable and coverage)算法.设置不同的参数,基于均值的分类方法可退化传统最近邻方法.当选择待分类样本在每类训练样本集里的近邻数为1时,则该局部均值方法等价于最近邻分类;当选取近邻数等于对应类的训练样本数时,则等价于欧几里得距离分类[7].综上,在传统原型选择算法中,借鉴样本局部近邻均值和全局均值等信息,可进一步贴合原型集分布状态,降低了异常原型的干扰.本文在传统CNN 算法基础上,利用近邻局部均值和类全局信息,同时借鉴RNN样本删除思想,提出一种新的原型选择算法(An improved nearest neighbor prototype selection algorithm based on local-mean and class global information,LCNN),可在保障不降低甚至提高分类效率基础上,较好克服CNN及其改进算法对样本读取序列的依赖性,提升原型集的动态更新能力、降低算法的噪音敏感性.2考虑局部均值和类全局信息的近邻原型选择算法为便于描述,本文使用以下符号:记任意数据集D={x i=(x i1,x i2,···,x id)|i=1,2,···},类标记集C={c1,c2,···,c m},d为样本维度,m为类别数.记T R={(x i,y i)|x i∈D,y i∈C,i= 1,2,···,n}为训练集;T P⊂T R为训练所得原型集;T S(Testing set)与T R同构,为若干样本的测试集.1118自动化学报40卷设T P =∅,记任一待扫描学习样本x ∈T R ,任一原型p ∈T P ;s kx =S k (x )⊂T P 为x 同类别的k 个近邻原型;h kx =H k (x )⊂T P 为x 异类别的k 个近邻原型;d (x,y )为x 与y 间欧氏距离;label (x )表示样本x 的类别;D (x )= ki =1w i d (x,x i )(其中w i 为x 的第i 近邻原型的距离加权系数,x i 表示x 的第i 近邻原型)为x 的k 近邻加权距离和,即本文所定义的局部均值信息;Ind (p )表示原型p 在T P 中对应索引;P S 为四元组结构,用以表示p 及其同异类最近邻原型关系,其中P S (1)、P S (2)、P S (3)分别表示T P 中p 索引、p 同类最近邻索引和p 异类最近邻索引,P S (4)表示p 是否被删除的标识.2.1LCNN 算法策略在CNN 算法基础上产生了诸多的改进算法.但这些算法仅利用所筛选的k 近邻样本类别信息,未考虑到样本分布等数据集的局部或全局信息,易受近邻样本偏好影响;同时仍保留着CNN 算法的样本读取序列及噪音的敏感性;且较少涉足对原型集样本的动态增删操作,使噪音和孤立点等样本得以延续保存.为此,本文对CNN 算法进行必要改进,其处理策略如下:1)去除CNN 算法无指导的新类别原型获取策略,新增初始化操作,主要完成类全局信息的获取和所有类别初始原型的获取,以类全局信息调控噪音和孤立点能否成为原型;2)针对CNN 算法中仅使用最近邻样本而导致易受样本读取序列和噪音干扰的情况,扩充最近邻样本为k 同类近邻样本和k 异类近邻样本,使用同类近邻均值和异类近邻均值信息作为原型初步判断条件,可有效降低CNN 算法噪音敏感度;3)在预设的更新周期内,使用局部均值及类全局信息完成对孤立点原型、类中心区域原型等删除操作,进而对原型集信息进行针对性更新.图1显示了LCNN 算法运行框图,其中虚线框部分为本文研究的主要内容,即实现原型集选择功能;而分类算法构造分类器部分,本文选择了最近邻分类用以检验LCNN 所产生原型集的性能.令N 1,N 2,···,N m 表示T P 中对应于类别c 1,c 2,···,c m 的原型个数.设x 有k 个有效可取的同异类原型,s kx 为测试样本x 获取T P 中k 个近邻同类原型,那么x 同类局部均值为:D s =k i =1w i d (x,s i kx )(1)同理,h kx 为测试样本x 获取T P 中k 个近邻异类原型,x 的异类原型局部均值为:D h =k i =1w i d (x,h i kx )(2)对于T P 中属于类别c j (j =1,2,···,m )的原型表示为T P j ={p i j |i =1,2,···,N j },那么c j 类的全局均值原型为:G j =1N j N ji =1pij(3)对于类别c j 原型与类均值原型的平均距离为:D j =1N j N ji =1d (p i j ,G j )(4)综上,以类别为整体的均值原型及平均距离都属于c j 的全局信息,故定义了GD =<GD 1,GD 2,···,GD m >为T P 各类的全局信息结构,其中GD j (1)表示类均值原型向量,用来存储T P 各类别的动态中心,即存储G j ;GD j (2)表示类原型间平均距离,用来存储T P 各类别原型间的动态平均距离,即存储D j .本文中GD 被称为T P 类全局信息.图1LCNN 算法运行框图Fig.1Running diagram of LCNN algorithm2.2算法主要处理过程原型集初始化过程、原型学习过程和原型更新过程是LCNN 算法的核心内容.其中,初始化过程采取随机比例的样本读取获取类全局信息,根据类全局信息有指导性选取原型集初始化,降低CNN 算法原型无指导选取的随机性影响;学习过程在一定学习策略下,实现对原型集有效增添;更新过程,设置了不同的更新阀值,通过周期性删除T P 中不符合条件的原型,完成T P 集的动态更新,进而去除类中心原型、孤立点及噪音,较好克服传统CNN 算法只增加、不删除原型的弊端.6期李娟等:考虑局部均值和类全局信息的快速近邻原型选择算法11192.2.1原型集初始化过程原型集初始化过程包含两个功能:1)通过随机提取各类训练样本,获取类样本的平均距离、类均值中心节点的全局信息,作为原型集初始原型选择依据;2)在类全局信息指导下,为每类样本随机选取f (本文一般设置f=2,当不平衡数据集时,f=1)个初始原型加入T P,降低了CNN算法新类别原型选取的随机性;同时获取并填充T P中各原型的同异类近邻节点,更新类均值中心节点.LCNN的原型集初始化过程描述如下:输入.训练样本集T R.输出.GD、P S.步骤1.初始化GD=∅,P S=∅.步骤2.随机从T R中读取一定比例的训练样本,完成GD信息的填充.步骤3.i=1.步骤4.j=1.步骤5.从第i类样本中读取任一样本x,若其满足GD(i,2)<d(x,GD(i,1))<3×GD(i,2),加入到原型集,j=j+1.步骤6.若j<f,转到步骤5.步骤7.i=i+1,若i<m,转到步骤4.步骤8.逐类别逐原型完成对GD和P S的数据填充.步骤9.输出GD、P S.2.2.2原型学习过程LCNN算法是个增量学习算法,整个算法单遍扫描训练样本集,从读取第一个未被扫描样本开始,直至所有待学习样本学习完毕,获取最终原型集.