Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map

A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A^∗-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios.     

非超递增序列背包加密算法研究

为了提高背包加密体制的安全性,对基于超递增序列的背包加密算法进行了分析,指出了利用非超递增序列构造背包所存在的难题,提出一种无冲突非超递增序列的构造方法,并给出严格的证明。依据该方法提出了一种基于无冲突非超递增序列的背包公钥加密算法,有效地避免了利用非超递增序列构造背包的过程中出现的难题。理论分析和仿真实验结果表明,该算法具有高的安全性能,在抵抗Shamir攻击和低密度攻击方面都具有良好的性能。     

Moving objects forecast in image sequences using autoregressive algorithms

The objective of this paper is to present an overall approach to forecasting the future position of the moving objects of an image sequence after processing the images previous to it. The proposed method makes use of classical techniques such as optical flow to extract objects’ trajectories and velocities, and autoregressive algorithms to build the predictive model. Our method can be used in a variety of applications, where videos with stationary cameras are used, moving objects are not deformed and change their position with time. One of these applications is traffic control, which is used in this paper as a case study with different meteorological conditions to compare with.

一体化承载网络体系架构研究

传统信息网络因面向业务支撑设计而造成体系架构的刚性,无法满足业务发展多样性和网络异构的需求,因此无法适应下一代网络融合、可扩展等特点.面向服务提供的技术体系可以解决这一问题.文中以网络承载服务为核心,以可重构路由交换平台为关键支撑技术,设计出一种面向服务提供的网络体系架构--一体化承载网络(UCN)模型,以及基于UCN模型设计出的逻辑承载网的资源均衡构建算法(RBCA)并进行了网络仿真及结果分析,为下一代网络的研究和设计提供了新的思路.     

A two-machine flowshop problem with processing time-dependent buffer constraints—An application in multimedia presentations

To have a quality multimedia presentation through networks, its presentation lag needs to be controlled. One way to reduce the lag is to prefetch the media objects before their due dates. This paper explores techniques for optimizing the object sequence in a prefetch-enabled TV-like presentation. An optimal solution is the one with which the presentation lag is minimized. We formulate the problem into a two-machine flowshop scheduling problem with a single chain precedence constraint and a player-side buffer constraint. The player-side buffer is “processing time-dependent” and distinguished from the conventional item-based intermediate buffer constraints discussed in previous flowshop studies. We prove the problem to be strongly NP-hard. A branch and bound algorithm equipped with four lower bounds and an NEH-based upper bound is developed. The simulation results show that the average gaps between the overall lower bounds and the NEH-based upper bound are less than 3% for problems with a large buffer size, and less than 13% for problems with a small buffer size and high density of precedence constraints. For applications where the media objects are delivered through extremely busy servers with which only very restricted CPU resources can be allocated for computation, the CDS-based algorithm provides better sequences than the NEH-based algorithm.     

Stabilizing switching design for switched linear systems: A state-feedback path-wise switching approach

This paper addresses the problem of switching stabilization for discrete-time switched linear systems. Based on the abstraction-aggregation methodology, we propose a state-feedback path-wise switching law, which is a state-feedback concatenation from a finite set of switching paths each defined over a finite time interval. We prove that the set of state-feedback path-wise switching laws is universal in the sense that any stabilizable switched linear system admits a stabilizing switching law in this set. We further develop a computational procedure to calculate a stabilizing switching law in the set.     

Exploring alternatives for transition verification

When an implementation under test (IUT) is state-based, and its expected abstract behavior is given in terms of a finite state machine (FSM), a checking sequence generated from a specification FSM and applied to an IUT for testing can provide us with high-level confidence in the correct functional behavior of our implementation. One of the issues here is to generate efficient checking sequences in terms of their lengths. As a major characteristics, a checking sequence must contain all β-sequences for transition verification. In this paper, we discuss the possibility of reducing the lengths of checking sequences by making use of the invertible transitions in the specification FSM to increase the choice of β-sequences to be considered for checking sequence generation. We present a sufficient condition for adopting alternative β-sequences and illustrate typical ways of incorporating these alternative β-sequences into existing methods for checking sequence generation to reduce the lengths. Compared to the direct use of three existing methods, our experiments show that most of the time the saving gained by adopting alternative β-sequences falls in the range of 10–40%.     

Optimal assembly plan generation: a simplifying approach

The main difficulty in the overall process of optimal assembly plan generation is the great number of different ways to assemble a product (typically thousands of solutions). This problem confines the application of most existing automated planning methods to products composed of only a limited number of components. The presented method of assembly plan generation belongs to the approach called “disassembly” and is founded on a new representation of the assembly process, with introduction of a new concept, the equivalence of binary trees. This representation allows to generate the minimal list of all non-redundant (really different) assembly plans. Plan generation is directed by assembly operation constraints and plan-level performance criteria. The method was tested for various assembly applications and compared to other generation approaches. Results show a great reduction in the combinatorial explosion of the number of plans. Therefore, this simplifying approach of assembly sequence modeling allows to handle more complex products with a large number of parts.     

基于模式驱动和模糊查询的模式发现方法

在蛋白质序列的比对研究中,拥有相似模式的蛋白质常常具有相似的功能.通过已知的蛋白质序列模式可以很方便地对新蛋白质序列的功能结构进行研究和确认.蛋白质序列的发现已成为一个很有意义的题目.对基于模式驱动Pratt算法进行改进以提高其效率,在原来基础上引入模糊查询方法,能够更为快捷地从互不相关的蛋白质序列集合中找出最具代表性的蛋白质模式.