面向对象的自主车越野路径规划的设计和实现

本文介绍了一种使用启发式估值函数进行二次搜索的路径规划方法，设计和实现了自主车的越野路径规划。首先是在领域式规划空间上进行领域式搜索，由于该空间是一种面向地形本身分布特点和性质的地质分割，解路径的粒度较粗，因此又进行了在栅格规划空间上的第二次搜索－栅格搜索，以对解路径进行细化，最佳结点只在三个方向上扩展，并取代价最小者。     

复杂条件下的社区搜索方法

社区搜索旨在寻找包含给定节点集的社区，能够快速获取个性化的社区信息.针对现有社区搜索算法难以满足复杂搜索条件的现状，提出条件社区搜索这一新问题.解决该问题有助于对社交网络进行智能分析，在复杂搜索条件下为用户提供更好的社区结果.首先，基于布尔表达式，给出条件社区搜索问题的形式化定义，可有效表达给定节点不能出现在社区内以及给定节点中至少有一个出现在社区内的要求.接着，提出解决条件社区搜索问题的通用框架，包括对搜索条件进行简化、根据简化后的搜索条件进行多次单项条件社区搜索、合并各单项条件社区搜索的结果等主要步骤.同时，提出"社区搜索+过滤"的方法和给点加权的方法来进行单项条件社区搜索.最后，真实数据集上的大量实验结果表明所提方法的正确性和有效性.     

User Models and Filtering Agents for Improved Internet Information Retrieval

Over the past few years, the amount of electronic information available through the Internet has increased dramatically. Unfortunately, the search tools currently available for retrieving and filtering information in this space are not effective in balancing relevance and comprehensiveness. This paper analyzes the results of experiments in which HTML documents are searched with user models and software agents used as intermediaries to the search. Simple user models are first combined with search specifications (or ‘User Needs’), to define an Enhanced User Need. Then Uniform Resource Agents are constructed to filter information based on the EUN parameters. The results of searches using different agents are then compared to those obtained through a comparable simple keyword search, and it is shown that a user searching a pool of existing agents can obtain better search results than by conducting a traditional keyword search. This work thus demonstrates that the use of user models and information filtering agents do improve search results and may be used to improve Internet information retrieval. This revised version was published online in July 2006 with corrections to the Cover Date.     

融合分区和局部搜索的多模态多目标优化

为解决多模态多目标优化中种群多样性维持难和所得等价解数量不足问题,基于分区搜索和局部搜索,本研究提出一种融合分区和局部搜索的多模态多目标粒子群算法(multimodal multi-objective particle swarm optimization combing zoning search and local search,ZLS-SMPSO-MM)。在所提算法中,整个搜索空间被分割成多个子空间以维持种群多样性和降低搜索难度;然后,使用已有的自组织多模态多目标粒子群算法在每个子空间搜索等价解和挖掘邻域信息,并利用局部搜索能力较强的协方差矩阵自适应算法对有潜力的区域进行精细搜索。通过14个多模态多目标优化问题测试,并与其他5种知名算法进行比较;实验结果表明ZLS-SMPSO-MM在决策空间能够找到更多的等价解,且整体性能要好于所比较算法。     

基于对等结点指针表优化的Chord算法改进

对等网络需要解决的一个关键性问题是如何有效地查找存储所需资源的结点。文中在研究分布式查找算法Chord的基础上,介绍了分布式哈希表（DHT）的主要思想,阐述了资源关键字查找方式,重点分析结点指针表的特性及其表中冗余信息对查找资源的影响,进而提出了覆盖冗余信息的方法（uRFchord）改进结点指针表。URFChord方法首先要计算指针表的冗余量R（N）,然后在不增大指针表存储空间的情况下,删除指针表冗余信息再添加R（N）个新的路由信息。通过性能分析及仿真实验,证实了这种改进方法的可行性和有效性,减少了平均查找路径长度,提高了查询效率。     

Occupancy estimation from environmental parameters using wrapper and hybrid feature selection

Occupancy information is essential to facilitate demand-driven operations of air-conditioning and mechanical ventilation (ACMV) systems. Environmental sensors are increasingly being explored as cost effective and non-intrusive means to obtain the occupancy information. This requires the extraction and selection of useful features from the sensor data. In past works, feature selection has generally been implemented using filter-based approaches. In this work, we introduce the use of wrapper and hybrid feature selection for better occupancy estimation. To achieve a fast computation time, we introduce a ranking-based incremental search in our algorithms, which is more efficient than the exhaustive search used in past works. For wrapper feature selection, we propose the WRANK-ELM, which searches an ordered list of features using the extreme learning machine (ELM) classifier. For hybrid feature selection, we propose the RIG-ELM, which is a filter–wrapper hybrid that uses the relative information gain (RIG) criterion for feature ranking and the ELM for the incremental search. We present experimental results in an office space with a multi-sensory network to validate the proposed algorithms.     

