ID 原文 译文
39876 引入拥挤因子d和马尔可夫链，将鱼群算法加入到粒子群优化算法中， This paper firstly introduces the crowding factor d and the Markov chain, and then adds the artificial fish swarm algorithm to the particle swarm optimization algorithm.
39877 通过计算拥挤因子，来更新速度模型，使其在觅食，聚群，追尾，随机4种模态下进行切换。 By calculating the crowding factor, the velocity model is updated to switch among four modes: foraging, clustering, following and random.
39878 仿真结果表明了所提出的AF-PSO算法的综合性能优于其他改进的PSO算法。 The simulation results show that the proposed AF-PSO algorithm has better performance compared with other improved PSO algorithms in synthesis.
39879 为进一步说明算法的实用性，将AF-PSO算法成功应用于输油管道泄露数据的聚类分析上。 To further illustrate the application potential, the AF-PSO algorithm is successfully applied to the clustering analysis of oil pipeline leakage data.
39880 实验结果表明基于AF-PSO的K-means算法性能是优于其他聚类算法。 Experiment results demonstrate that the performance of the AF-PSO based K-means method is better than other clustering algorithms.
39881 为研究半被动双足机器人的平面稳定行走控制问题。 The stable control of quasi-passive biped robot on level ground is studied.
39882 以三自由度变腿刚度的双足弹簧-质点模型为对象，采用变刚度弹簧所提供的力和髋关节的转动力矩作为行走动力源，并采用拉格朗日方法建立了系统的动力学方程。 The bipedal spring-mass model of three degrees of freedom with variable leg stiffness is studied as the object, the force supplied by the variable stiffness spring and the force of the moment of inertia provided by the hip joint are applied as the walking power source, and the dynamic equations is established by Lagrange method.
39883 通过PD控制器设计髋关节转矩进而对上体的旋转角度进行控制，通过反馈线性化方法分别设计了双足机器人在单支撑和双支撑阶段因变弹簧刚度产生的控制外力。在理论分析的基础上，进行了仿真研究。 The force of the hip joint is designed on the basis of the PD controller and the rotation angle of the upper body is controlled.The controlled force produced by the variable spring stiffness of the biped robot at the single and double support stages are designed by the feedback linearization method.
39884 结果表明：文中研究的路径跟踪控制方法可以实现双足机器人在水平面的稳定周期行走并且具有较强的鲁棒性。 The simulation results show that the method can realize the stable periodic walking of biped robot in the plane and the robustness is strong.
39885 针对水面机器人水动力学的强非线性，且容易受到风、浪与水流干扰的影响，提出了一种基于LPV(Linear Parameter Varying)模型的H∞鲁棒航向保持控制器。 Aiming at the strong nonlinearities of hydrodynamics, and the influences of wind, wave and current on USVs(Unmanned Surface Vehicles), an H∞ robust yaw keeping controller based on LPV(Linear Parameter Varying) model is proposed.