A Real Time Self-Tuning Motion Controller for Mobile Robot Systems

This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method. In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.      

基于压缩感知的移动群智感知任务分发机制

针对移动群智感知任务中区域全覆盖感知成本过高问题，提出基于压缩感知的移动群智感知任务分发（CS-TD）机制。首先提出了感知任务整体成本模型，该模型综合考虑了参与感知任务的节点个数、节点的感知次数与数据上传次数；然后基于成本模型，分析感知节点的日常移动轨迹，结合压缩感知数据采集技术，提出了一种基于感知节点轨迹的压缩感知采样方法；其次通过区域全覆盖最少节点（RCLN）算法，选出最佳节点集合，对节点进行任务分配，利用压缩感知技术恢复节点数据；最后在多次感知任务的迭代中对感知节点的可信程度进行评定，保证任务方案的最优性。对CS-TD分发模型进行多次实验验证，与已有的CrowdTasker算法相比，CS-TD算法平均成本降低了30%以上。CS-TD模型能有效降低感知节点的消耗，能在全覆盖感知任务中降低整体感知成本。     

融合时间隐语义填充和子群划分的推荐算法

随着个性化推荐技术的发展，推荐系统面临着越来越多的挑战。传统的推荐算法通常存在数据稀疏性和推荐精度低等问题。针对以上问题，提出了一种融合时间隐语义填充和子群划分的推荐算法[K]-TLFM（Time Based Latent Factor Model Integrated with [k]-means）。该算法利用融合时间因素的隐语义模型对原始用户物品评分矩阵缺失项进行填充，避免了用全局平均值或者用户/物品平均值补全矩阵带来的误差，有效缓解了数据稀疏性问题，同时融合时间因素有效地刻画了用户偏好随时间的变化；完成评分矩阵缺失项填充后，基于二分[k]-means聚类算法将偏好、兴趣特征相似的对象划分到同一个子群中，在目标用户所属的子群中基于选定的协同过滤算法为用户产生推荐列表，提高了推荐效率和准确性。在MovieLens和Netflix数据集上对该算法的推荐性能进行了对比实验，结果表明该算法具有更高的推荐精度。     

An enhanced state estimation for linear parabolic PDE systems with mobile sensors

This paper studies an enhanced state estimation problem of distributed parameter processes modeled by a linear parabolic partial differential equation using mobile sensors. The proposed estimation scheme contains a state estimator and the guidance of mobile sensors, where the spatial domain is decomposed into multiple subdomains according to the number of sensors and each sensor is capable of moving within the respective subdomain. The state estimator is desired to make the state estimation error system exponentially stable while providing an performance bound. The mobile sensor guidance is used to enhance the transient performance of the error system. By the Lyapunov direct technique, an integrated design of state estimator and mobile sensor guidance laws is developed in the form of bilinear matrix inequalities (BMIs) to meet the desired design objectives. Moreover, to make the performance bound as small as possible, a suboptimal enhanced state estimation problem is formulated as a BMI optimization one, which can be solved via an iterative linear matrix inequality algorithm. Finally, numerical simulations are given to show the effectiveness of the proposed method.     

基于决策树的羽流追踪机器人自主决策方法研究

针对无法获得可靠羽流流向信息不利于实现羽流追踪的问题，提出了一种基于决策树的羽流追踪移动机器人自主决策方法。该方法通过移动机器人两侧的浓度传感器采集到的浓度信息，利用追踪的行为规则建立决策树模型，获得行为决策信息，使机器人高效地追踪到羽流并精确地定位。由于浓度变化关系蕴含了羽流的流向及流速信息，从而取代了传统方法中流向及流速传感器。在扩散环境下，通过移动机器人羽流追踪实验，实现了良好的源定位效果。     

On Cost Aware Cloudlet Placement for Mobile Edge Computing

As accessing computing resources from the remote cloud inherently incurs high end-to-end (E2E) delay for mobile users, cloudlets, which are deployed at the edge of a network, can potentially mitigate this problem. Although some research works focus on allocating workloads among cloudlets, the cloudlet placement aiming to minimize the deployment cost (i.e., consisting of both the cloudlet cost and average E2E delay cost) has not been addressed effectively so far. The locations and number of cloudlets have a crucial impact on both the cloudlet cost in the network and average E2E delay of users. Therefore, in this paper, we propose the Cost Aware cloudlet PlAcement in moBiLe Edge computing (CAPABLE) strategy, where both the cloudlet cost and average E2E delay are considered in the cloudlet placement. To solve this problem, a Lagrangian heuristic algorithm is developed to achieve the suboptimal solution. After cloudlets are placed in the network, we also design a workload allocation scheme to minimize the E2E delay between users and their cloudlets by considering the user mobility. The performance of CAPABLE has been validated by extensive simulations.      

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

基于紧耦合结构的宽带基站天线设计

随着5G移动通信频段的公布,传统基站天线已不足以覆盖其工作频段。文章以紧耦合阵列天线理论为基础,提出了一种基于紧耦合结构的交叉偶极子宽带基站天线。该天线由两对正交的领结状偶极子天线构成,通过两对交叉偶极子之间的耦合效应,有效地展宽了天线的阻抗带宽。同时,通过在天线和金属反射板之间加载电阻型频率选择表面,吸收由反射板引入的谐振反射波,改善天线高频端辐射性能。仿真及测试结果表明:该天线在1.7-3.6 GHz 频率范围内,可以满足基站天线的设计指标,两端口驻波比均小于1.5,两端口之间隔离度大于55 dB,半功率波束宽度满足65°±5°范围,且整个频段内增益均大于8.5 dBi。     

Research on Circular Area Search algorithm of multi-robot service based on SOA cloud platform

Considering autonomous mobile robots with a variety of specific functions as a kind of service, when there are many types and quantities of services and the density of regional services is large, proposing an algorithm of Circular Area Search (CAS) because of the problem of multi-robot service scheduling in various areas. Firstly, Django is used as the web framework to build the Service-Oriented Architecture (SOA) multi-robot service cloud platform, which is the basic platform for multi-service combination. Then, the service type, the latitude and longitude and the scoring parameters of the service are selected as the service search metrics to design the CAS algorithm that based on the existing service information registered in MySQL and the Gaode Map for screening optimal service, and then providing the service applicant with the best service. Finally, the service applicant applies for the self-driving tour service as an example to perform performance simulation test on the proposed CAS algorithm. The results show that the CAS algorithm of the multi-robot service cloud platform proposed in this paper is practical compared to the global search. And compared with the Greedy Algorithm experiment, the service search time is reduced about 58% compared with the Greedy Algorithm, which verifies the efficiency of CAS algorithm.     

Designing Stimuli-Responsive Upconversion Nanoparticles that Exploit the Tumor Microenvironment

Tailoring personalized cancer nanomedicines demands detailed understanding of the tumor microenvironment. In recent years, smart upconversion nanoparticles with the ability to exploit the unique characteristics of the tumor microenvironment for precise targeting have been designed. To activate upconversion nanoparticles, various bio-physicochemical characteristics of the tumor microenvironment, namely, acidic pH, redox reactants, and hypoxia, are exploited. Stimuli-responsive upconversion nanoparticles also utilize the excessive presence of adenosine triphosphate (ATP), riboflavin, and Zn²⁺ in tumors. An overview of the design of stimulus-responsive upconversion nanoparticles that precisely target and respond to tumors via targeting the tumor microenvironment and intracellular signals is provided. Detailed understanding of the tumor microenvironment and the personalized design of upconversion nanoparticles will result in more effective clinical translation.