当一个样本的同类近邻局部均值大于样本的异类近邻局部均值时,该样本被选作原型加入到原型集;同时,判断样本与其类中心点距离是否大于最近邻与类中心点距离,如大于则将其选作原型加入到原型集.LCNN的原型学习过程描述如下:输入.GD、P S、λ及T R.输出.T P.步骤1.如T R不存在未被扫描样本,则输出T P,结束算法.步骤2.任取一未被扫描样本x.步骤3.根据x的类别信息c,获取x的s kx、h kx、GD(c,:).步骤4.若d(x,GD(c,1))<GD(c,2),转到步骤8.步骤5.使用式(1)和式(2)分别计算x的同异类近邻局部均值D s和D h.步骤6.若D s>D h,x被选作原型加入T P,同步设置P S(x,:)数据,转到步骤8.步骤7.若d(x,GD(c,1))>d(s1kx,GD(c,1)), x被选作原型加入T P,同步设置P S(x,:)数据.步骤8.若已学习样本数是λ的整数倍,则调用更新过程.步骤9.否则,转到步骤1.LCNN算法突破了CNN算法仅使用最近邻判别原型的简单方式,考虑到原型样本分布等因素,引入训练样本x的同异类局部均值,通过局部均值信息、类均值中心间关系作为判断原型的依据,即克服最近邻原型判别准则的偏好,在一定程度上实现了类边界原型的选取.同时减少了与类中心距离过近原型的添加,稀疏化类中心区域原型个数.2.2.3原型集更新过程更新过程引入了原型删减思想,每λ个样本学习后,调用原型集更新过程,定期删除不符合规则的原型,减少原型数目.本文依托类全局信息和原型的最近同异类近邻设定不同的更新阀值,用以处理不同情况的原型删除操作.对于任一p i∈T P,c j、c s 分别为p i与最近邻异类原型类别,执行两步骤更新操作;待T P原型扫描完毕,执行局部均值及类全局信息更新操作.LCNN的原型集更新过程描述如下:步骤1(孤立原型更新).当d(p i,GD(c j,1))≥3×GD(c j,2)且d(p i,T P(P S(Ind(p i),2)))> d(p i,T P(P S(Ind(p i),3)))表明该类原型为孤立点,删除此类原型,可降低孤立原型影响,则设置P S(Ind(p i),4)=1.步骤2(噪音等异常原型更新).当GD(c s,2)≤d(T P(P S(Ind(p i)),3)),GD(c s,1))且3×GD(c s, 2)>d(T P(P S(Ind(p i)),3)),GD(c s,1))时,利用p i相关局部均值和类全局信息进行判断.若p i的同类局部均值小于它的异类局部均值(D s<D h),同时p i异类原型处于非类边缘区域(即d(T P(P S(Ind(p i),3)),GD(c j,1))> d(T P(P S(Ind(p i),3)),GD(c s,1))或d(T P(P S (Ind(p i),3)),GD(c j,1))>d(T P(P S(Ind(p i),1)), GD(c s,1)),则表示p i为噪音,则设置P S(Ind(p i), 4)=1.步骤3(局部均值及类全局信息更新).原型扫描完毕,对所有更新标识的原型进行删除;更新原型集T P的P S结构信息;最后分类别计算类均值中心 Gj和类原型标准差距离 D j,更新GD(c j,1)= G j1120自动化学报40卷和GD (cj ,2)= D j .2.3关键概念及参数界定1)孤立原型界定:本文采用文献[16]的定义,把孤立原型定义为与类原型均值的距离超过3倍标准差距离的原型.2)近邻权重选取:本文选取了最简单的倒数距离加权参数,即w i =1/i ,w i 随着i 的增加而减小,对应的原型对新原型选取的影响越小.在未考虑全局信息情况,若近邻数为1,即对待学习样本只选取一个同类近邻和一个异类近邻,则局部均值学习退化为传统CNN 学习.LCNN 运行必须两个参数支撑:一是原型近邻数k ;二是更新周期λ.两种参数选取有预设、交叉验证和动态调整三种方式.其中预设和动态调整方式简单便捷,交叉验证方式需要多次验证运行才能获取较好的参数配置.因此,结合原型集增量生成方式,选择了动态调整设置方式,即伴随着原型集的动态变化,动态调整k 和λ.为简化问题,本文在一个更新周期λ内,将不同类别样本x 在T P 中各同异类近邻数设置为相同,且k ≤min(N 1,N 2,···,N m ).本文分别选取k = m min j =1N j ,λ= m j =1N j (N j 表示更新周期开始时T P 中类别c j (j =1,2,···,m )原型数, · 表示向上取整).3算法评估为了更好评估LCNN 算法的性能指标,本文选择了KNN 、CNN 、GCNN 、PSC 、ISSARC 以及ILVQ (Incremental learning vector quantiza-tion)[17]作为比较算法.其中LCNN 与GCNN 处理策略相似,均采取了同异类近邻思想,本文中GCNN 选取了ρ=0,0.1,0.25,0.5,0.75,0.99下的平均运行效率;PSC 主要思想是以空间划分策略尽可能获取类边界原型,本文选取文献[9]中获取最佳运行效率的r =6m 和r =8m;ISSARC 算法是在ICF 算法基础上进行改进的非增量原型选择算法,主要思想是考虑同异类近邻距离的限定,同时通过去除噪音的非增量ENN 算法的预先处理,降低了算法噪音敏感度,其ENN 算法运行采取了文献[15]中的参数设置;而LCNN 也以获取类边界原型为处理目标;ILVQ 是目前高压缩性的快速的增量原型生成算法之一(为简化ILVQ 运行,本文对λ和Ageold采取简单预设λ=Ageold = √n );LCNN 单遍扫描训练集,也体现了快速增量原型选择思想;而选择KNN 和CNN 则作为比较算法分类性能的参照,其中KNN 算法预设5个常见的k 值,分别为3、5、7、9、11.为了验证LCNN 算法的有效性,选择了两个图像识别数据集以及其他12个UCI 数据集(见表1)和3个大规模数据集[18],采用5次5折交叉验证获得对比算法的平均分类效率及分类速度.本文在奔腾IV Intel (R)Core (TM)2Du CPU E 83002.83GHz 1G 的PC 硬件支撑,Windows XP 32位及Matlab 7运行环境下获取实验数据.本文中采用分类精度=|T S correct||T S |×100%、压缩比率=|T P ||T R |×100%、运行时间(单位:秒)作为比较算法的评价指标.其中|T S correct |表示T S 在T R 或T P 作为训练集下被正确分类的样本数,|T R |、|T P |、|T S |分别表示T R 、T P 、T S 所包含的样本或原型数.