无线移动环境的传输控制机制研究

传统Internet的以TCP协议为核心的传输控制策略在无线移动环境中将导致资源闲置，吞吐量低，协议开销大等问题，通过分析无线信道的传输特性和上述问题的内在原因，有针对性地对TCP传输控制机制进行优化，裁减，扩充，就能有效地提高移动站与有线网接入网关之间的弊端－性能，WAP协议就体现了这个思想，以TCP协议和WAP协议栈为例，从 丢包恢复，连接维护，传输方式3方面详细分析了无线移动环境下TCP传输控制机制面临的问题和WAP的解决策略，并通过稳态周期性模型进行定量分析，最后说明了电信级设备上的传输控制机制实现的关键技术。     

Mark, a Reasoning Kit for Mobility

The experience gained to date in the development of network applications has shown the difficulties of using traditional software technologies: reasoning about network applications is subtly different from reasoning about ordinary programs because of stronger requirements on security, different forms of termination, and phenomena like mobility and network-awareness. There are currently no standard methods, techniques and tools to support specification, development and (property) certification of these applications.To support property certification of network applications, we propose to use the network-aware logic Mobadtl and its proof assistant, Mark (Mobadtl Reasoning Kit). In the paper we present the prototype implementation of Mark and, as a validating example, we consider applications where mobile components are allowed to carry some resources with them when moving around the network.     

Dynamic Motion Planning for Mobile Robots Using Potential Field Method

The potential field method is widely used for autonomous mobile robot path planning due to its elegant mathematical analysis and simplicity. However, most researches have been focused on solving the motion planning problem in a stationary environment where both targets and obstacles are stationary. This paper proposes a new potential field method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving. Firstly, the new potential function and the corresponding virtual force are defined. Then, the problem of local minima is discussed. Finally, extensive computer simulations and hardware experiments are carried out to demonstrate the effectiveness of the dynamic motion planning schemes based on the new potential field method.     

CTI技术在调度电话自动呼测中的应用

简要介绍了CTI技术，在对电力系统调度电话试通工作的现状进行介绍的基础上，结合CTI技术的特点，提出利用基于CTI技术的电力调度电话自动呼测实现对电力调度电话自动测试的思路。     

Performance analysis of MC-2D-CDMA with orthogonal restore combination(ORC) over frequency selective channel

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A Notation and Logic for Mobile Computing

We define a concurrent mobile system as one where independently executing components may migrate through some space during the course of the computation, and where the pattern of connectivity among the components changes as they move in and out of proximity. The definition is general enough to encompass a system of mobile hosts moving in physical space as well as a system of migrating software agents implemented on a set of possibly non-mobile hosts. In this paper, we present Mobile UNITY, a notation for expressing mobile computations and a logic for reasoning about their temporal properties. Our goal is to find a minimalist model of mobile computation that will allow us to express mobile components in a modular fashion and to reason formally about the possible behaviors of a system composed from mobile components. A simplified serial communication protocol among components which can move in space serves as an illustration for the notation.     

Motion Control of Mobile Robots—From Static Targets to Fast Drives in Moving Crowds

Motion control of vehicles under uncertain, noisy, and discontinuous positioning is essential in autonomous navigation in unknown environments. This article suggests two methods for motion control, where the initial parameters of the on-line control are physically explainable, the resulting trajectory as well as the control parameters are asymptotically converging and glitches in the localization are handled robustly. The differences to a known method based on Lyapunov functions are discussed theoretically as well as in terms of actual motion measurements. Physical experiments with landbound vehicles show the reliability and limitations of these different methods in setups employing static attractors, systematically moving targets and fast, unpredictable moving targets in highly dynamical environments. Mainly due to the physical meaning of the control parameters the adaptation to actual kinematics and dynamics is significantly simplified.     

A Gesture Based Interface for Human-Robot Interaction

Service robotics is currently a highly active research area in robotics, with enormous societal potential. Since service robots directly interact with people, finding natural and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such as navigation and manipulation, relatively few robotic systems are equipped with flexible user interfaces that permit controlling the robot by natural means. This paper describes a gesture interface for the control of a mobile robot equipped with a manipulator. The interface uses a camera to track a person and recognize gestures involving arm motion. A fast, adaptive tracking algorithm enables the robot to track and follow a person reliably through office environments with changing lighting conditions. Two alternative methods for gesture recognition are compared: a template based approach and a neural network approach. Both are combined with the Viterbi algorithm for the recognition of gestures defined through arm motion (in addition to static arm poses). Results are reported in the context of an interactive clean-up task, where a person guides the robot to specific locations that need to be cleaned and instructs the robot to pick up trash.     

Using Real-Time Stereo Vision for Mobile Robot Navigation

This paper describes a working vision-based mobile robot that navigates and autonomously explores its environment while building occupancy grid maps of the environment. We present a method for reducing stereo vision disparity images to two-dimensional map information. Stereo vision has several attributes that set it apart from other sensors more commonly used for occupancy grid mapping. We discuss these attributes, the errors that some of them create, and how to overcome them. We reduce errors by segmenting disparity images based on continuous disparity surfaces to reject spikes caused by stereo mismatches. Stereo vision processing and map updates are done at 5 Hz and the robot moves at speeds of 300 cm/s.