Sliding mode control for multi-agent systems under a time-varying topology

This paper addresses the tracking problem of a class of multi-agent systems under uncertain communication environments which has been modelled by a finite number of constant Laplacian matrices together with their corresponding scheduling functions. Sliding mode control method is applied to solve this nonlinear tracking problem under a time-varying topology. The controller of each tracking agent has been designed by using only its own and neighbours’ information. Sufficient conditions for the existence of a sliding mode control tracking strategy have been provided by the solvability of linear matrix inequalities. At the end of this work, numerical simulations are employed to demonstrate the effectiveness of the proposed sliding mode control tracking strategy.     

分布式光纤振动传感系统的多级零频点定位研究

为了减少直线结构Sagnac分布式光纤传感系统的定位误差,提出一种多级零频点的优化方法,通过分析直线结构Sagnac分布式光纤传感定位原理,确定固定的采样速率下离散化是造成定位误差大的原因.并分析得出振动信号频域曲线会周期出现多个零频点,进而对振动定位的多级零频点优化方法进行了理论推导,阐明高倍零频点下的定位误差会有效减小.通过实验验证表明,在总长为11.769 km的传感光纤上,优化后的定位方法在不改变采样速率下可保证定位误差提升到±20 m范围内,可以基本满足系统对外界振动信号进行精确定位的要求.     

人群运动中的视觉显著性研究

在公共场所中人们都倾向于以分组的形式进行运动,本文把这种以分组形式运动的若干个行人称为运动群组,具有视觉显著性的人群运动群组是场景理解的重点,其对人群的整体运动也影响最大。本文对运动群组的视觉显著性展开了研究,分别从规模、速度、组内紧致度和变化度４个方面来对运动群组的视觉显著性进行度量,并基于该度量给出了视觉显著性运动群组检测方法。首先,利用光流法对运动人群进行分析得到光流向量;然后通过层次聚类算法对运动人群进行分组;最后,基于本文所给出的度量计算每个群组的视觉显著性,以检测出视觉显著性最高的运动群组。实验表明该方法能够有效地对视觉显 著性运动群组进行检测,该研究成果可应用于人群场景理解、人群运动分析和人群场景分类等计算机视觉研究领域。     

一种家庭异构网络系统终端设计

针对目前家庭通信网络日益复杂化和多样化问题,提出了一种新型的基于Wire-lessHART和PLC的无线自组织网络系统智能终端结构。通过兼容电力线通信、WirelessHART协议以及以太网的方法,实现了异构型网络通信、智能化控制家电等功能。     

Testbed results of an opportunistic routing for multi-robot wireless networks

Opportunistic routing is a candidate for multihop wireless routing where the network topology and radio channels vary rapidly. However, there are not many opportunistic routing algorithms that can be implemented in a real multihop wireless network while exploiting the node mobility. It motivates us to implement an opportunistic routing, random basketball routing (BR), in a real multi-robot network to see if it can enhance the capacity of the multihop network as mobility increases. For implementation purposes, we added some features, such as destination RSSI measuring, a loop-free procedure and distributed relay probability updating, to the original BR. We carried out the experiments on a real multi-robot network and compared BR with AODV combined with CSMA/CA (routing + MAC protocol). We considered both static and dynamic scenarios. Our experiments are encouraging in that BR outperforms AODV + CSMA/CA, particularly in dynamic cases; the throughput of BR is 6.6 times higher than that of AODV + CSMA/CA. BR with dynamic networks shows 1.4 times higher throughput performance than BR with static networks. We investigate the performance of BR in the large-scale network using NS-2 simulation. We verify the effect of node density, speed, destination beacon signal and loop-free procedure. According to the large-scale simulation, the end-to-end throughput grows with the node speed.     

活用RC特性实现对CMOS数字IC的输入保护

介绍了灵活利用RC的特性对CMOS数字IC的输入保护措施,并重点讨论了其应用电路及其参数的设计计算过程。此方法抑制噪声的效果非常好,可以广泛应用于理论及实践性教学、工程设计等方面。     

基于MoM评价模型的冠脉血管直径的测量

在骨架化提取出血管中心线的基础上,提出一种基于MoM评价模型的冠脉血管直径的跟踪测量方法。该算法利用血管的两条边缘线相对于中心线的对称性和最优化评价思想,通过对实际造影图像的量化测量并将其与实际直径值进行对比,发现使用提出的算法能够准确地测量血管的直径,并且可以有效地解决血管分支和重叠处直径测量问题。     

综合业务和区分业务比较研究

为了在Internet上提供有服务质量等级和保证的服务,现在已经提出的在传输层上的实现方案包括综合业务（Integtated Services）和区分业务（Differentiated Services)。本文分析了两种方案的体系结构、工作原理和服务类型,比较了二者在设计思想、实现机制、QoS特性等方面的差异和优缺点,介绍了两种模型相互结合的扩展体系结构及最新研究进展。     

Group interaction analysis in dynamic context.

Computer understanding of human actions and interactions is one of the key research issues in human computing. In this regard, context plays an essential role in semantic understanding of human behavioral and social signals from sensor data. This paper put forward an event-based dynamic context model to address the problems of context awareness in the analysis of group interaction scenarios. Event-driven multilevel dynamic Bayesian network is correspondingly proposed to detect multilevel events, which underlies the context awareness mechanism. Online analysis can be achieved, which is superior over previous works. Experiments in our smart meeting room demonstrate the effectiveness of our approach.     

Unicast-based fault-tolerant multicasting in wormhole-routed hypercubes

A unicast-based fault-tolerant multicasting method is proposed for hypercubes, which can still work well when the system contains enough faults. A multicast message may be unable to reach a destination if Hamming distance between the destination and the multicast source is large enough. A multicast message fails if any one of the destinations is unreachable from the source. An effective destination ordering scheme of the destinations is proposed for one-port systems first, it is extended to all-port systems for unicast-based fault-tolerant multicasting. Unreachable destinations from the source based on the local safety information are forwarded to a reachable destination, where the multicast message can be routed reliably. Destination ordering is completed based on Hamming distance. A multiple round p-cube routing scheme is presented for a deadlock-free fault-tolerant routing for each unicast step in hypercubes, where the same virtual channel is used for each round of p-cube routing. Sufficient simulation results are presented by comparing with the previous methods.