表1UCI 基准数据集信息Table 1The information of UCI benchmark data sets数据集特征数类别数样本数Iris 43150Wine 133178Glass 96214Ionosphere 342351Cancer 92699Zoo 167101Heart 132270TAE 53151Liver disorders62345Spectf 442267Ecoli 78336Ctg20321263.1理论分析分析比较算法,其中KNN 算法的时间复杂度为O(dn 2n i ),CNN 算法时间复杂度为O(nN 2d +n 1N 2d ),GCNN 算法时间复杂度为O(n 2Nd +n 1N 2d ),PSC 算法时间复杂度为O(τrnd +n 1N 2d ),ISSARC 算法时间复杂度为O(n 3d +d t i =1M 2i +n 1N 2d ),ILVQ 算法时间复杂度为O(dnN +n 1N 2d ).LCNN 算法是增量学习算法,主要分为两部分:增量原型生成时间O(dnN )和原型分类时间O(n 1N 2d ),其整体时间复杂度为O(dnN +n 1N 2d ).上述公式中,n 为训练样本数,d 为样本维度,N 为最终原型数,r 为聚类数,τ为聚6期李娟等:考虑局部均值和类全局信息的快速近邻原型选择算法1121类迭代次数,n 1为测试样本数,t 为ISSARC 算法迭代周期, ti =1M i 为ENN 算法运行所得原型集规模.LCNN 算法对于所有的训练样本而言是近线性的,但后续原型分类所需时间复杂度为传统的近邻分类算法时间复杂度.LCNN 算法是一种增量算法,仅在原型生成过程中执行单遍样本扫描,并不需对训练集进行存储,因此,LCNN 具有处理大规模数据集的能力.3.2人工数据实验为验证LCNN 算法在大规模数据集的处理性能,本文选择文献[17]实验所使用的人工数据集进行增量的原型分类比较.图2和图3均为2维人工数据集:图2中包含5类数据,类别1和类别2满足2维高斯分布,类别3和类别4数据分布为2个同心圆,类别5满足正弦分布;图3在图2有效数据分布的基础上,加入了20%的均匀分布噪音将其随机分布到5个类别中.图2无噪音人工数据集Fig.2No noise artificial dataset图3含噪音的人工数据集Fig.3Noise artificial data set区别于文献[17]实验中多种样本读取序列和不同迭代次数,本文采取单遍随机样本读取序列的简单方式.除选择三种增量算法外,由于ISSARC 算法通过ENN 算法对噪音等异常数据进行了预先处理,提高了算法的抗噪能力,故而选择其作为对照算法.图4、图6、图8、图10为四种算法在图2数据集上原型生成情况,可以看出,LCNN 算法在保持原始样本集分布的情况,对其进行必要缩减,其结果同ISSARC 和ILVQ 算法结果具有可相较性.图5、图7、图9、图11为4种算法在图3数据集上原型生成情况,LCNN 算法除原型个数明显少于ILVQ 算法结果外,相对于ISSARC 算法而言,在一定程度上降低了噪音的敏感性,其噪音数据数量明显少于比较算法.其中,ISSARC 算法属于非增量算法,在人工数据实验中的运行时间消耗达10小时以上.3.3图像识别对比1)医学图像诊断识别为验证LCNN 的实用性能,本文选取了569幅乳腺癌症图像数据进行实验,该数据将每幅乳腺癌症图像提取30个维度详细描述,其中212个异常图像,357个正常图像.通过5次5折交叉验证得到比较算法的平均运行数据.表2数据表明LCNN 在癌症图像识别中有着明显的压缩、分类精度及运行时间优势,是一种可行性的原型选择算法.图4CNN 在无噪音数据集的原型集Fig.4The prototype set obtained by CNN on no noisedataset图5CNN 在噪音数据集的原型集Fig.5The prototype set obtained by CNN on noisedata set1122自动化学报40卷图6ISSARC 在无噪音数据集的原型集Fig.6The prototype set obtained by ISSARC on no noise dataset图7ISSARC 在噪音数据集的原型集Fig.7The prototype set obtained by ISSARC on noisedataset图8ILVQ 在无噪音数据集的原型集Fig.8The prototype set obtained by ILVQ on no noisedataset图9ILVQ 在噪音数据集的原型集Fig.9The prototype set obtained by ILVQ on noisedataset图10LCNN 在无噪音数据集的原型集Fig.10The prototype set obtained by LCNN on nonoise dataset图11LCNN 在噪音数据集的原型集Fig.11The prototype set obtained by LCNN on noisedata set2)数字手写体识别为进一步验证LCNN 实际问题解决能力,特选择了研究文献中常用的手写体数字光学数据集进行算法的比较.该数据集含0到9阿拉伯手写体数字的3823个训练图像信息和1797个测试图像信息.表3数据获取环境同表2.表3数据显示LCNN 较其他比较算法有着一致好的运行效率.其中CNN 算法因运算简单且无需进行原型集的删除等操作,所以运行时间较少;PSC 需要较大的运行开销来完成初始的聚类操作;GCNN 因需要动态计算δ而增加一定运行时间消耗;ILVQ 算法增加了原型周期动态更新操作,运行消耗较大.ISSARC 算法虽然保持最好的压缩比率,然而由于其自身调用ENN 算法的预先处理策略,增加了ISSARC 算法的运行时间消耗.综上,采取LCNN 算法解决实际问题,可有效降低数据规模,可配合其他高效分类算法更好地发挥其优势.3.4UCI 基准数据集实验除上述图像识别数据集外,为更全面验证算法有效性,本文选择的12个中小规模和3个大规模UCI 基准数据集,较全面涵盖了数据集的维度规模和样本规模多样化分布,实验环境同上.6期李娟等:考虑局部均值和类全局信息的快速近邻原型选择算法1123表2比较算法在乳腺癌数据集上的运行效率Table2Operational efficiency results obtained by compared algorithms on breast cancer data set算法KNN CNN GCNN PSC ISSARC ILVQ LCNN 分类精度93.6781.5578.2789.2773.8190.6192.14压缩比率10060.1621.2446.2711.3535.5215.98运行时间 2.409 6.202 3.5193 3.872 4.7269.641 2.752表3比较算法在数字手写体集上的运行效率Table3Operational efficiency results obtained by compared algorithms on handwritten digits dataset算法KNN CNN