A fast path planning by path graph optimization

A fast path planning method by optimization of a path graph for both efficiency and accuracy is proposed. A conventional quadtree-based path planning approach is simple, robust, and efficient. However, it has two limitations. We propose a path graph optimization technique employing a compact mesh representation. A world space is triangulated into a base mesh and the base mesh is simplified to a compact mesh. The compact mesh representation is object-dependent; the positions of vertexes of the mesh are optimized according to the curvatures of the obstacles. The compact mesh represents the obstacles as accurately as the quadtree even though using much fewer vertexes than the quadtree. The compact mesh distributes vertexes in a free space in a balanced way by ensuring that the lengths of edges are below an edge length threshold. An optimized path graph is extracted from the compact mesh. An iterative vertex pushing method is proposed to include important obstacle boundary edges in the path graph. Dijkstra's shortest path searching algorithm is used to search the shortest path in the path graph. Experimental results show that the path planning using the optimized path graph is an order of magnitude faster than the quadtree approach while the length of the path generated by the proposed method is almost the same as that of the path generated by the quadtree.     

Adaptive polygonization of geometrically constrained surfaces

n -dimensional space, where n>3. This definition can be used for given surfaces that are implicit or parametric. This paper presents a robust, adaptive polygonization algorithm for evaluating and visualizing geometrically constrained surfaces. Let be the constrained surface, a 2-surface in n-space, and let π() be its projection into the subspace spanned by the first three coordinates. Our polygonization algorithm computes π(). The method works directly with the n-space representation, but performs all major computations in 3-space. Techniques for triangulation, polygon decimation, and local refinement are also presented.     

Stiffness-based optimal design of tall steel frameworks subject to lateral loading

This study presents an effective stiffness-based optimal design technique for planar tall steel building frameworks subject to lateral loading. An initial design under strength constraints is first performed, and then the lateral load resistant system is designed to control any lateral drift of the structure that yet exceeds the drift criteria. The rigid diaphragm effect of the floor slab is accounted for so as to reduce the degrees of freedom to three at each floor level. Design optimization based on a mathematical programming technique involves minimizing the lateral stiffness of the lateral load resistant system for the structure while satisfying specified drift constraints. Three steel frameworks with diagonal bracing systems are presented to illustrate the features of the design optimization method.     

Handling Updates and Crashes in VoD Systems

Though there have been several recent efforts to develop disk based video servers, these approaches have all ignored the topic of updates and disk server crashes. In this paper, we present a priority based model for building video servers that handle two classes of events: user events that could include enter, play, pause, rewind, fast-forward, exit, as well assystem events such as insert, delete, server-down, server-up that correspond to uploading new movie blocks onto the disk(s), eliminating existing blocks from the disk(s), and/or experiencing a disk server crash. We will present algorithms to handle such events. Our algorithms are provably correct, and computable in polynomial time. Furthermore, we guarantee that under certain reasonable conditions, continuing clients experience jitter free presentations. We further justify the efficiency of our techniques with a prototype implementation and experimental results.     

Smooth trajectory tracking of three-link robot: a self-organizingCMAC approach

A neuro fuzzy system which is embedded in the conventional control theory is proposed to tackle physical learning control problems. The control scheme is composed of two elements. The first element, the fuzzy sliding mode controller (FSMC), is used to drive the state variables to a specific switching hyperplane or a desired trajectory. The second one is developed based on the concept of the self organizing fuzzy cerebellar model articulation controller (FCMAC) and adaptive heuristic critic (AHC). Both compose a forward compensator to reduce the chattering effect or cancel the influence of system uncertainties. A geometrical explanation on how the FCMAC algorithm works is provided and some refined procedures of the AHC are presented as well. Simulations on smooth motion of a three-link robot is given to illustrate the performance and applicability of the proposed control scheme.     

