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101.
102.
The subgraph isomorphism problem consists in deciding if there exists a copy of a pattern graph in a target graph. We introduce
in this paper a global constraint and an associated filtering algorithm to solve this problem within the context of constraint
programming. The main idea of the filtering algorithm is to label every node with respect to its relationships with other
nodes of the graph, and to define a partial order on these labels in order to express compatibility of labels for subgraph
isomorphism. This partial order over labels is used to filter domains. Labelings can also be strengthened by adding information
from the labels of neighbors. Such a strengthening can be applied iteratively until a fixpoint is reached. Practical experiments
illustrate that our new filtering approach is more effective on difficult instances of scale free graphs than state-of-the-art
algorithms and other constraint programming approaches. 相似文献
103.
Michael A. Bender Gerth Stølting Brodal Rolf Fagerberg Riko Jacob Elias Vicari 《Theory of Computing Systems》2010,47(4):934-962
We study the problem of sparse-matrix dense-vector multiplication (SpMV) in external memory. The task of SpMV is to compute
y:=Ax, where A is a sparse N×N matrix and x is a vector. We express sparsity by a parameter k, and for each choice of k consider the class of matrices where the number of nonzero entries is kN, i.e., where the average number of nonzero entries per column is k. 相似文献
104.
Stéphane Zieba Philippe Polet Frédéric Vanderhaegen Serge Debernard 《Cognition, Technology & Work》2010,12(3):193-203
Unmanned ground vehicles tend to be more and more autonomous, but both complete teleoperation and full autonomy are not efficient
enough to deal with all possible situations. To be efficient, the human–robot system must be able to anticipate, react and
recover from errors of different kinds, i.e., to be resilient. From this observation, this paper proposes a survey on the
resilience of a human–machine system and the means to control the resilience. The resilience of a system can be defined as
the ability to maintain or recover a stable state when subject to disturbance. Adjustable autonomy and human–machine cooperation
are considered as means of resilience for the system. This paper then proposes three indicators to assess different meanings
of resilience of the system: foresight and avoidance of events, reaction to events and recovery from occurrence of events.
The third of these metrics takes into consideration the concept of affordances that allows a common representation for the
opportunities of action between the automated system and its environment. 相似文献
105.
Cristina Teixeira José Covas Thomas Stützle A. Gaspar‐Cunha 《International Transactions in Operational Research》2011,18(2):271-291
The twin‐screw configuration problem arises during polymer extrusion and compounding. It consists in defining the location of a set of pre‐defined screw elements along the screw axis in order to optimize different, typically conflicting objectives. In this paper, we present a simple yet effective stochastic local search (SLS) algorithm for this problem. Our algorithm is based on efficient single‐objective iterative improvement algorithms, which have been developed by studying different neighborhood structures, neighborhood search strategies, and neighborhood restrictions. These algorithms are embedded into a variation of the two‐phase local search framework to tackle various bi‐objective versions of this problem. An experimental comparison with a previously proposed multi‐objective evolutionary algorithm shows that a main advantage of our SLS algorithm is that it converges faster to a high‐quality approximation to the Pareto front. 相似文献
106.
107.
Andreas Birk Burkhard Wiggerich Heiko Bülow Max Pfingsthorn Sören Schwertfeger 《Journal of Intelligent and Robotic Systems》2011,64(1):57-76
Several missions with an Unmanned Aerial Vehicle (UAV) in different realistic safety, security, and rescue field tests are
presented. First, results from two safety and security missions at the 2009 European Land Robot Trials (ELROB) are presented.
A UAV in form of an Airrobot AR100-B is used in a reconnaissance and in a camp security scenario. The UAV is capable of autonomous
waypoint navigation using onboard GPS processing. A digital video stream from the vehicle is used to create photo maps—also
known as mosaicking—in real time at the operator station. This mapping is done using an enhanced version of Fourier Mellin
based registration, which turns out to be very fast and robust. Furthermore, results from a rescue oriented scenario at the
2010 Response Robot Evaluation Exercises (RREE) at Disaster City, Texas are presented. The registration for the aerial mosaicking
is supplemented by an uncertainty metric and embedded into Simultaneous Localization and Mapping (SLAM), which further enhances
the photo maps as main mission deliveries. 相似文献
108.
3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors.
A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very
noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor.
The spectral registration method is based on Phase Only Matched Filtering (POMF) on non-trivially resampled spectra of the
3D data. 相似文献
109.
Tim Van Gestel Feng Han Doris Sebold Hans Peter Buchkremer Detlev St?ver 《Microsystem Technologies》2011,17(2):233-242
A solid oxide fuel cell (SOFC) with a thin-film yttria-stabilized zirconia (YSZ) electrolyte was developed and tested. This
novel SOFC shows a similar multilayer set-up as other current anode-supported SOFCs and is composed of a Ni/8YSZ anode, a
gas-tight 8YSZ electrolyte layer, a dense Sr-diffusion barrier layer and a LSCF cathode. To increase the power density and
lower the SOFC operating temperature, the thickness of the electrolyte layer was reduced from around 10 μm in current cells
to 1 μm, using a nanoparticle deposition method. By using the novel 1 μm electrolyte layer, the current density of our SOFC
progressed to 2.7, 2.1 and 1.6 A/cm2 at operation temperatures of 800, 700 and 650°C, respectively, and out-performs all similar cells reported to date in the
literature. An important consideration is also that cost-effective dip-coating and spin-coating methods are applied for the
fabrication of the thin-film electrolyte. Processing of 1 μm layers on the very porous anode substrate material was initially
experienced as very difficult and therefore 8YSZ nanoparticle coatings were developed and optimized on porous 8YSZ model substrates
and transferred afterwards to regular anode substrates. In this paper, the preparation of the novel SOFC is shown and its
morphology is illustrated with high resolution SEM pictures. Further, the performance in a standard SOFC test is demonstrated. 相似文献
110.
As transistors shrink and processors trend toward low power, maintaining precise digital behavior grows more expensive. Replacing digital units with analog equivalents sometimes allows similar computation to be performed at higher speed using less power. As a case study in mixed-signal approximate computation, the authors describe an enhanced neural prediction algorithm and its efficient analog implementation. 相似文献