GCNN PSC ISSARC ILVQ LCNN 分类精度97.9992.0794.5793.2592.4895.5997.08压缩比率10041.3425.7233.9419.9631.5822.57运行时间756.39214.34595.28456.92612.58372.35247.47表4比较算法分类精度与压缩比的实验数据Table4Operational efficiency results obtained by compared algorithms on breast cancer data set 算法KNN CNN GCNN PSC ISSARC ILVQ LCNN 分类精度压缩比率分类精度压缩比率分类精度压缩比率分类精度压缩比率分类精度压缩比率分类精度压缩比率分类精度压缩比率Iris96.6710095.5059.7195.7812.3292.8964.8394.5423.6793.0745.0493.3328.63 Wine70.8010071.2367.9467.3223.5462.2173.7465.5718.5467.6441.1269.6515.82 Glass65.0810062.6466.5968.2749.2660.6972.7862.1222.4064.6928.7465.4326.43 Ionosphere88.6810085.8948.3384.3222.1786.1845.1987.458.7689.2919.9186.1618.79 Cancer96.5010088.127.15394.6116.9278.0510.5584.5514.5678.0510.5595.1425.35 Zoo83.2210088.1457.6788.7331.5278.2657.1976.4323.5187.1035.1992.6234.36 Heart76.2110067.2743.4075.4946.2479.5431.2368.3110.6080.3437.3876.5737.01 TAE77.7210056.3436.7564.4844.6172.2537.1857.5736.9270.2223.3376.6921.69 Liver disorders67.6110055.8016.6765.2642.3161.8867.2155.3620.8760.8715.8967.5114.06 Spectf71.9510063.0520.3673.3552.0779.4124.5672.3316.4877.9335.7480.1435.09 Ecoli86.4510077.4453.7176.7933.8574.9342.8978.6915.7082.2242.9680.1729.73 Ctg82.0910062.6842.9164.4918.7374.8641.6665.0510.0969.1812.2376.7612.48 Average82.8710072.8443.4379.2132.8075.1147.4272.3318.5176.7229.0180.0124.95基于表4数据,可以得到如下结论:对比CNN 和GCNN,LCNN在保持明显的数据优势情况下,有着较高比例数据集的分类精度优势;对比ILVQ 算法,除Ionosphere外,LCNN分类效率优势明显,同时保证了11个数据集上的高压缩比;对比PSC快速原型算法,LCNN在保持11个数据集的高分类效率之外,仍保持9个数据集的高压缩比率,体现了较好的分类效率和较高的压缩比率.相对于其他对比算法而言,ISSARC算法保持着明显的平均压缩优势;而LCNN算法仅有2个数据集的压缩率高于ISSARC算法.通过表5运行时间数据,可得出在小规模数据集下,对于KNN和CNN 而言,LCNN时间优势不足,而在较大规模数据集Ctg下,LCNN时间优势明显;此外,LCNN相对于GCNN、ISSARC、ILVQ算法而言,有着显著的运行时间优势;而相对于目前快速原型PSC算法, LCNN也有着明显的12取7和平均的两项时间优势.。
钢结构工程英语总结
1 工程用语1、Steel material 钢材parent metal 母材plank 板材planking 铺板backfilling plate backfilling plate 、、padding plate 垫板connecting plate 连接板fringe plate 翼缘板gusset plate 节点板ten let 样板web plate 腹板intermediate stiffener 中间加劲肋edge stiffener 边缘加劲肋longitudinal stiffener 纵向加劲肋steel column base 钢柱脚steel pipe steel pipe、、steel tube 钢管steel support 钢支座steel strip 钢带steel section 型钢steel plate element 钢板件steel plate 钢板steel wire 钢丝stiffener 加劲肋allowable slenderness ratio of steel member allowable slenderness ratio of steel member 钢构件容许长细比钢构件容许长细比2、hot-rolled section steel 热轧型钢angle steel angle steel 角钢角钢channel 槽钢flat bar 扁钢shaped steel 型钢steel column 钢柱seamless steel tube 无缝钢管profiled steel sheet 压型钢板purling 檩条Steel beam Steel beam 梁梁box girder box girder 箱形梁箱形梁cantilever beam cantilever beam 挑梁挑梁continuous beam 连续梁simply supported beam 简支梁girder 主梁lintel 过梁过梁non non--uniform beam 变截面梁变截面梁ceiling ceiling 吊顶吊顶吊顶ceiling beam ceiling beam 吊顶梁吊顶梁吊顶梁bridge crane bridge crane 桥式吊车桥式吊车桥式吊车crane beam 吊车梁吊车梁 crane block 吊车车挡吊车车挡crane span 吊车跨度吊车跨度span 跨度跨度column bracing column bracing 柱间支撑柱间支撑柱间支撑joist 搁栅搁栅lacing and batten elements 缀材缀材((缀件缀件) )latticed shell 网壳结构网壳结构light gage channel 轻型槽钢轻型槽钢light gage I light gage