基于混合DSm模型的多机器人地图构建

针对多移动机器人探测静态未知环境,提出了多机器人的一类新的体系结构和机器人内部控制结构,采用分布式融合框架,引入了最近提出的一种在贝叶斯和DST扩展而来的信息融合理论DSmT,结合限制传播算法,建立了不精确传感器(声纳)的混合DSm模型.构造了基本信度赋值函数,计算每个栅格的基本信度值(gbba),有效地融合了多个移动机器人使用声纳获取到的不精确、不确定和高冲突环境信息.最后,以Pioneer 2-DXe机器人作为实验平台,将由混合DSm模型构建出的静态环境地图与实际环境布局做比较,并利用openGL绘制出三维置信度分布图,充分验证了所提出的算法和基于通信的多机器人系统的有效性.     

一种基于滑动窗口的数据流频繁闭项集挖掘算法

频繁项集挖掘是数据流挖掘中的一个热点问题.提出了一种新的数据流频繁闭项集挖掘算法MFCI-SW.首先设计了两个新的数据结构:频繁闭项集表FCIL和频繁闭合模式树MFCI-SW-Tree,在此基础上以滑动窗口中的基本窗口为更新单位,在每个基本窗口中提取出频繁闭项集的数据项,将其支持度F和窗口序列号K存到FCIL中;然后随着新基本窗口的到来,通过删除频繁闭项集表中K值最小的数据项和插入新数据项完成对FCIL的更新和MFCI-SW-Tree树的裁剪;最后在MFCI-SW-Tree中可以迅速挖掘出满足用户需要的频繁闭项集.实验结果证明了该算法在执行效率上明显优于DS-CFI算法.     

基于流媒体的隐蔽通信可靠传输机制的研究

首先分析了原有流媒体隐蔽通信系统模型在传输机制上存在的问题.在此基础上改进了原有的传输方案,提出了一种新的基于流媒体的隐蔽通信的可靠传输机制,并进行实现和实际测试.实验结果表明,对于只有当载体满足一定条件时才可以嵌入的隐藏算法,新的传输机制也能保证可靠传输,性能较以前的方法也有长足的改善.     

用于通信模块的短消息类的设计与实现

介绍短消息发送实体、短消息协议数据单元与AT指令集.在VC6.0基础上,编写通信模块短消息类,通过串口发送AT指令与通信模块通信,实现短消息的设置、收发等功能,出口参数具有错误和状态提示,方便用户进行再开发.该短消息类已在SIEMENS公司MC75模块上调试成功.     

Straight ladder inclined angle in a field environment: the relationship among actual angle,method of set-up and knowledge

Ladder inclined angle is a critical factor that could lead to a slip at the base of portable straight ladders, a major cause of falls from heights. Despite several methods established to help workers achieve the recommended 75.5° angle for ladder set-up, it remains unclear if these methods are used in practice. This study explored ladder set-up behaviours in a field environment. Professional installers of a company in the cable and other pay TV industry were observed for ladder set-up at their worksites. The results showed that the actual angles of 265 ladder set-ups by 67 participants averaged 67.3° with a standard deviation of 3.22°. Although all the participants had training on recommended ladder set-up methods, only 3 out of 67 participants applied these methods in their daily work and even they failed to achieve the desired 75.5° angle. Therefore, ladder set-up remains problematic in real-world situations.

Practitioner Summary: Professional installers of a cable company were observed for portable straight ladder set-up at their worksites. The ladder inclined angle averaged 67.3° with a standard deviation of 3.22°, while the recommended angle is 75.5°. Only a few participants used the methods that they learned during training in their daily work.     

H∞ state estimation of generalised neural networks with interval time-varying delays

This paper focuses on studying the H_∞ state estimation of generalised neural networks with interval time-varying delays. The integral terms in the time derivative of the Lyapunov–Krasovskii functional are handled by the Jensen’s inequality, reciprocally convex combination approach and a new Wirtinger-based double integral inequality. A delay-dependent criterion is derived under which the estimation error system is globally asymptotically stable with H_∞ performance. The proposed conditions are represented by linear matrix inequalities. Optimal H_∞ norm bounds are obtained easily by solving convex problems in terms of linear matrix inequalities. The advantage of employing the proposed inequalities is illustrated by numerical examples.     

Estimation of winter wheat phenology under the influence of cumulative temperature and soil salinity in the Yellow River Delta,China, using MODIS time-series data

Understanding the impact of environmental factors on crop phenology is significant in predicting crop growth stages, agricultural decision-making, and yield estimation. Here, using Moderate Resolution Imaging Spectroradiometer time-series data, we present phenological detection mechanisms and an explanation for the phenological variability linked to environmental drivers, such as cumulative temperature and soil salinity, for winter wheat (Triticum aestivum L.) in the Yellow River Delta in 2013. The 8-day normalized difference vegetation index was fitted to a double Gaussian function. Phenological phases, such as the green-up and heading phases, were extracted using maximum curvature approaches. The spatial characteristics of the phenological patterns were investigated. The relationships between the phenological phases and cumulative temperature were explored. Then, the relationships between the phenological phases and soil salinity were evaluated by selecting sites with similar soil fertility and temperature forcing. This study concluded that the regional average green-up date occurred on 5 March, and the regional average heading date occurred on 9 May. The spatial distributions of the green-up and heading phases showed a gradual delay from the southwest to the northeast and from the south to the north. The green-up phase lagged 4–5 days for every 10 degree days that the cumulative temperature decreased. The heading phase lagged 1–2 days for every 10 degree days that the cumulative temperature decreased. The green-up phase in a non-salinization region might be approximately 5–9 days earlier than that in a severe or moderate salinization region. The heading phase in a severe region might occur approximately 1–8 days earlier than that in a non-salinization or moderate salinization region. The method proposed in this article may be useful for understanding the impact of temperature and soil salinity on phenology and could be used to better manage winter wheat in coastal salinization areas.     

Synchronisation of complex dynamical networks with additive stochastic time-varying delays

In this letter, a class of complex dynamical networks with additive stochastic time-varying delays is investigated. Two kinds of delays in complex dynamical networks are taken into consideration, one is called the nodes-induced delay in this paper, and the other is the network-induced delay. Both of the delays are assumed to obey different stochastic distributions. By utilising a novel Lyapunov–Krasovskii functional and stochastic analysis techniques, a sufficient criterion is obtained in the form of linear matrix inequalities to ensure the synchronisation of the complex dynamical networks. Finally, a numerical example is given to illustrate the feasibility and effectiveness of the proposed method.