Genetic search based on multiple mutations

Because of the fast growth in the quantity and variety of Web sites, quickly and efficiently retrieving information on the Internet is becoming increasingly difficult. Searches often result in a huge number of documents, many of which are completely unrelated to what the users are looking for. The paper considers how genetic search algorithms enable intelligent and efficient Internet searches. They are especially useful when the search space is relatively large     

Large-scale information retrieval with latent semantic indexing

As the amount of electronic information increases, traditional lexical (or Boolean) information retrieval techniques will become less useful. Large, heterogeneous collections will be difficult to search since the sheer volume of unranked documents returned in response to a query will overwhelm the user. Vector-space approaches to information retrieval, on the other hand, allow the user to search for concepts rather than specific words, and rank the results of the search according to their relative similarity to the query. One vector-space approach, Latent Semantic Indexing (LSI), has achieved up to 30% better retrieval performance than lexical searching techniques by employing a reduced-rank model of the term-document space. However, the original implementation of LSI lacked the execution efficiency required to make LSI useful for large data sets. A new implementation of LSI, LSI++, seeks to make LSI efficient, extensible, portable, and maintainable. The LSI++ Application Programming Interface (API) allows applications to immediately use LSI without knowing the implementation details of the underlying system. LSI++ supports both serial and distributed searching of large data sets, providing the same programming interface regardless of the implementation actually executing. In addition, a World Wide Web interface was created to allow simple, intuitive searching of document collections using LSI++. Timing results indicate that the serial implementation of LSI++ searches up to six times faster than the original implementation of LSI, while the parallel implementation searches nearly 180 times faster on large document collections.     

考虑搜索行为与节点内容的P2P搜索方法①

针对基于兴趣驱动的P2P搜索方法在挖掘节点兴趣和扩展搜索兴趣的上下文语义等方面不足,改进Social-P2P算法,给出考虑搜索行为和节点内容的P2P搜索方法。引入概念格理论,根据节点内容和用户搜索行为建立朋友列表,以朋友列表为形式背景构造概念格,建立兴趣域。搜索消息在概念格内查询,缩短搜索路径和减少搜索消息,概念偏序关系扩展查询消息的上下文语义,增强搜索精确度。实验验证该方法比Social-P2P搜索方法和泛洪搜索方法具有更好的召回率和精确率。     

Biologically inspired node generation algorithm for path planning of hyper-redundant manipulators using probabilistic roadmap

This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator.     

蚁群协同模式搜索算法及其收敛性分析

提出了一种解决无约束连续空间优化问题的蚁群协同模式搜索算法.该算法通过目标函数值启发式信息素引导群体进行区域搜索,而每个个体的模式搜索为算法提供进一步的局部搜索,其搜索结果以信息素融合的方式进行信息共享,为下一次的区域搜索提供依据.通过随机模式搜索算法理论得出了算法的收敛性定理.详细的测试结果体现算法的涌现智能特征,与其他算法的比较结果说明了算法的有效性及群体协同的优势.     

一种求解关键路径的新算法

通过定义节点编码图概念,提出一种不需要拓扑排序的求解关键路径的新算法。该算法扩充图的邻接表的存储结构,使图的存储与算法求解过程共享同一存储空间。从图的源节点开始,用加权取极大运算规则,广度优先递归对图中所有节点进行编码。编码图生成后,利用反向搜索求出从源点到汇点的所有关键路径及长度。该算法比现有算法更简单直观,所需的存储空间更小,算法时间复杂度降低到O(n+e),优于现有算法的O(n2)。     

以目标为导向的时序图规划算法的研究

本文提出了一种从目标集扩张时序规划图的新算法。此算法与现有算法不同。采用逆向扩张、正向搜索的策略：由于扩张保留了关于目标的信息。实现了动作方案的完全量化。在搜索阶段。只搜索相关可用动作的交叉点,减少了搜索代价,极大地提高了搜索效率。     

基于椭圆动态限制和免疫机理的路径规划算法

为更好地解决机器人路径规划问题,基于椭圆动态限制和免疫机理提出一种路径规划算法。首先,在全向空间内依据疫苗启发因子生成初始抗体种群。其次,将节点作为基本计算单元构建节点存储结构,避免局部路径信息重复计算,节点变异的同时更新节点信息。然后,根据路径值构建100%置信水平下的椭圆搜索区域,在不影响最优路径求解的同时动态缩小搜索区域,通过节点删除的两层限制不断删除无效节点,提高算法搜索效率。最后,将本文算法与其他3种算法对比,仿真结果表明本文算法搜索时间平均减少了77.24%,搜索的节点数量平均减少了55.54%。     