I--beam 轻型工字钢轻型工字钢light steel truss 轻钢桁架轻钢桁架light light--weight steel structure 轻钢结构轻钢结构 lipped angle 卷角钢卷角钢lipped channel 卷边槽钢卷边槽钢lipped zees, lipped Z-bar 卷边Z 形钢形钢inclined brace 斜撑斜撑rail 栏杆栏杆Steel rail 钢轨钢轨Steel rail fastening 钢轨扣件钢轨扣件ring beam 圈梁圈梁rivet 铆钉铆钉riveted connection 铆钉连接铆钉连接riveted steel beam 铆接钢梁铆接钢梁 riveted steel structure 铆接钢结构铆接钢结构ro11ed beam 型钢梁型钢梁roof bracing system 屋架支撑系统屋架支撑系统roof plate 屋面板屋面板roof truss 屋架屋架corbel 牛腿牛腿3、covered electrode 焊条,电焊条焊条,电焊条arc weld arc weld 电弧焊电弧焊电弧焊 automatic submerged arc welding automatic submerged arc welding 埋弧自动焊埋弧自动焊埋弧自动焊automatic welding automatic welding 自动焊接自动焊接自动焊接back chipping back chipping 清根清根清根butt weld butt weld 对接焊缝对接焊缝对接焊缝continuous weld 连续焊缝连续焊缝fillet weld 角焊缝角焊缝girth weld 环形焊缝环形焊缝leg size of fillet weld 角焊缝焊脚尺寸角焊缝焊脚尺寸flat welding position 平焊平焊plug weld 塞焊缝塞焊缝point welding 点焊点焊 groove 坡口坡口groove weld 坡口焊缝坡口焊缝longitudinal weld 纵向焊缝纵向焊缝slot weld 槽焊缝槽焊缝interface 接口接口effective cross-section area of fillet weld 角焊缝有效截面积角焊缝有效截面积 effective depth of section 截面有效高度截面有效高度effective length of fillet weld 角焊缝有效计算长度角焊缝有效计算长度incomplete penetration 未焊透未焊透incomplete fusion 未溶合未溶合incompletely filled groove 未焊满未焊满 slag inclusion 夹渣夹渣weld 焊缝焊缝weld crack 焊接裂纹焊接裂纹weld defects 焊接缺陷焊接缺陷welded steel structure 焊接钢结构焊接钢结构welding rod 焊条焊条welding wire 焊丝焊丝gas cutting 气割气割gas welding 气焊气焊edge cutting 铲边铲边edge planning 刨边刨边 rust removal by spurting iron sand 抛丸除锈抛丸除锈rust removal by spurting sand 喷砂除锈喷砂除锈4、bolt bolt 螺栓螺栓螺栓nut 螺母螺母pitch 螺距螺距finished bolt 精制螺栓精制螺栓anchor bolt anchor bolt 锚栓锚栓锚栓bolted connection bolted connection 螺栓连接螺栓连接螺栓连接assembling joint assembling joint 拼接接头拼接接头拼接接头 effective diameter of bolt or high-strength bolt 螺栓螺栓((或高强度螺栓或高强度螺栓))有效直径效直径high-strength bolt 高强度螺栓高强度螺栓high-strength bolt with large hexagon bead 大六角头高强度螺栓大六角头高强度螺栓 high-strength bolted bearing type join 承压型高强度螺栓连接承压型高强度螺栓连接high-strength bolted connection 高强度螺栓连接高强度螺栓连接high-strength bolted friction high-strength bolted friction--type connection 摩擦型高强度螺栓连接摩擦型高强度螺栓连接 high-strength bolted friction-type joint 摩擦型高强度螺栓连接摩擦型高强度螺栓连接 hinged connection 铰接铰接dowel action 销栓作用销栓作用dowelled joint 销连接销连接 linen tape 皮尺皮尺dial gauge 百分表百分表documents 文档文档telescope 望远镜望远镜jack 千斤顶千斤顶grip 夹具夹具hoisting ring 吊环吊环truck crane 吊车吊车Compensate a machine 补偿器补偿器5、 crack 裂缝裂缝crack width 裂缝宽度裂缝宽度cutting 切割切割deflection 挠度挠度deformation joint 变形缝变形缝settlement joint 沉降缝沉降缝expansion joint 伸缩缝伸缩缝self weight 自重自重construction weight 结构自重结构自重cavitations cavitations 孔洞孔洞孔洞chimney chimney 烟囱烟囱烟囱 net height 净高净高clear height clear height 净高净高净高relative elevation 相对高程相对高程winter construction 冬期施工冬期施工safety factor 安全系数安全系数local stability 局部稳定局部稳定local instability 局部失稳局部失稳high level water-supply tank 高位给水箱高位给水箱her her--resistance rating 耐火等级耐火等级acceptable quality acceptable quality 合格质量合格质量合格质量compliance control 合格控制合格控制 1ive 1oad on roof 屋面活荷载屋面活荷载Action Action 作用作用作用ageing of structure ageing of structure 结构老化结构老化结构老化6、general