基于扩展卡尔曼滤波器的AUV导航定位数据融合

导航定位是AUV(自主式水下潜器)自动化受限的关键技术.GPS等单独的定位方式又存在缺陷.故采用低成本罗经-DVL-GPS组合导航定位.因为导航定位观测的非线性关系,设计了基于扩展卡尔曼滤波器的导航定位数据融合算法.针对扩展卡尔曼滤波器存在的滤波发散现象,引入机动目标模型抑制滤波发散,研究并仿真了AUV的两种运动方式,实现了覆盖四个象限运动的导航定位仿真,结果表明算法能有效进行数据融合,提高状态估计精确度.     

GPU平台上面向性能和功耗的分支优化

强大的计算能力使得GPGPU在通用计算领域得到了广泛的应用。然而,GPGPU的SIMT(Single Instruction Multiple Threads)工作方式,使其执行效率受到应用中不一致分支行为(Branch Divergence)的严重影响。虽然人们提出了线程交换方法来减小分支带来的性能损失,但这种方法往往会引入额外的访存操作,不仅在一定程度上减少了线程交换优化的性能收益,还增加了功耗。首先举例说明线程交换范围对程序性能和功耗的影响;然后提出了一种减少线程交换所引入的额外访存操作的方法。实验表明,对于Reduction程序,当交换范围为256时,在性能平均损失为4%的情况下功耗降低幅度最大为7%;而对于Bitonic程序,当交换范围为256和512时,在没有功耗开销的情况下,性能分别最大提升了6.4%和5.3%。     

关于并发系统分支互模拟关系发散性保持的研究

带发散性说明的分支互模拟是van Glabbeek和Weijland提出的一个概念,并被用来定义等价关系.该等价关系应该是最弱的一个发散性保持的并且满足分支互模拟性质的等价关系.然而在概念提出时并没有提供这些重要性质的证明,并且我们认为在原定义的基础上这个证明是不显然的.本文通过co-induction的手段利用染色迹的概念定义了着色完全迹等价,并证明该等价关系是最弱的一个保持发散的并且满足分支互模拟性质的等价关系.然后我们证明了着色完全迹等价关系和≈_b^△是相同的,因而补充了van Glabbeek和Weijland的工作,即证明了≈_b^△是最弱的一个保持发散的并且是满足分支互模拟性质的等价关系.     

基于文档发散度的作文跑题检测

作文跑题检测是作文自动评分系统的重要模块。传统的作文跑题检测一般计算文章内容相关性作为得分,并将其与某一固定阈值进行对比,从而判断文章是否跑题。但是实际上文章得分高低与题目有直接关系,发散性题目和非发散性题目的文章得分有明显差异,所以很难用一个固定阈值来判断所有文章。该文提出一种作文跑题检测方法,基于文档发散度的作文跑题检测方法。该方法的创新之处在于研究文章集合发散度的概念,建立发散度与跑题阈值的关系模型,对于不同的题目动态选取不同的跑题阈值。该文构建了一套跑题检测系统,并在一个真实的数据集中进行测试。实验结果表明基于文档发散度的作文跑题检测系统能有效识别跑题作文。     

基于卷积受限玻尔兹曼机的医学图像分类新方法

利用数据挖掘方法对医学图像做分析是目前研究的热点之一,常用的挖掘方法首先需要从医学图像中提取特征,然后进行分类分析。目前,应用最多的是提取图像的统计特征,这种方法对所提取的特征有很强的依赖性。采用一种深度学习的新方法——卷积受限玻尔兹曼机模型,并且采用改进的快速持续对比散度算法对模型进行训练。该方法直接从乳腺X光图像中自主学习特征并利用学习到的特征对图像进行分类。实验结果显示,新方法对医学图像的分类精度相对于已有方法有明显的提升。     

