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Immune modelling and programming of a mobile robot demo

Journal of Central South University of Technology 2006年第6期13卷 694-698页

作者：龚涛蔡自兴贺汉根 School of Information Science and Engineering Central South University College of Mechatronics and Automation National University of Defense Technology

An artificial immune system was modelled with self/non-self selection to overcome abnormity in a mobile robot demo. The immune modelling includes the innate immune modelling and the adaptive immune modelling. The self/non-self selection includes detection and recognition, and the self/non-self detection is based on the normal model of the demo. After the detection, the non-self recognition is based on learning unknown non-self for the adaptive immunization. The learning was designed on the neural network or on the learning mechanism from examples. The last step is elimination of all the non-self and failover of the demo. The immunization of the mobile robot demo is programmed with Java to test effectiveness of the approach. Some worms infected the mobile robot demo, and caused the abnormity. The results of the immunization simulations show that the immune program can detect 100% worms, recognize all known Worms and most unknown worms, and eliminate the worms. Moreover, the damaged files of the mobile robot demo can all be repaired through the normal model and immunization. Therefore, the immune modelling of the mobile robot demo is effective and programmable in some anti-worms and abnormity detection applications.

关键词： artificial immune system normal model mobile robot worms

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Coupling Among CH Stretching, Bending and Rocking Vibrational Modes in CH2Cl2

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Chinese Journal of Chemical Physics 2006年第1期19卷 15-19页

作者： Qing-hua Liu Xiao-ning Li Lu-yuan Hao Chuang Tan Yin-gui Zhou Ping Chen Huai Zhu Department of Chemical Physics National Synchrotron Radiation Laboratory University of Science and Technology of China Hefei 230025 Department of Basic Education for Information Anhui College of Tracfitional Chinese Medicine Hefei 230038 China

Infrared absorption spectra of gaseous CH2Cl2 in the regions of 1200-12000 cm^-1 were measured using a Bruker IFS 120HR Fourier transform spectrometer in conjunction with a nmltipass cell. 47 vibrational levels of overtone and combinational spectral lines of the CH stretching （v1, v6）, bending （v2）, and rocking （v8） modes were analyzed and assigned. Utilizing the normal mode model and considering the coupling among CH stretching, bending and rocking vibrations, values of the harmonic frequency wi, the anharmonic constant xij, and the coefficients of Fermi and the Darling-Dennison resonances of v1, v6, v2 and v8 modes were also determined from experimental spectral data with nonlinear least-square fitting. These spectral constants reproduced the experimental levels very well. These results showed that Fermi resonance between CH stretching and rocking vibrations （kiss=-254.63 cm^-1） is stronger than that between CH stretching and bending vibrations （k122 = 54.87 cm^-1 ）; and that Darling-Dennison resonances between CH stretching and bending vibrations （k166=-215.28 cm^-1） is also much stronger than that between CH bending and rocking vibrations （k2288=5.72 cm^-1）.

关键词： normal model Darling-Dennison resonance Fermi resonance

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