progress schedule of construction project 建设项目总进度计划建设项目总进度计划 invite tenders of project construction 建筑工程施工招标建筑工程施工招标preparation for construction 建设准备建设准备annual schedule of construction project annual schedule of construction project 建设项目年度计划建设项目年度计划建设项目年度计划 architectural design architectural design 建筑设计建筑设计建筑设计building building 建筑物建筑物建筑物building area building area 建筑面积建筑面积建筑面积building height building height 建筑高度建筑高度建筑高度building construction design building construction design 建筑构造设计建筑构造设计建筑构造设计building construction standard building construction standard 建筑标准建筑标准建筑标准building construction survey building construction survey 建筑施工测量建筑施工测量建筑施工测量building density building density 建筑密度建筑密度建筑密度building installation engineering contract building installation engineering contract 建筑安装工程合同建筑安装工程合同建筑安装工程合同 building main axis building main axis 建筑主轴线建筑主轴线建筑主轴线building waterproofing building waterproofing 建筑防水建筑防水建筑防水 fire prevention for building 建筑防火建筑防火fire protection design of structure 结构防火设计结构防火设计building ground elevation building ground elevation 地坪标高地坪标高地坪标高construction basis 建设依据建设依据construction condition 建设条件建设条件construction joint 施工缝施工缝construction period 建设工期建设工期construction standard 建设标准建设标准construction project 建设项目建设项目design of building structures 建筑结构设计建筑结构设计design strength 设计强度设计强度 construction 构造构造detailing requirements 构造要求构造要求ductile failure 延性破坏延性破坏ductility 延性延性dotty factor 延性系数延性系数durability 耐久性耐久性durability of structure 结构耐久性结构耐久性7、earthquake 地震地震earthquake action 地震作用地震作用 earthquake resistant behavior of structure 结构抗震性能结构抗震性能earthquake resistant capacity of structure 结构抗震能力结构抗震能力earthquake resistant design of structure 结构抗震设计结构抗震设计earthquake-resistant detailing requirements 抗震构造要求抗震构造要求 effective height 计算高度计算高度elevation 标高标高elongation rate 伸长率伸长率engineering survey 工程测量工程测量8、inclined section 斜截面斜截面 load 荷载荷载loading 加载加载pressure 压力压力pressure venting 泄压泄压residual stress 残余应力残余应力stress 应力应力stress concentration 应力集中应力集中yield point 屈服点屈服点yield strength 屈服强度屈服强度fatigue strength 疲劳强度疲劳强度9、inspection and turning-over of completed project 竣工验收竣工验收 general plan of completed project 竣工总平面图竣工总平面图completed drawing 竣工图竣工图completed project 竣工项目竣工项目final account for completed project 竣工决算竣工决算10、cement cement 水泥水泥水泥Sand 沙子沙子Pebble 石子石子 Concrete 混凝土混凝土Reinforcing bar 钢筋钢筋Template 模板Shear a dint wall 剪力墙剪力墙剪力墙Scaffo ld 脚手架脚手架Mix blend 搅拌fired common brick 烧结普通砖烧结普通砖flow construction 流水施工流水施工foundation 基础基础frame 框架框架frame structure 框架结构框架结构11、碳钢管碳钢管 carbon steel tube carbon steel tube公称直径公称直径 nominal diameter nominal diameter预埋件预埋件 embedded part embedded part轴测图轴测图 axonometric drawing axonometric drawing 布置图布置图 arrangement diagram arrangement diagram氧乙炔气割氧乙炔气割 oxyacetylene gas cutting oxyacetylene gas cutting 低合金钢管低合金钢管 low alloy steel low alloy steel 型钢型钢 profile steel profile steel钢板钢板 steel plate steel plate 熔渣熔渣 slag slag飞溅飞溅 welding spatter welding spatter定位焊定位焊 tacking tacking引弧引弧 generating of arc generating of arc。