基于Kullback-Leibler分歧的变分滤波WSNs贝叶斯移动定位跟踪西

为了在降低资源能耗和带宽占用情况下,提高无线传感器网络WSNs移动目标定位跟踪的精度,提出了基于Kullback-Leibler分歧的变分滤波的WSNs贝叶斯移动目标定位跟踪算法。首先,利用高斯和Wishart分布在不考虑速度限制和方向移动限制情况下,构建WSNs移动定位的贝叶斯状态演化模型,并基于路径损耗模型构建移动目标定位的观测模型;其次,利用Kullback-Leibler分歧构建变分滤波的误差计算模型,通过周围激活节点实现移动节点目标的位置估计,设计了递归概率计算过程综合预测和更新两个过程,并实现了定位和目标跟踪的同步化;最后,通过仿真验证了所提模型在跟踪精度和资源节约上的优势。     

Extending metric multidimensional scaling with Bregman divergences

Sum of weighted square distance errors has been a popular way of defining stress function for metric multidimensional scaling (MMDS) like the Sammon mapping. In this paper we generalise this popular MMDS with Bregman divergences, as an example we show that the Sammon mapping can be thought of as a truncated Bregman MMDS (BMMDS) and we show that the full BMMDS improves upon the Sammon mapping on some standard data sets and investigate the reasons underlying this improvement. We then extend a well known family of MMDS, that deploy a strategy of focusing on small distances, with BMMDS and investigate limitations of the strategy empirically. Then an opposite strategy is introduced to create another family of BMMDS that gives increasing mapping quality. A data preprocessing method and a distance matrix preprocessing are introduced.     

An alternative objective function for fitting regression trees to functional response variables

Analyses of systems that can be represented by functional responses are becoming common in many scientific disciplines. Functional regression trees (FRT) provide a methodology for modelling such systems. Recent work has focused on fitting models where the response variable is a probability density function, using a splitting criterion that is based on the sum of dissimilarities between the densities. We suggest a different criterion based on deviations of the densities from their mean. We provide motivation and justification for this criterion, and demonstrate its superior performance using an extensive simulation exercise. We discuss the computational aspects of the FRT procedure and show that substantial speed gains can be made through use of a dissimilarity matrix. Our results show that the proposed splitting criterion outperforms both the original and a splitting criterion based on Euclidean distance. Pointwise standard error curves for a predicted functional response can be generated through the fitting procedure, which we demonstrate in a case study with a forestry data set. Supplementary materials are available.     

An Analysis of Edge Detection by Using the Jensen-Shannon Divergence

This work constitutes a theoretical study of the edge-detection method by means of the Jensen-Shannon divergence, as proposed by the authors. The overall aim is to establish formally the suitability of the procedure of edge detection in digital images, as a step prior to segmentation. In specific, an analysis is made not only of the properties of the divergence used, but also of the method's sensitivity to the spatial variation, as well as the detection-error risk associated with the operating conditions due to the randomness of the spatial configuration of the pixels. Although the paper deals with the procedure based on the Jensen-Shannon divergence, some problems are also related to other methods based on local detection with a sliding window, and part of the study is focused to noisy and textured images.     

基于最佳鉴别变换和分类器组合的人脸自动识别

人脸识别技术在商业和法律上有广泛的应用前景 ,在安全监控中也大有用武之地 .其主要任务是利用已有的人脸图象库 ,识别静止的或视频图象中的一张或多张人脸 .从抽取具有统计不相关的模式特征着手 ,通过基于小波变换的图象分解和 KL 变换等处理 ,避开人脸识别的小样本集的局限 ,并通过运用具有统计不相关性的最佳鉴别变换 ,来抽取人脸的有效鉴别特征 .同时 ,利用多特征多分类器组合的方法对图象进行识别 .该方法在 ORL 人脸图象库上进行实验 ,得到识别错误率为 2 %的实验结果 ,这是目前在此人脸图象数据库上所得到的最好的实验结果 .而且本方法对人脸的姿态、表情等条件具有一定的不敏感性