Design and Analysis of Internet-Based Tele-Coordinated Multi-Robot Systems

The coordination of multi-robots is required in many scenarios for efficiency and task completion. Combined with teleoperation capabilities, coordinating robots provide a powerful tool. Add to this the Internet and now it is possible for multi-experts at multi-remote sites to control multi-robots in a coordinated fashion. For this to be feasible there are several hurdles to be crossed including Internet type delays, uncertainties in the environment and uncertainties in the object manipulated. In addition, there is a need to measure and control the quality of tele-coordination. To this end, the measure of force sensed by each robot is suggested and justified as a coordination index. It was proven that if n robots are event-transparent and event-synchronous then they can be teleoperated under random delay conditions to coordinate to any index value, which is feasible under no delay conditions. The design procedure that ensures a system can satisfy a small coordination index was presented and analyzed.In addition, the design and analysis of event-synchronous systems using Petri Nets is detailed. The Petri Net design methodology is presented for both event-synchronous single operator single robot teleoperation systems and event-synchronous multi-operator multi-robot teleoperation systems.The theory developed was tested by bilaterally tele-coordinating two mobile manipulators via the Internet. The experimental results confirmed the theoretical results presented.     

Various hybrid methods based on genetic algorithm with fuzzy logic controller

In this paper we propose several efficient hybrid methods based on genetic algorithms and fuzzy logic. The proposed hybridization methods combine a rough search technique, a fuzzy logic controller, and a local search technique. The rough search technique is used to initialize the population of the genetic algorithm (GA), its strategy is to make large jumps in the search space in order to avoid being trapped in local optima. The fuzzy logic controller is applied to dynamically regulate the fine-tuning structure of the genetic algorithm parameters (crossover ratio and mutation ratio). The local search technique is applied to find a better solution in the convergence region after the GA loop or within the GA loop. Five algorithms including one plain GA and four hybrid GAs along with some conventional heuristics are applied to three complex optimization problems. The results are analyzed and the best hybrid algorithm is recommended.     

基于IGA的板形板厚神经网络分散解耦PID控制

针对板带材轧制是一个复杂的非线性过程，板形控制(AFC)和板厚控制(AGC)又是相互耦合的一个综合系统等特点．该文首先采用神经网络分散解耦方法，对此板形板厚多变量耦合系统进行解耦，而后再应用基于免疫遗传算法的PID控制对解耦后的已近似成为两个独立的SISO系统的广义对象进行控制。从而建立了基于免疫遗传算法的板形板厚神经网络分散解耦PID控制系统。仿真结果证明了此AFC—AGC控制系统具有良好的自适应跟随和抗扰性能，其控制效果优于传统的解耦PID控制。     

GRID转换为TIN的选点算法

GRID和TIN是GIS的两种重要的数据表示方式。该文设计了一种新的GRID转换为TIN的过程中点的选取算法。该算法根据Delaunay三角形的特点，分别从平面、横向、纵向3个方面进行判断选取适当的点。在判断过程中，采用“回溯”的方法，尽量减少生成TIN的点，通过实验验证，与ARC/INFO系统相比，对同样的GRID格式文件转换为TIN格式时选取的点更少，从而大大减少了数据冗余。     

移动IP技术及其路由优化

随着网络通信技术的发展，移动计算机用户对Internet移动接入的需求急剧增长，IETF设计了移动IP协议，使Internet上的移动接入成为可能，该文介绍了移动IP的工作原理、目前移动IP路由方面的问题及其改进方案。     

一种经济型矿井远程监视系统的研究及实现

煤矿井下的特殊环境限制了现有的以光纤或视频电缆为传输介质的矿井视频监视系统的推广应用。该文在研究了矿井视频图像的特点的基础上，提出了矿井视频图象的压缩及传输方法，选择TMS320C2XX通用处理器作为系统开发平台，研制了以矿用信号电缆或电话电缆作为传输介质的经济型低比特率矿井远程监视系统。     

数据挖掘中的模糊聚类分析

该文提出了一种用于数据挖掘的基于模糊集的聚类分析方法,论述了该方法的聚类过程,并给出了聚类分析的实例和程序模块流程。     

一种基于滑模—神经网络观测器的故障检测和诊断方法

本文针对一类非线性系统，提出了一种用于故障检测和诊断的滑模观测器方法．其 中，观测器中的滑模项保证了该系统在无故障情况时的鲁棒性，并且系统运行的滑动区域提供了故障检测的条件．当检测出故障之后，观测器中的故障估计部分被启动，利用RBF神经网络估计故障，从而能在线辨识故障的形态．仿真结果验证了该方法的有效性．     

一种将设计模式用于程序精化演算的并行程序设计方法研究

并行程序设计是并行计算的难点之一。提出了一种将设计模式用于程序精化演算的并行程序设计方法。它通过在Z语言的Schema演算体系中扩充并行的概念和表示，使用设计模式，将问题求解和并行开发的知识进行形式化的定义与描述，通过扩充的Schema演算将其与模型规范进行复合，逐步精化得到抽象并行程序。通过实例对这一方法进行了详细的描述。     

一种非刚体目标的视频分割算法

视频分割是目标识别的关键技术。论文在对现有算法的分析,尤其是对空间分割中K均值算法和时间分割中的背景登记算法分析的基础上,改进了K均值算法,提出了一种基于时空结合的符合人眼对颜色变化敏感因素的分割算法。其基本思想是对视频序列分别做时间和空间分割,然后根据贝叶斯分类法对上述分割结果进行区域合并,即二次分类,从而得到分割结果。实验结果表明,论文提出的分割算法在保证算法效率的前提下,提高了分割的精度。