频域有限积分法 cst
频域有限积分法 cstThe frequency domain finite integration technique (FD-FIT) is an important method used in the field of computational electromagnetics. It is a numerical approach that is commonly employed to analyze and solve electromagnetic wave propagation and radiation problems. The FD-FIT method is particularly useful for dealing with complex structures and materials, as it allows for the accurate modeling of electromagnetic phenomena in a wide range of practical applications. This method has been widely adopted by researchers and engineers for the design and optimization of various electromagnetic devices and systems, including antennas, microwave circuits, and radar systems.One of the key advantages of the FD-FIT method is its ability to efficiently handle problems involving inhomogeneous and anisotropic materials. This is particularly important in the design of modern electronic devices and systems, where the use of advanced materialswith complex electromagnetic properties is common. By utilizing the FD-FIT method, researchers and engineers can accurately model the behavior of electromagnetic waves in such materials, allowing for the optimization of device performance and the exploration of new design possibilities. In addition, the FD-FIT method is well-suited for problems involving non-uniform grid structures, which are often encountered in practical engineering applications.Another important aspect of the FD-FIT method is its ability to accurately capture the behavior of electromagnetic waves across a wide range of frequencies. This is crucial for the analysis and design of modern communication and radar systems, which often operate over broad frequency bands. The FD-FIT method allows for the efficient and accurate simulation of electromagnetic wave propagation and scattering phenomena across these frequency bands, enabling engineers to optimize system performanceand ensure reliable operation in real-world scenarios. Additionally, the FD-FIT method can be used to study the effects of frequency-dependent materials and components, providing valuable insights for the design of advancedelectromagnetic devices.In the context of computational electromagnetics, the FD-FIT method offers a powerful and versatile tool for the analysis and design of electromagnetic devices and systems. Its ability to handle complex materials, non-uniform grids, and wide frequency ranges makes it well-suited for a wide range of practical applications. By leveraging the capabilities of the FD-FIT method, researchers and engineers can gain valuable insights into the behavior of electromagnetic waves in diverse scenarios, leading to the development of innovative and high-performance devices and systems. As such, the FD-FIT method continues to be a valuable asset in the toolbox of computational electromagnetics, driving advancements in various fields of technology and engineering.。
哈尔滨工业大学工学硕士学位论文1...
