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61.
There is huge diversity among navigation and path-planning problems in the real world because of the enormous number and great
variety of assumptions about the environments, constraints, and tasks imposed on a robot. To deal with this diversity, we
propose a new solution to the path-planning and navigation of a mobile robot. In our approach, we formulated the following
two problems at each time-step as discrete optimization problems: (1) estimation of a robot's location, and (2) action decision.
For the first problem, we minimize an objective function that includes a data term, a constraint term, and a prediction term.
This approach is an approximation of Markov localization. For the second problem, we define and minimize another objective
function that includes a goal term, a smoothness term, and a collision term. Simulation results show the effectiveness of
our approach.
This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January
26–28, 2000 相似文献
62.
Minimizing False Positives of a Decision Tree Classifier for Intrusion Detection on the Internet 总被引:1,自引:0,他引:1
Satoru Ohta Ryosuke Kurebayashi Kiyoshi Kobayashi 《Journal of Network and Systems Management》2008,16(4):399-419
Machine learning or data mining technologies are often used in network intrusion detection systems. An intrusion detection
system based on machine learning utilizes a classifier to infer the current state from the observed traffic attributes. The
problem with learning-based intrusion detection is that it leads to false positives and so incurs unnecessary additional operation
costs. This paper investigates a method to decrease the false positives generated by an intrusion detection system that employs
a decision tree as its classifier. The paper first points out that the information-gain criterion used in previous studies
to select the attributes in the tree-constructing algorithm is not effective in achieving low false positive rates. Instead
of the information-gain criterion, this paper proposes a new function that evaluates the goodness of an attribute by considering
the significance of error types. The proposed function can successfully choose an attribute that suppresses false positives
from the given attribute set and the effectiveness of using it is confirmed experimentally. This paper also examines the more
trivial leaf rewriting approach to benchmark the proposed method. The comparison shows that the proposed attribute evaluation
function yields better solutions than the leaf rewriting approach.
相似文献
Satoru OhtaEmail: |
63.
Given a digraph (or an undirected graph) G=(V,E) with a set V of vertices v with nonnegative real costs w(v), and a set E of edges and a positive integer k, we deal with the problem of finding a minimum cost subset SV such that, for each vertex vV−S, there are k vertex-disjoint paths from S to v. In this paper, we show that the problem can be solved by a greedy algorithm in
time in a digraph (or in
time in an undirected graph), where n=|V| and m=|E|. Based on this, given a digraph and two integers k and ℓ, we also give a polynomial time algorithm for finding a minimum cost subset SV such that for each vertex vV−S, there are k vertex-disjoint paths from S to v as well as ℓ vertex-disjoint paths from v to S. 相似文献
64.
Yoshimasa A. Ono Jun'ichiro Hara Katsuhiko Nagai Kiyoshi Kawamura 《Journal of Low Temperature Physics》1977,27(3-4):513-536
The shear viscosity (T) in the Balian-Werthamer (BW) state of superfluid
3
He is calculated variationally throughout the region 0t 1(t=T/T
c) from the transport equation for Bogoliubov quasiparticles. Coherence factors are treated exactly in the calculation of the collision integral. The numerical result for
=s= s(T)/n(Tc) agree very well with experiment in the range 0.8t1.0. Analytic expressions
= 0.577 (1–1.0008t) and
=1–(23/64) [=(T)/k
B
T] are obtained in the low-temperature region and in the vicinity ofT
c, respectively. From the numerical analysis it is shown that the latter equation is valid only in the temperature range 0.9997t1.0.Supported by the Research Institute for Fundamental Physics, Kyoto University. 相似文献
65.
Summary
Copolymerization of vinyl chloride (VC) and ethylene with Cp*Ti( OCH3)3/MAO catalyst was investigated. The Cp*Ti( OCH3)3/MAO catalyst initiated the copolymerization of VC with ethylene, although the copolymer yields were low. In the 13C NMR spectra of the copolymers, the peaks based on junction part between VC and ethylene was observed, but the signals were
small. From DSC measurement of the copolymers, only one glass transition temperature was observed. Thus, it is clear that
the copolymerization with Cp*Ti( OCH3)3/MAO catalysts gave the copolymer, and the copolymer consisting of block sequence rather than random copolymer.
Received: 13 November 2002/Revised: 6 January 2003/Accepted: 10 January 2003
Correspondence to Kiyoshi Endo 相似文献
66.
Experience with Radio Isotope Myelography is reported here. 169Yb-DTPA as a tracer was intrathecally injected at lumbar region in twenty three patients with various spinal cord lesions. The first scanning is perfomed after comfirming by gamma-camera that the tracer reaches to the lesion, the second and the third scannings are done according to the ascending rate of the tracer. (I) Normal scintimyelogram (A) In normal case, the shape of the Radio Isotope Myelogram well corresponds the shape of anatomical subarachnoid space. (B) In normal adult cases, the tracer comes up to the cisterna magna in 20-25 minutes after the lumbar injection. Therefore, the scintimyelographic diagnosis should be made not only by the shape but also by the ascending rapidity of the tracer. (II) Abnormal scintimyelogram Abnormal scintimyelograms could be summarized as following three categories. (A) "Delay": It means delay of the ascending of the tracer. Besides, "Transient delay" found in a case of Arnord-Chiari's malformation was proposed. (B) "Partial block": It meas a defect at the level of the lesion. This "Partial block" were observed in cases of spinal cord angioma, cervical spondylosis and spinal cord tumor etc. (C) "Complete block": It means the stagnation of the tracer below the lesion. To sum up, Rario Isotope Myelography, especially in partial block, can more easily and more sensitively represent the maximum extent of the spinal cord lesion than other myelographic study or angiographic one. On the other hand, we can not qualitatively diagnose about the lesions by its indistinct border. 相似文献
67.
