Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.     

Generation of GHZ states with invariant-based shortcuts

A scheme is proposed to generate three-atom GHZ states by applying the inversely engineered control method on the basis of Lewis–Riesenfeld invariants. In the proposal, three atoms that have different configurations are trapped in a bimodal cavity. Numerical simulations indicate that our protocol has an obvious improvement of speed for the generation of GHZ states. Moreover, the present scheme is robust against both parameter fluctuations and dissipation.     

The Cost of Environmental Constraints in Traffic Networks: Assessing the Loss of Optimality

Increasing numbers of hard environmental constraints are being imposed in urban traffic networks by authorities in an attempt to mitigate pollution caused by traffic. However, it is not trivial for authorities to assess the cost of imposing such hard environmental constraints. This leads to difficulties when setting the constraining values as well as implementing effective control measures. For that reason, quantifying the cost of imposing hard environmental constraints for a certain network becomes crucial. This paper first indicates that for a given network, such cost is not only related to the attribution of environmental constraints but also related to the considered control measures. Next, we present an assessment criterion that quantifies the loss of optimality under the control measures considered by introducing the environmental constraints. The criterion can be acquired by solving a bi-level programming problem with/without environmental constraints. A simple case study shows its practicability as well as the differences between this framework and other frameworks integrating the environmental aspects. This proposed framework is widely applicable when assessing the interaction of traffic and its environmental aspects.     

k-Multi-preference query over road networks

Nowadays, the road network has gained more and more attention in the research area of databases. Existing works mainly focus on standalone queries, such as k-nearest neighbor queries over a single type of objects (e.g., facility like restaurant or hotel). In this paper, we propose a k-multi-preference (kMP) query over road networks, involving complex query predicates and multiple facilities. In particular, given a query graph, a kMP query retrieves of the top-k groups of vertices (of k facility types) satisfying the label constraints and their aggregate distances are the smallest. A naïve solution to this problem is to enumerate all combinations of vertices with k possible facility types and then select the one with the minimum sum distance. This method, however, incurs rather high computation cost due to exponential possible combinations. In addition, the existing solutions to other standalone queries are for a single type of facilities and cannot be directly used to answer kMP queries. Therefore, in this paper, we propose an efficient approach to process a kMP query, which utilizes an index with bounded space and reduces the computation cost of the shortest path queries. We also design effective pruning techniques to filter out false alarms. Through our extensive experiments, we demonstrate the efficiency and effectiveness of our proposed solutions.     

一种内嵌导磁槽的圆感应同步器

圆感应同步器是一种高精度角度传感器,传统的圆感应同步器的转子需外引激励线以驱动其工作,鉴于圆感应同步器在使用过程中需要连续旋转,这将使得外引激励线存在绞线的问题,本文提出一种新的设计方法,在圆感应同步器的定、转子基体上嵌有环状的金属导磁槽,导磁槽内放入环状金属导线.通过给定子导磁槽内的环状金属导线施加激励信号,此激励信号可耦合到转子导磁槽内的环状金属导线中以驱动转子工作,这使得转子无需外引激励线,进而提高了系统应用的便利性以及可靠性.     

基于计算机网络技术的公交数字电视管理研究

基于公交数字电视网络技术的现状和特点,结合城市公交车的未来发展方向,阐述了数字电视用户管理系统的设计方法及实现过程。将数字信号还原成模拟信号,由模拟信号通过调制解调器变换成相应的频道信号,经过移动数字电视传输到每一辆公交车用户。网络正在向标准化、综合化、智能化发展,而计算机技术的快速发展又给网络管理提出了理论及实现方法的新要求。结合网络技术探讨电视管理中的需求、设计、安全等,其研究结果可为公交车辆网络技术在数字电视管理方面的实践应用提供参考与借鉴。     

C语言教学依托NCRE的改革探索

C语言程序设计是普通高校开设的一门实践性强,学生普遍反映比较难学的一门课程,此外,C语言的NCRE考试通过率也比其他二级科目通过率低。通过分析C语言教学和全国计算机等级考试的现状,提出了依托NCRE平台对C语言进行改革,以证促学,提高学生计算机应用能力的教学理念,详细阐述了以计算机等级考试为载体提升C语言教学质量的方法和过程。     

浅谈动画广告设计中的图形创意思维

图形创意及其自身独特的艺术形式在动画广告中有着不可替代的优势,发挥着举足轻重的作用。本文通过动画广告设计与图形创意的关系研究,总结动画广告设计中几种重要的图形创意思维形式,并强调了图形创意思维形式在动画广告设计中的具体应用,如何把握图形创意思维的规律及其在动画广告中的实际价值是一个重要课题。     

关于高校美术基础素描教与学的思考

素描是绘画的入门知识,素描教学是美术教学的基础课程,素描教学在美术教学中极为重要。当前高校素描教学中存在诸多问题,且主要表现在教法与观念、艺术真实性等方面。有效进行素描教学需要从以下几个方面着手,整合素描教学的内容;重视观察环节;创设良好的教学环境。     

μC/OS-Ⅱ事件标志组系统漏洞及其修复

μC/OS-Ⅱ的事件标志组在任务间的同步和通信中有着不可忽视的作用。在应用过程中,发现事件标志组存在系统缺陷,通过对其进行深入分析,提出了解决问题的方案,本文详细地描述了解决方案的具体方式及步骤。该解决方案没有改变系统函数接口,对系统实时性影响也较小,有很强的兼容性及可行性。