硕士学位论文基于均匀圆阵的欠定超分辨波达方向估计UNDERDETERMINED SUPER-RESOLUTION DIRECTION OF ARRIVAL ESTIMATION WITHUNIFORM CIRCULAR ARRAY曹明阳哈尔滨工业大学2013年6月国内图书分类号:TN911.72学校代码:10213 国际图书分类号:621.3密级:公开工学硕士学位论文基于均匀圆阵的欠定超分辨波达方向估计硕士研究生:曹明阳导师:黄磊教授申请学位:工学硕士学科:信息与通信工程所在单位:深圳研究生院答辩日期:2013年6月授予学位单位:哈尔滨工业大学Classified Index: TN911.72U.D.C: 621.3Dissertation for the Master Degree in EngineeringUNDERDETERMINEDSUPER-RESOLUTION DIRECTION OF ARRIVAL ESTIMATION WITHUNIFORM CIRCULAR ARRAYCandidate:Cao Ming-YangSupervisor:Prof. Lei HuangAcademic Degree Applied for:Master of Engineering Speciality:Information and CommunicationEngneeringAffiliation:Shenzhen Graduate SchoolDate of Defence:June, 2013Degree-Conferring-Institution:Harbin Institute of Technology哈尔滨工业大学工学硕士学位论文摘要阵列信号处理波达方向(DOA)超分辨估计问题是近几十年研究的热点,其中均匀圆阵是最为常见的物理阵列结构,具有广泛的应用背景,比如雷达,声纳和卫星等。
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In our approach a non-uniform filterbank (NUFB) is obtained by merging the subbands of a k-channel uniform filterbank (UFB) and then decimating each of the resulting K ( 5 K ) subbands by an integer factor Mk [6]. This structure is modified to provide an efficient method of NDS. The structure has the general form of Figure 1, where z ( n ) is the fullband input signal, E,(J) are polyphase components of a prototype lowpass filter P ( z ) ,M is a modulation matrix, S , is a time-varying summation matrix conare sisting of ones and zeros, and ~ ( n ) the k subband signals. The first stage of decimation is by a constant integer, A4, whilst the second stage is by a time-varying integer, Mk,,/@, for the k" subband. Strictly, IC should be denoted L, since it is timevarying, however this is usually dropped for clarity. M represents the lowest decimation factor in the structure and therefore defines the largest subband channel bandwidth, decided by the application and as the greatest common denominator of all possible A4k,,
ABSTRACT
Subband adaptive filters suffer degraded performance when high input energy occurs at frequencies coincident with subband boundaries. This is seen as increased error in critically sampled systems and as reduced asymptotic convergence speed in oversampled systems. To address this problem a dynamic frequency decomposition scheme is presented which aims to control the frequency of subband boundaries such that they avoid spectral regions of high input energy. An efficient structure for this is described, which maintains the low complexity advantage of subband systems. Simulation results show reductions in MSE of around 5-lOdBs in the critical case and convergence improvement in the oversampled case, in addition to increased robustness to coloured inputs in both cases.
h
A i '
= gCd (hfk,n) v k , n
(1)
to provide maximum decimation. In Figure 1 Block A is an oversampled UFB and Block B is a subband merging section. This structure is preferred since A can be implemented efficiently using fast transforms of the outputs of a decimated polyphase network [7] and B consists solely of adders and decimators. The structure also allows NDS by changes in B only, without the need for intermediate upsampling/downsampling. The synthesis bank will be the mirror of Figure 1. Disregarding for the moment important implementation details to be discussed, which additionally specify Block A, the struc-
0-7803-7041-4/01/$10.00 02001 IEEE
3717
ture can be viewed as a generalisation, via the Noble identities [7], of the static structures in [6][8]. Near-perfect reconstruction is achieved for NUFBs derived from UFBs in this way, iff the following condition is met [8]
A
A
1. INTRODUCTION
Subband adaptive filters (SAF) are used in system identification applications such as acoustic echo cancellation where the unknown system can be of the order of several thousand taps. They have the main benefits of reduced complexity and possible increased convergence speed due to reduction of eigenvalue spread in the subband signals [ 11. Errors in both critically and oversampled SAFs can be shown to be related to signal components around subband boundaries. In the case of critical sampling this manifests itself as dominating peaks in the final error signal around the subband boundaries 121. In the case of oversampling, slow asymptotic convergence is observed [3]. Our approach is to use non-uniform dynamic frequency-subban d decomposition (NDS) to substantially reduce these errors. The algorithm chooses the decomposition so as to avoid high-energy signal components around subband boundaries, whilst retaining high decimation factors when possible so as to keep complexity low. Previous work in [4][5]has been extended in this paper by introducing a filterbank structure appropriate for efficient NDS and examining the exact sources of error in uniform SAFs. These are crucial issues, as no suitable dynamic structure has been previously suggested and if complexity is not taken into account, improvements in performance cannot be evaluated consistently. Secondly, knowledge of the sources of error is essential for correct choice of decomposition. The following sections present a general filterbank structure that will allow the dynamic alteration of subband frequency decomposition, and a control algorithm for the dynamic structure that reduces errors in SAFs around subband boundaries. Simulations are presented for both the critically and oversampled cases to demonstrate the effectiveness of the scheme.