Manipulability of leader–follower networks with the rigid-link approximation

This paper introduces the notion of manipulability to mobile, multi-agent networks as a tool to analyze the instantaneous effectiveness of injecting control inputs at certain, so-called leader nodes in the network. Effectiveness is interpreted to characterize how the movements of the leader nodes translate into responses among the remaining follower nodes. This notion of effectiveness is a function of the interaction topologies, the agent configurations, and the particular choice of inputs used to influence the network. In fact, classic manipulability is an index used in robotics to analyze the singularity and efficiency of configurations of robot-arm manipulators. To define similar notions for leader–follower networks, we use a rigid-link approximation of the follower dynamics and, under this assumption, we prove that the instantaneous follower velocities can be uniquely determined from that of the leaders’, which allows us to define a meaningful and computable manipulability index for the leader–follower networks. This paper examines the property of the proposed index in simulation and with real mobile robots, and demonstrates how the index can be used to find effective interaction topologies.     

Cloud based intelligent system for delivering health care as a service

The promising potential of cloud computing and its convergence with technologies such as mobile computing, wireless networks, sensor technologies allows for creation and delivery of newer type of cloud services. In this paper, we advocate the use of cloud computing for the creation and management of cloud based health care services. As a representative case study, we design a Cloud Based Intelligent Health Care Service (CBIHCS) that performs real time monitoring of user health data for diagnosis of chronic illness such as diabetes. Advance body sensor components are utilized to gather user specific health data and store in cloud based storage repositories for subsequent analysis and classification. In addition, infrastructure level mechanisms are proposed to provide dynamic resource elasticity for CBIHCS. Experimental results demonstrate that classification accuracy of 92.59% is achieved with our prototype system and the predicted patterns of CPU usage offer better opportunities for adaptive resource elasticity.     

THROO: a Tracked Hybrid Rover to Overpass Obstacles

In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with track and legs to overpass obstacles to move on uneven terrain. The leg mechanism is composed of a four-bar linkage, which has been synthesized according to the desired features. In particular, the Burmester problem, which aims at finding the geometric parameters of a four-bar linkage required for a prescribed set of finitely separated poses are solved for the case understudy. Dynamic simulations have been carried out and a prototype has been built. The proposed results show the hybrid rover ability to overpass obstacles, for which size is comparable or greater than the track high.     

基于轨迹频率抑制的轨迹隐私保护方法

移动终端和定位技术的快速发展带来了轨迹大数据.研究者通过挖掘和分析发布的轨迹数据集,可获得一些有价值的信息.攻击者也可利用所掌握的知识对发布的轨迹数据集进行推理分析,以较高的概率推断出用户的隐私信息.轨迹抑制是一类实现隐私保护的重要方法,然而轨迹抑制的点数越多会造成数据效用越低.因此,在满足用户隐私需求的情况下,如何选择合理的抑制点来提高匿名处理后的数据效用是数据发布中要解决的重要问题.针对以上问题,文中提出两种基于轨迹频率的方案对轨迹数据进行匿名处理.第一种方案是根据情况抑制整条有问题的轨迹数据或向有问题的轨迹数据集中添加假数据;第二种方案是采用特定的轨迹局部抑制法对数据进行抑制处理.实验表明相对于已有方案,在满足同等隐私需求的情况下,文中方案处理后的数据效用提升了近30%.     

国产耐火砖在德士古水煤浆气化炉的使用

分析气化炉耐火材料损蚀原因及国产耐火砖在德士古水煤浆加压气化炉中的使用情况，使用结果证明，国产耐火砖可以替代进口砖，每年节约设备投资600万元左右。     

一种融合服务满意度的多因素感知云服务性能预测策略

提出了一种多因素感知的云服务性能预测策略,它基于综合权衡服务提供商的利益,通过合理定价和性能保障来量化和优化服务满意度,并以之驱动性能预测,并引入效用理论实现服务满意度的合理定价.最后通过模拟实验表明,它能够降低SLA破坏率,有效提高云服务的资源利用率.     

离子取代凝胶——ACA离子取代动力学模型

用动边界模型描述了海藻酸-壳聚糖-海藻酸(ACA)离子取代凝胶对2价离子的取代动力学过程.模型具有较好的可靠性，ACA离子取代凝胶对2价离子的取代属于颗粒扩散控制.ACA离子取代凝胶对Pb²⁺的反应级数是0.76.     

二维多层次的云服务可靠性评估方法研究

针对云服务业务流程管理的特点, 给出了云服务的组合实现框架; 依据随机Petri网的建模理论, 探讨了组合云服务流程网模型的细粒度建模方法; 根据动态多变的用户需求, 设计了二维多层次的云服务组合可靠性动态评估框架, 并给出了马尔可夫过程和等值约简的两种可靠性计算方法。应用示例分析结果表明, 该方法具有较好的动态适应性和灵活性, 能有效满足云服务的可靠性评估需求。     

双渠道供应链中服务对定价和需求的影响研究

研究了集中式决策和基于Stackelberg博弈这两种情况下的双渠道供应链的定价、服务及需求的关系。制造商和零售商提供的服务对价格、需求会产生影响,渠道商改善服务有利于本渠道价格的提高,同时会影响到另一渠道的定价,影响程度与双渠道决策模式相关。与服务对定价的影响不同,渠道商提供的服务对本渠道需求产生的影响是双向的,当服务水平在一定的范围内,改善服务可以增加本渠道市场需求,降低另一渠道需求;当服务水平过高,继续改善服务不仅不能增加需求反而减少需求,同时对另一渠道的需求产生影响,这种影响与消费者市场类型存在密切关系。当消费者市场属于价格敏感型时,服务水平存在一个帕累托区间,任一渠道商改善服务都会促进双渠道需求的增加。     

基于通用即插即用的服务监控机器人在智能家居中的应用

针对智能家居系统中多种异构电子设备难以与其他设备集成的问题,采用一种通用即插即用(UPnP)方式将服务机器人集成到智能家居系统中,着重介绍了集成后衍生的新服务.首先系统地介绍了UPnP标准和服务机器人Rovio;然后开发一个PC应用程序作为服务机器人和家庭智能网络之间连接的虚拟桥,形成服务机器人为智能家居网络提供服务的控制回路.最后通过一些实际操作来验证UPnP Rovio虚拟桥的性能,旨在探索服务机器人集成到智能家居的可能性和一些衍生的先进服务.通过路径跟踪、垃圾检测等一些先进服务的实际演示验证了通过UPnP方式将服务机器人集成到智能家居网络中的可行性,并展示了智能家居互通后的巨大潜在利益.