A novel Takagi-Sugeno-based robust adaptive fuzzy sliding-mode controller

In this paper, a nonlinear dynamic system is first approximated by N fuzzy-based linear state-space subsystems. To track a trajectory dominant by a specific frequency, the reference models with desired amplitude and phase features are established by the same fuzzy sets of the system rule. Similarly, the same fuzzy sets of the system rule are employed to design robust fuzzy sliding-mode control (RFSMC) and adaptive fuzzy sliding-mode control (AFSMC). The difference between RFSMC and AFSMC is that AFSMC contains an updating law to learn system uncertainties and then an extra compensation is designed. It is different from the most previous papers to learn the whole nonlinear functions. As the norm of the sliding surface is inside of a defined set, the updating law starts; simultaneously, as it is outside of the other set, the updating law stops. For the purpose of smoothing the possibility of discontinuous control input, a transition between RFSMC and AFSMC is also assigned. Under the circumstances, the proposed control [robust adaptive fuzzy sliding-mode control (RAFSMC)] can automatically tune as a RFSMC or an AFSMC; then the advantages coming from the RFSMC and AFSMC are obtained. Finally, the stabilities of the overall system of RFSMC, AFSMC, and RAFSMC are verified by Lyapunov stability theory. The compared simulations among RFSMC, AFSMC, and RAFSMC are also carried out to confirm the usefulness of the proposed control scheme.     

A study of learning time patterns in asynchronous learning environments

Abstract This research makes use of learning time intensity, burst evaluating equations, and state denotation approaches to evaluate the learning time characteristics of students. Through comparing learning time intensity, six burst styles and three diligence styles are categorized. From the statistical results and interaction content analysis, some pedagogical phenomena were found. The first finding is that the more diligent learners were, the higher the quality and quantity of their interaction. The second is that learners whose learning time intensity was mainly located in the early period of the course and whose interaction content included many complaints were suspected to be possible dropouts. The third finding is that learners whose learning time intensity was mainly located in the later period had achievements that were significantly different from those of the regular periodical reading learners whose learning time intensity was distributed in all periods of the course. The above findings raise some issues and suggestions for those concerned with proposing asynchronous courses. As students can pace their own learning in an asynchronous learning environment, it is hard to avoid getting used to intermittent intensive reading. Instructors should consider seriously how to guide students to learn in a proper sequence through a well‐scheduled instructional programme. It is necessary to encourage students to exercise self‐discipline in regular on‐line reading for better learning outcomes.     

Effects of surface treatment of field emitter arrays on electrical characteristics of active matrix cathode

The effects of a wet chemical surface treatment of molybdenum-tip (Mo-tip) emitters on the electrical characteristics of an active matrix cathode composed of hydrogenated amorphous silicon thin film transistors and Mo-tip emitters are described. X-Ray photoelectron spectroscopy measurements showed that the surface treatment removed MoO₃ from the surface of the e-beam evaporated Mo film. In addition, the surface roughness of the Mo film was increased as the result of the surface treatment. The surface-treated active matrix cathode showed stable emission characteristics and immunity from emitter failures during its operation. The response time of the active matrix cathode was decreased by the surface treatment of the Mo-tip emitters. A change in surface composition and surface roughness appear to be responsible for the enhancement of the active matrix cathode.     

Multi-party semi-quantum key distribution-convertible multi-party semi-quantum secret sharing

This paper proposes a multi-party semi-quantum secret sharing (MSQSS) protocol which allows a quantum party (manager) to share a secret among several classical parties (agents) based on GHZ-like states. By utilizing the special properties of GHZ-like states, the proposed scheme can easily detect outside eavesdropping attacks and has the highest qubit efficiency among the existing MSQSS protocols. Then, we illustrate an efficient way to convert the proposed MSQSS protocol into a multi-party semi-quantum key distribution (MSQKD) protocol. The proposed approach is even useful to convert all the existing measure–resend type of semi-quantum secret sharing protocols into semi-quantum key distribution protocols.