Yuichi Miyahara Kiyoshi Matsubara Zenji Horita Terence G. Langdon 《Metallurgical and Materials Transactions A》2005,36(7):1705-1711
The extrusion/equal channel angular pressing (EX-ECAP) processing procedure, in which magnesium-based alloys are subjected
to extrusion followed by ECAP, was applied to a Mg-7.5 pct Al-0.2 pct Zr alloy prepared by casting. Microstructural inspection
showed the EX-ECAP process was effective in reducing the grain size from ∼21 μm after extrusion to an as-pressed grain size of ∼0.8 μm. It is shown through static annealing that these ultrafine grains are reasonably stable up to 473 K, but grain growth occurs
at higher temperatures. Tensile specimens were cut from the billets prepared by EX-ECAP and testing showed these specimens
exhibited superplasticity at relatively low temperatures with maximum elongations up to >700 pct. By processing through EX-ECAP
to a higher imposed strain and thereby increasing the area fraction of high-angle boundaries, it is demonstrated that there
is a potential for achieving high-strain-rate superplasticity.
This article is based on a presentation made at the Symposium entitled “Phase Transformations and Deformation in Magnesium
Alloys,” which occurred during the Spring TMS meeting, March 14–18, 2004, in Charlotte, NC, under the auspices of the ASM-MSCTS
Phase Transformations Committee. 相似文献
68.
M. Kobayashi Y. Usuki M. Ishii M. Itoh M. Nikl 《Nuclear instruments & methods in physics research. Section A, Accelerators, spectrometers, detectors and associated equipment》2005,540(2-3):381-394
Since we presented our preliminary result (Nucl. Instr. and Meth. A 486 (2002) 170) at SCINT2001, we have continued our efforts to increase the light yield (LY) of PbWO4 scintillators by extending different dopings with an aim to find a possibility of using PbWO4 successfully in Positron Emission Tomography (PET). Overall result obtained for single doping as well as double and tripple co-dopings are summarized, including decay characteristics and radiation hardness. The LY in non-doped PbWO4 crystals with a size of 10×10×(20–30) mm3 is 25–35 photolectrons/MeV (phe/MeV) corresponding to 3–4% of the LY in BGO, when measured with a bialkali photomultiplier during a gate of 1 μs. The maximum LY increased to 49 phe/MeV for single doping with Mo6+, 80 phe/MeV for double co-doping of Mo6++Sb5+, and 85 phe/MeV for tripple co-doping of Mo6++Cd2++Sb5+. The radiation hardness is larger than 105 Gy for each of the samples co-doped with Mo6++Sb5+ and Mo6++Cd2++Sb5+, while it is much poorer in PWO:Mo6+. In each of these co-doped samples, a medium-speed green emission in the microsecond range is created besides the fundamental fast (a few nanoseconds range) blue one, giving a peak at 500 nm in the radioluminescence spectrum similarly as in PWO:Mo6+. 相似文献
69.
X.Y Fu M Ishii 《Nuclear Engineering and Design》2003,219(2):143-168
The prediction of the dynamical evolution of interfacial area concentration is one of the most challenging tasks in two-fluid model application. This paper is focused on developing theoretical models for interfacial area source and sink terms for a two-group interfacial area transport equation. Mechanistic models of major fluid particle interaction phenomena involving two bubble groups are proposed, including the shearing-off of small bubbles from slug/cap bubbles, the wake entrainment of spherical/distorted bubble group into slug/cap bubble group, the wake acceleration and coalescence between slug/cap bubbles, and the breakup of slug/cap bubbles due to turbulent eddy impacts. The existing one-group interaction terms are extended in considering the generation of cap bubbles, as well as different parametric dependences when these terms are applied to the slug flow regime. The complete set of modeling equations is closed and continuously covers the bubbly flow, slug flow, and churn-turbulent flow regimes. Prediction of the interfacial area concentration evolution using a one-dimensional two-group transport equation and evaluation with experimental results are described in a companion paper. 相似文献
70.
Maruo K. Tsurugi M. Chin J. Ota T. Arimoto H. Yamada Y. Tamura M. Ishii M. Ozaki Y. 《IEEE journal of selected topics in quantum electronics》2003,9(2):322-330
This paper reports in vivo near-infrared (NIR) noninvasive blood glucose assay using dermis tissue spectra. We assume that the glucose content in dermis tissue traces the variations in blood glucose. For dermis spectra measurements, epidermis, especially stratum corneum, acts as an interference in skin tissue. Thus, we have developed a method for the selective measurement of dermis tissue spectra, enabling us to obtain better quality spectra for an accurate blood glucose assay. The selective measurement of the dermis spectra realized by using a newly developed fiber-optic probe that consists of source and detector optical fibers separated by 0.65 mm on a skin surface. The light path in the skin tissue for this geometry has been simulated by a Monte Carlo method. The simulation results show that detected light mainly interrogates dermis tissue. As the absorbance signal of glucose in human tissue is extremely small, the quality of the measured spectra is critical for the reliable assay. The present method for blood glucose assay has been applied to one Type 1 diabetic. The correlation coefficient between the blood glucose content predicted by NIR spectra and those measured by finger-prick was 0.928 and the standard error of prediction was 32.2 mg/dL. These results demonstrate the potential of our methodology for noninvasive NIR blood glucose assay. 相似文献