Autonomous topological modeling of a home environment and topological localization using a sonar grid map

This paper presents a method of autonomous topological modeling and localization in a home environment using only low-cost sonar sensors. The topological model is extracted from a grid map using cell decomposition and normalized graph cut. The autonomous topological modeling involves the incremental extraction of a subregion without predefining the number of subregions. A method of topological localization based on this topological model is proposed wherein a current local grid map is compared with the original grid map. The localization is accomplished by obtaining a node probability from a relative motion model and rotational invariant grid-map matching. The proposed method extracts a well-structured topological model of the environment, and the localization provides reliable node probability even when presented with sparse and uncertain sonar data. Experimental results demonstrate the performance of the proposed topological modeling and localization in a real home environment.     

基于监控器时间开销的虚拟机发现方法

针对传统方法只能发现单一类型虚拟机的缺陷,提出基于虚拟机监控器时间开销的虚拟机发现方法。特定指令能使监控器运行时产生显著的额外开销,该方法能利用监控器执行不同指令序列产生的相对时间开销对虚拟机进行判别。实验结果表明,该方法能够准确发现目前3类主流虚拟机。     

A general formulation of monotonically convergent algorithms in the control of quantum dynamics beyond the linear dipole interaction

This paper presents a general method to formulate monotonically convergent algorithms for identifying optimal control fields to manipulate quantum dynamics phenomena beyond the linear dipole interaction. The method, facilitated by a field-dependent dipole moment operator, is based on an integral equation of the first kind arising from the Heisenberg equation of motion for tracking a time-dependent, dynamical invariant observable associated with a reference control field.     

蛇形益智魔方的三维路径求解算法

蛇形益智魔方是智力魔方的一种,由27个两两相连的小正方体组成。文章通过计算机图形学的概念建立空间三维坐标模型,对模型中关键点进行分析归类,对空间中每个方块体可能的坐标点进行了递归公式推导,最后利用三维空间坐标的遍历算法来寻找蛇形魔方所有可能的解,指出了模型的使用前景。     

An improved closed-loop stability related measure forfinite-precision digital controller realizations

The pole-sensitivity approach is employed to investigate the stability issue of the discrete-time control system, where a digital controller implemented with finite word length (FWL), is used. A stability related measure is derived, which is more accurate in estimating the closed-loop stability robustness of an FWL implemented controller than some existing measures for the pole-sensitivity analysis. This improved stability measure thus provides a better criterion to find the optimal realizations for a generic controller structure that includes output-feedback and observer-based controllers. A numerical example is used to verify the theoretical analysis and to illustrate the design procedure     

The relationship of the bayes risk to certain separability measures in normal classification

For the problem of classifying an element (e.g., an unknown pattern) into one of two given categories where the associated observables are distributed according to one of two known multivariate normal populations having a common covariance matrix, it is shown that the minimum Bayes risk is a strict monotonic function of certain separability or statistical distance measures regardless of the a priori probabilities and the assigned loss function. However, for the associated conditional expected losses, strict monotonicity holds, if and only if a certain condition dependent on these probabilities and the given loss function is satisfied. These results remain valid for classification problems in which the observable can be transformed by a one-to-one differentiable mapping to normality.     

心灵深处的遇合——读莫砺锋先生的《杜甫评传》

莫砺锋先生的《杜甫评传》是《中国思想家评传丛书》之一种。该书在继承前人成果后自创新说,围绕"思想"这一宗旨,贯穿整部著作的叙述。通过阅读《杜甫评传》发现其在对杜甫与传统文化的关系,对杜诗的解读及对历史人物的评价方面都有其独到之处。     

Stress wave propagation in supporting bolts: A test for bolt support quality

A test method for the non-destructive determination of bolt length, anchoring length, and bolt body force is described. This addresses the problems of low accuracy, limited number of data, and untimely warning signs encountered with existing test methods. Numerical simulations of the bolt, resin, and rock system show that the length accuracy when using the velocity wave is lower than when using the acceleration wave. It is accepted practice to use the acceleration wave for length tests because of improved signal to noise ratios of the waveforms. Laboratory and in situ underground tests showed that the precision of the measurements meets field requirements. Using this method the anchor properties of each single bolt and, thus, the safety of the entire roadway support may be evaluated.     

Severe motor disability affects functional cortical integration in the context of brain-computer interface (BCI) use

The purpose of this study was to investigate cortical interaction between brain regions in people with and without severe motor disability during brain-computer interface (BCI) operation through coherence analysis. Eighteen subjects, including six patients with cerebral palsy (CP) and three patients with amyotrophic lateral sclerosis (ALS), participated. The results showed (1) the existence of BCI performance difference caused by severe motor disability; (2) different coherence patterns between participants with and without severe motor disability during BCI operation and (3) effects of motor disability on cortical connections varying in the brain regions for the different frequency bands, indicating reduced cortical differentiation and specialisation. Participants with severe neuromuscular impairments, as compared with the able-bodied group, recruited more cortical regions to compensate for the difficulties caused by their motor disability, reflecting a less efficient operating strategy for the BCI task. This study demonstrated that coherence analysis can be applied to examine the ways cortical networks cooperate with each other during BCI tasks. PRACTITIONER SUMMARY: Few studies have investigated the electrophysiological underpinnings of differences in BCI performance. This study contributes by assessing neuronal synchrony among brain regions. Our findings revealed that severe motor disability causes more cortical areas to be recruited to perform the BCI task, indicating reduced cortical differentiation and specialisation.     

Determining the number of new employees with learning, forgetting and variable wage with a Newsvendor model in pull systems

This paper develops a new quantitative model to find the optimal number of new employees with a Newsvendor model in a pull production system. This model allows learning, forgetting and variable wage. This paper also provides numerical results on sensitivity analysis, and compares the numerical results in three different situations: the situation with both learning and forgetting effect, that with learning effect but without forgetting effect and the situation with neither learning nor forgetting effect. The conclusions drawn from the comparison may offer theoretical insight for human resource managers to make appropriate employment decisions.