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51.
This paper addresses the problem of autonomous navigation of a micro air vehicle (MAV) in GPS‐denied environments. We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range finder sensor, to autonomously explore and map unstructured and unknown environments. The key challenge for enabling GPS‐denied flight of a MAV is that the system must be able to estimate its position and velocity by sensing unknown environmental structure with sufficient accuracy and low enough latency to stably control the vehicle. Our solution overcomes this challenge in the face of MAV payload limitations imposed on sensing, computational, and communication resources. We first analyze the requirements to achieve fully autonomous quadrotor helicopter flight in GPS‐denied areas, highlighting the differences between ground and air robots that make it difficult to use algorithms developed for ground robots. We report on experiments that validate our solutions to key challenges, namely a multilevel sensing and control hierarchy that incorporates a high‐speed laser scan‐matching algorithm, data fusion filter, high‐level simultaneous localization and mapping, and a goal‐directed exploration module. These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large‐scale unknown environments, both indoors and in the urban canyon. The system was further validated in the field by our winning entry in the 2009 International Aerial Robotics Competition, which required the quadrotor to autonomously enter a hazardous unknown environment through a window, explore the indoor structure without GPS, and search for a visual target. © 2011 Wiley Periodicals, Inc. 相似文献
52.
Abraham Debebe Woldeyohannes Mohd Amin Abd Majid 《Simulation Modelling Practice and Theory》2011,19(1):196-212
This paper focuses on developing a simulation model for the analysis of transmission pipeline network system (TPNS) with detailed characteristics of compressor stations. Compressor station is the key element in the TPNS since it provides energy to keep the gas moving. The simulation model is used to create a system that simulates TPNS with different configurations to get pressure and flow parameters. The mathematical formulations for the TPNS simulation were derived from the principles of flow of fluid through pipe, mass balance and compressor characteristics. In order to determine the unknown pressure and flow parameters, a visual C++ code was developed based on Newton–Raphson solution technique. Using the parameters obtained, the model evaluates the energy consumption for various configurations in order to guide for the selection of optimal TPNS. Results from the evaluations of the model with the existing TPNS and comparison with the existing approaches showed that the developed simulation model enabled to determine the operational parameters with less than 10 iterations. Hence, the simulation model could assist in decisions regarding the design and operations of the TPNS. 相似文献
53.
In this paper we introduce the balanced traveling salesman problem (BTSP), which can be used to model optimization problems where equitable distribution of resources are important. BTSP is obviously NP-hard. Efficient heuristic algorithms are presented to solve the problem along with extensive computational results using benchmark problems from TSPLIB and random instances. Our algorithms produced provably optimal solutions for several test instances. Application of the model in solving the nozzle guide vane assembly problem related to the maintenance of aircraft engines is also discussed. 相似文献
54.
The bottleneck network flow problem (BNFP) is a generalization of several well-studied bottleneck problems such as the bottleneck transportation problem (BTP), bottleneck assignment problem (BAP), bottleneck path problem (BPP), and so on. The BNFP can easily be solved as a sequence of O(logn) maximum flow problems on almost unit capacity networks. We observe that this algorithm runs in O(min{m3/2,n2/3m}logn) time by showing that the maximum flow problem on an almost unit capacity graph can be solved in O(min{m3/2,n2/3m}) time. We then propose a faster algorithm to solve the unit capacity BNFP in time, an improvement by a factor of at least . For dense graphs, the improvement is by a factor of . On unit capacity simple graphs, we show that BNFP can be solved in time, an improvement by a factor of . As a consequence we have an algorithm for the BTP with unit arc capacities. 相似文献
55.
Organizational Learning Mechanisms and Creative Climate: Insights from an Italian Fashion Design Company 下载免费PDF全文
Stefano Cirella Filomena Canterino Marco Guerci Abraham B. Shani 《Creativity & Innovation Management》2016,25(2):211-222
This paper investigates the relationship between different types of organizational learning mechanisms and creative climate. In the context of an action research study, this paper focuses on insights from a survey that was administered to all the employees of the Product Design and Development unit of the company. The results demonstrate that the three different types of organizational learning mechanisms considered in the study (cognitive, structural and procedural mechanisms) are associated with creative climate. The study generates new scientific knowledge about the role of organizational learning mechanisms and provides specific recommendations for organizations that aim to enhance creative climate. 相似文献
56.