Squid: Enabling search in DHT-based systems

A fundamental problem in large scale, decentralized distributed systems is the efficient discovery of information. This paper presents Squid, a peer-to-peer information discovery system that supports flexible searches and provides search guarantees. The fundamental concept underlying the approach is the definition of multi-dimensional information spaces and the maintenance of locality in these spaces. The key innovation is a dimensionality reducing indexing scheme that effectively maps the multi-dimensional information space to physical peers while preserving lexical locality. Squid supports complex queries containing partial keywords, wildcards and ranges. Analytical and simulation results show that Squid is scalable and efficient.     

Experimentation-Driven Knowledge Acquisition for Planning

Knowledge engineering for planning is expensive and the resulting knowledge can be imperfect. To autonomously learn a plan operator definition from environmental feedback, our learning system WISER explores an instantiated literal space using a breadth-first search technique. Each node of the search tree represents a state, a unique subset of the instantiated literal space. A state at the root node is called a seed state. WISER can generate seed states with or without utilizing imperfect expert knowledge. WISER experiments with an operator at each node. The positive state, in which an operator can be successfully executed, constitutes initial preconditions of an operator. We analyze the number of required experiments as a function of the number of missing preconditions in a seed state. We introduce a naive domain assumption to test only a subset of the exponential state space. Since breadth-first search is expensive, WISER introduces two search techniques to reorder literals at each level of the search tree. We demonstrate performance improvement using the naive domain assumption and literal-ordering heuristics. To learn the effects of an operator, WISER computes the delta state, composed of the add list and the delete list, and parameterizes it. Unlike previous systems, WISER can handle unbound objects in the delta state. We show that machine-generated effects definitions are often simpler in representation than expert-provided definitions.
     

Meta-searches in peer-to-peer networks

We propose a method for carrying out enhanced collaborative searches, called meta-searches, in peer-to-peer networks. In addition to performing regular searches, our method supports searches based on other network users’ previous searches on the same or similar topic. In essence, when a user performs a search, s/he will receive not only the usual result set, but also information on other users’ previous results, as well as relevancy information (such as how many times a resource that appeared in the result set was successfully downloaded). The core components of meta-search are query relevancy calculation, query matching algorithms, and relevancy file format. In this paper we discuss the underlying concepts and principles, and describe the component design in detail. Meta-search provides a way of benefiting from other users’ successful searches without any additional effort, thus potentially improving the efficiency and experience of a search.     

基于动态变采样区域RRT的无人车路径规划

针对无人车传统RRT路径规划算法节点搜索盲目性、随机性以及路径曲折不连续等问题,提出一种动态变采样区域RRT路径规划算法(dynamic variable sampling area RRT, DVSA-RRT).首先,初始化地图信息,根据动态变采样区域公式划分采样空间,进而选择采样区域;在此基础上,利用基于安全距离的碰撞检测、概率目标偏置策略和多级步长扩展完成初始路径规划;最后,利用考虑最大转角约束的逆向寻优和3次B样条曲线对初始路径进行拟合优化.仿真结果表明,该算法相较于原始RRT算法在不同地图环境下的搜索时间和采样次数均降低50%以上,大大降低了节点搜索的盲目性和随机性,相较于其他算法搜索时间也减少30%以上,且优化后的路径平滑满足车辆运动动力学约束.     

Effect of metacognitive strategies and verbal-imagery cognitive style on biology-based video search and learning performance

Videos have diverse content that can assist students in learning. However, because videos are linear media, video users may take a longer time than readers of text to evaluate the context. Therefore, the process of video search may vary from one user to another depending on the users' individual characteristics, and the effectiveness of video learning may also vary across individuals. This study evaluated 100 Taiwanese fifth graders searching for videos related to “understanding animals” on YouTube and examined the effects of the students' metacognitive strategies (planning, monitoring, and evaluating) and verbal-imagery cognitive style on their video searches. The observable indicators were quantitative (search behaviors, search performance, and learning performance) and qualitative (search process observations and interviews). The study concludes that metacognitive strategy is the primary influencer of video search. Students with better metacognitive skills used fewer keywords, browsed fewer videos, and spent less time evaluating videos, but they achieved higher learning performance. They reviewed the video metadata information on the user interface and did not attempt to watch videos on the video recommendation lists, particularly videos that were irrelevant to the task requirements. During the course of the searches, keyword usage had a significant influence on the students' search performance and learning performance. The fewer keywords the students used, the better search and learning performance they were able to achieve. Our results are different from those of previous studies on text, image, and map searches. Accordingly, users must adopt different search strategies when using various types of search engines.