三维机器人路径规划的一种变异算子蚁群算法

研究三维空间机器人路径规划问题,由于系统求解时间较长、过早失去解的多样性、易陷入局部最优、个体适应度较差等问题,通过构建三维工作空间模型、引入变异算子和搜索无碰路径策略来解决,提出适宜于三维机器人路径规划的一种变异算子蚁群算法(Mutation Operator Ant Colony Algorithm,MOACA)。MOACA是一种关于模型构造的启发式搜索算法,算法在改进启发式函数设计、选择概率确定、信息素更新策略等基础上,引入逆转变异和插入变异算子,通过选择逆转点反序排列部分路径节点和随机插入路径节点的方法搜索无碰路径,对蚁群算法进行了局部优化改良。仿真结果表明,MOACA在搜索路径、收敛时间、适应度等方面较传统蚁群算法有明显改善,算法是有效可行的。     

求解平衡约束圆形Packing问题的快速启发式并行蚁群算法

带平衡约束圆形Packing问题属于NP-hard问题,求解困难.提出一种求解该问题的快速启发式并行蚁群算法.首先提出一种启发式方法:在轮盘赌选择定序的概率公式中增加质量因子和外围逆时针排列定位待布圆,并用它构造出多样性种群个体(相交圆数不超过3的布局方案).然后将蚁群优化与并行搜索相结合,使种群个体快速收敛到最优解或迭代出存在少量干涉的近似最优解(1~3个相交圆).若为后者,则基于物理模型用最速下降法将其快速调整成最优解.所采用的启发式方法、并行蚁群搜索机制和快速调整策略有机结合提高了算法的搜索精度和效率.数值实验表明该算法在性能指标上优于已存在的算法.     

动态路径规划中的改进蚁群算法

针对传统蚁群算法收敛速度慢、易陷入局部最优解的缺点,提出了改进距离启发因子以增加目标节点对下一节点的影响,从而提高全局搜索能力,避免陷于局部最优解,提高收敛速度;考虑真实环境的复杂多样性,引入多个路径质量约束来改进信息素更新规则。仿真实验结果显示,改进蚁群算法在动态路径规划中具有良好的效果。     

一种实时多目标路径规划方法

提出一种利用实时搜索思想的多目标路径规划方法.首先设计并实现局部路径规划算法,在有限的局部空间内执行启发式搜索,求解所有局部非支配路径;在此基础上,提出实时多目标路径规划方法,设计并实现相应的启发式搜索算法,在线交替执行局部搜索过程、学习过程与移动过程,分别用于求解局部空间内的最优移动路径,完成状态的转移和更新状态的启发信息,最终到达目标状态.研究表明,实时多目标启发式搜索算法通过限制局部搜索空间,避免了大量不必要的计算,提高了搜索效率,能够高效地求解多目标路径规划问题.     

结合增量与启发式搜索的多目标问题处理方法

提出了一种结合增量与启发式搜索的多目标问题处理方法,设计并实现了一个基于路径扩展方法的多目标增量启发式搜索系统.当问题搜索图中边的权重发生改变或添加删除节点时,该系统通过对搜索现场进行实时的更新,部分利用先前搜索保留的信息,从更新后的状态开始求解新的问题,从而提高了重搜索的效率.对gridworld标准测试样例进行了大量的系统测试,实验结果表明：结合增量与启发式搜索的处理方法能够有效地解决状态格局不断变化的一系列相似的多目标最短路径问题.     

基于改进RRT*FN算法的机器人路径规划

针对固定节点数的渐近最优快速扩展随机数算法(RRT*FN)精度低、收敛到最优值速度慢等问题,提出一种改进的RRT*FN路径规划算法,并用于解决二维静态环境下的移动机器人全局路径规划问题.首先,改进算法使用与RRT*FN算法相同的均匀采样方法进行路径搜索,当搜索到一条初始路径时,在之后的路径规划中使用启发式采样方法.在之...     

启发式迷宫算法在虚拟实验系统中的应用

提出了一种启发式迷宫连线算法,该算法通过最短距离的启发式方法减少E-节点扩展数目来提高连线速度和连线存储效率, 通过方向记忆法确定搜索走向,从而减少回找邻节点的搜索次数,使其时间复杂度得到了极大的改善.     

求解二次指派问题的最优迭代最大最小蚂蚁算法

为提高二次指派问题的求解质量,设计了一个有效的最大最小蚂蚁求解算法。首先,运用最优迭代思想,让每只蚂蚁从当前最优路径中随机地选择位置及其对应的任务作为下一轮迭代的初始值,增强每轮搜索的有效性;其次,采用加入新任务后目标值的增量作为启发式因子来引导状态转移,增加每步搜索的目的性;然后,应用多精英策略来进行信息素更新,增加解的多样性;并设计有效的双重变异技术来提高解的质量,提高算法的收敛速度;最后,应用QAPLIB数据集进行了大量实验,结果表明:该算法在二次指派问题的求解质量和稳定性上显著优于其他算法。     

求解二次指派问题的最优迭代最大最小蚂蚁算法

为提高二次指派问题的求解质量,设计了一个有效的最大最小蚂蚁求解算法。首先,运用最优迭代思想,让每只蚂蚁从当前最优路径中随机地选择位置及其对应的任务作为下一轮迭代的初始值,增强每轮搜索的有效性;其次,采用加入新任务后目标值的增量作为启发式因子来引导状态转移,增加每步搜索的目的性;然后,应用多精英策略来进行信息素更新,增加解的多样性;并设计有效的双重变异技术来提高解的质量,提高算法的收敛速度;最后,应用QAPLIB数据集进行了大量实验,结果表明:该算法在二次指派问题的求解质量和稳定性上显著优于其他算法。     

基于DFS图的遍历路径优化分析

深度优先搜索是图的遍历的一种重要方法,在一些网络拓补结构、DNA网络等复杂图形分析中有很广泛的应用.传统的深度优先搜索,从某一节点开始,依次遍历此节点所有相邻且未被访问的节点,其下一跳节点的选择往往不是最优的.文章通过对当前节点所有未被访问的下一跳节点计算其到所有未访问节点路径总和,选择最优的一个节点作为下一跳节点,使...     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.