Marya Wani Vishnupriya Raghavan Dolphy Abraham Virginia Kleist 《Information Systems Frontiers》2017,19(4):769-785
Travel websites are extensively used by travelers for their travel bookings, yet little is known about the hedonic effectiveness of such experiences for the customer. The end users of these websites are customers who may not always be sophisticated information system (IS) users. Further, traditional utility based measures of customer evaluation are dated with respect to the interactive nature of the technology in use and the hedonic benefits that may result from the use of the technology. The evaluation of IS needs to include hedonic measures facilitated by the interactive technology in addition to the traditional utility based measures. We propose and test an evaluation model for retail travel websites that combines the traditional utility based measures with hedonic measures which collectively create a more comprehensive measure for the IS evaluation of consumer focused websites. Thus rooted in theory, the model extends DeLone and McLean’s model of IS Success by adding the construct of User Experience. The model was tested on a sample of 255 customers of travel websites targeted at the Indian market. The results indicate that both utility based and hedonic measures are important factors for customer IS (travel website in this study) evaluation. The larger implications for theory and practice of IS evaluation are explained. 相似文献
57.
Özden Engin Çak?c? Harry Groenevelt Abraham SeidmannAuthor vitae 《Decision Support Systems》2011,51(4):842-852
Motivated by a case study at a radiology practice, we analyze the incremental benefits of RFID technology over barcodes for managing pharmaceutical inventories. Unlike barcode technology, RFID enables accurate real-time visibility, which in turn enables several process improvements. We analyze the impact of automatic counting and discuss the system redesign critical to optimizing the inventory policy and eliminating shrinkage. We show that continuous review is superior to periodic review whenever accurate real-time information is available at no additional cost. We explain how RFID-enabled strategies vary with inventory parameters and provide a cost-benefit analysis for the implementation of RFID for the radiology practice. 相似文献
58.
This paper revisits the problem of wireframe rendering, which, at first, appears to be an easily solved problem. However, the conventional solution is inefficient and does not result in high-quality images. Recently, graphics hardware programming has been employed to achieve high-quality solid line rendering. In this paper, we present a simpler and faster technique for wireframe rendering based on texture mapping. Our technique does not require (but can benefit from) graphics hardware programming and thus can be easily integrated into existing rendering engines, while resulting in fast, accurate, high-quality, anti-aliased, and still versatile, wireframe drawing. For topologically structured meshes, our approach allows the rendering of wireframe decoupled from the underlying mesh, making possible the rendering of original wireframes on top of decimated meshes. 相似文献
59.
Density functional calculations and minimization techniques have been employed to characterize the structural and electronic properties of [5,6]-heterofullerene-C58Si-C2v. Since it has odd number of atoms and a near planar tetracoordinate Si atom on the skeleton of the cage, it has odd number of atoms assembling a cage and is a novel molecule. Vibrational frequencies of the molecule have been calculated at the B3LYP/6-31G* level of theory. The absence of imaginary vibrational frequency confirms that the molecule corresponds to a true minimum on the potential energy hypersurface. Sixteen 13C nuclear magnetic resonance (NMR) spectral signals of C58Si are characterized, and its heat of formation was estimated in this work. 相似文献
60.
Das S. Abraham A. Konar A. 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》2008,38(1):218-237
Differential evolution (DE) has emerged as one of the fast, robust, and efficient global search heuristics of current interest. This paper describes an application of DE to the automatic clustering of large unlabeled data sets. In contrast to most of the existing clustering techniques, the proposed algorithm requires no prior knowledge of the data to be classified. Rather, it determines the optimal number of partitions of the data "on the run." Superiority of the new method is demonstrated by comparing it with two recently developed partitional clustering techniques and one popular hierarchical clustering algorithm. The partitional clustering algorithms are based on two powerful well-known optimization algorithms, namely the genetic algorithm and the particle swarm optimization. An interesting real-world application of the proposed method to automatic segmentation of images is also reported. 相似文献