摘要：This paper presents a novel design method for discrete-time repetitive control systems （RCS） based on two-dimensional （2D） discrete-time model. Firstly, the 2D model of an RCS is established by considering both the control action and the learning action in RCS. Then, through constructing a 2D state feedback controller, the design problem of the RCS is converted to the design problem of a 2D system. Then, using 2D system theory and linear matrix inequality （LMI） method, stability criterion is derived for the system without and with uncertainties, respectively. Parameters of the system can be determined by solving the LMI of the stability criterion. Finally, numerical simulations validate the effectiveness of the proposed method.

摘要：Software process is a framework for effective and timely delivery of software system. The framework plays a crucial role for software success. However, the development of large-scale software still faces the crisis of high risks, low quality, high costs and long cycle time. This paper proposed a three-phase parallel-pipelining software process model for improving speed and productivity, and reducing software costs and risks without sacrificing software quality. In this model, two strategies were presented. One strategy, based on subsystem-cost priority, was used to prevent software development cost wasting and to reduce software complexity as well; the other strategy, used for balancing subsystem complexity, was designed to reduce the software complexity in the later development stages. Moreover, the proposed function-detailed and workload-simplified subsystem pipelining software process model presents much higher parallelity than the concurrent incremental model. Finally, the component-based product line technology not only ensures software quality and further reduces cycle time, software costs, and software risks but also sufficiently and rationally utilizes previous software product resources and enhances the competition ability of software development organizations.

摘要：A vision-based scheme for object recognition and transport with a mobile robot is proposed in this paper. First, camera calibration is experimentally performed with Zhenyou Zhang＇s method, and a distance measurement method with the monocular camera is presented and tested. Second, Kalman filtering algorithm is used to predict the movement of a target with HSI model as the input and the seed filling algorithm as the image segmentation approach. Finally, the motion control of the pan-tilt camera and mobile robot is designed to fulfill the tracking and transport task. The experiment results demonstrate the robust object recognition and fast tracking capabilities of the proposed scheme.

摘要：Physical unclonable function （PUF） makes use of the uncontrollable process variations during the production of IC to generate a unique signature for each IC. It has a wide application in security such as FPGA intellectual property （IP） protection, key generation and digital rights management. Ring oscillator （RO） PUF and Arbiter PUF are the most popular PUFs, but they are not specially designed for FPGA. RO PUF incurs high resource overhead while obtaining less challenge-response pairs, and requires ＂hard macros＂ to implement on FPGAs. The arbiter PUF brings low resource overhead, but its structure has big bias when it is mapped on FPGAs. Anderson PUF can address these weaknesses of current Arbiter and RO PUFs implemented on FPGAs. However, it cannot be directly implemented on the new generation 28 nm FPGAs. In order to address these problems, this paper designs and implements a delay-based PUF that uses two LUTs in an SLICEM to implement two 16-bit shift registers of the PUF, 2-to-1 multiplexers in the carry chain to implement the multiplexers of the PUF, and any one of the 8 flip-flops to latch 1-bit PUF signatures. The proposed delay-based PUF is completely realized on 28 nm commercial FPGAs, and the experimental results show its high uniqueness, reliability and reconfigurability. Moreover, we test the impact of aging on it, and the results show that the effect of aging on the proposed PUF is insignificant, with only 6% bit-flips. Finally, the prospects of the proposed PUF in the FPGA binding and volatile key generation are discussed.

摘要：This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.

摘要：In this paper, a novel approach is presented to synthesize microwave medium of negative refractive index by incorporating metallic wire array with negative effective permittivity into the host media such as ferrimagnet-YIG (yttrium iron garnet) applied by external magnetic field whose permeability is negative. We have designed the composite medium having negative refractive index in C/X band frequencies, analyzed and simulated its electromagnetic (EM) properties by use of EM EDA package based on time-domain finite integration method. The simulation results show that: ① the effective permittivity of the designed metallic wire array is negative in the frequency range from 7.02 GHz to 9.80 GHz; ② the permeability of YIG substrate immersed into an external magnetic field is negative in the frequency range from 5.22 GHz to 8.14 GHz; ③ EM wave can pass through the composite medium synthesized by the above designed metallic wire array and YIG substrate, and ④ the negative refraction behavior occurs on the interface between the composite medium and the normal material with positive refractive index in 7.51―8.13 GHz frequency range, in which the effective permittivity of the metallic wire array and the permeability of YIG substrate are negative simultaneously. The full wave simulation has demonstrated that the effective refractive index of the designed composite medium is indeed negative and ascertained that the proposed approach to design microwave medium with negative refractive index is viable.

摘要：In the era of Big Data, typical architecture of distributed real-time stream processing systems is the combination of Flume, Kafka, and Storm. As a kind of distributed message system, Kafka has the characteristics of horizontal scalability and high throughput, which is manly deployed in many areas in order to address the problem of speed mismatch between message producers and consumers. When using Kafka, we need to quickly receive data sent by producers. In addition, we need to send data to consumers quickly. Therefore, the performance of Kafka is of critical importance to the performance of the whole stream processing system. In this paper, we propose the improved design of real-time stream processing systems, and focus on improving the Kafka's data loading *** use Kafka cat to transfer data from the source to Kafka topic directly, which can reduce the network transmission. We also utilize the memory file system to accelerate the process of data loading, which can address the bottleneck and performance problems caused by disk I/O. Extensive experiments are conducted to evaluate the performance, which show the superiority of our improved design.

摘要：Hybrid precoding can reduce the number of required radio frequency(RF)chains in millimeter-Wave(mmWave) massive MIMO systems. However, existing hybrid precoding based on singular value decomposition(SVD) requires the complicated bit allocation to match the different signal-to-noise-ratios(SNRs) of different sub-channels. In this paper,we propose a geometric mean decomposition(GMD)-based hybrid precoding to avoid the complicated bit allocation. Specifically,we seek a pair of analog and digital precoders sufficiently close to the unconstrained fully digital GMD precoder. To achieve this, we fix the analog precoder to design the digital precoder, and vice versa. The analog precoder is designed based on the orthogonal matching pursuit(OMP) algorithm, while GMD is used to obtain the digital precoder. Simulations show that the proposed GMD-based hybrid precoding achieves better performance than the conventional SVD-based hybrid precoding with only a slight increase in complexity.

摘要：Circulators play a significant role in radar and microwave communication *** paper proposes a broadband and highly efficient plasmonic circulator,which consists of spoof surface plasmon polaritons(SSPPs)waveguides and ferrite disks to support non-reciprocal mode *** simulated performance of symmetrically designed circulator shows that it has an insertion loss of roughly 0.5 dB while the isolation and return loss is more than 12 dB in the frequency range of 6.0 GHz–10.0 GHz(relative bandwidth of 50%).Equivalent circuit model has been proposed to explain the operating mechanism of the plasmonic *** equivalent circuit model,numerical simulations,and experimental results are consistent with each other,which demonstrates the good performance of the proposed plasmonic circulator.

摘要：An efficient critical control system design is proposed in this paper. The key idea is to decompose the design problem into two simpler design steps by the technique used in the classical loop transfer recovery method （LTR）. The disturbance cancellation integral controller is used as a basic controller. Since the standard loop transfer recovery method cannot be applied to the disturbance cancellation controller, the nonstandard version recently found is used for the decomposition. Exogenous inputs with constraints both on the amplitude and rate of change are considered. The majorant approach is taken to obtain the analytical sufficient matching conditions. A numerical design example is presented to illustrate the effiectiveness of the proposed design.