一种简单而有效的SMITH预估补偿控制新方法

提出了一种改进型Smith预估补偿控制新方法。在被控对象的输入端施加一阶跃输入信号，根据其阶跃响应估计出被控对象的数学模型，再根据此估计模型在线地修正Smith预估补偿器，从而克服了传统的Smith预估补偿控制方法因模型误差而使控制品质变坏的缺点。     

Curvature continuous path generation for autonomous vehicle using B-spline curves

In this paper we introduce a roadmap algorithm for generating collision-free paths in terms of cubic B-spline curves for unmanned vehicles used in mining operations. The algorithm automatically generates collision-free paths that are curvature continuous with an upper bounded curvature and a small slope discontinuity of curvature at knots, when we are given the locations of the obstacles, the boundary geometry of the working area, positions and directions of the vehicle at the start, loading, and the goal points. Our algorithm also allows us to find a switch back point where the vehicle reverses its direction to enter the loading area. Examples are provided to demonstrate the effectiveness of the proposed algorithms.     

A model-based approximate λ-policy iteration approach to online evasive path planning and the video game Ms. Pac-Man

This paper presents a model-based approximate λ-policy iteration approach using temporal differences for optimizing paths online for a pursuit-evasion problem, where an agent must visit several target positions within a region of interest while simultaneously avoiding one or more actively pursuing adversaries. This method is relevant to applications, such as robotic path planning, mobile-sensor applications, and path exposure. The methodology described utilizes cell decomposition to construct a decision tree and implements a temporal difference-based approximate λ-policy iteration to combine online learning with prior knowledge through modeling to achieve the objectives of minimizing the risk of being caught by an adversary and maximizing a reward associated with visiting target locations. Online learning and frequent decision tree updates allow the algorithm to quickly adapt to unexpected movements by the adversaries or dynamic environments. The approach is illustrated through a modified version of the video game Ms. Pac-Man, which is shown to be a benchmark example of the pursuit-evasion problem. The results show that the approach presented in this paper outperforms several other methods as well as most human players.     

基于改进RRT-Connect算法的机械臂路径规划

针对RRT^*算法速度较慢问题,提出一种快速收敛至最优路径的最优双向快速扩展随机树(Optimal Bidirectional Rapidly-exploring Random Trees,Obi-RRT)算法。Obi-RRT使用改进的RRT-Connect算法快速得到较低成本路径,通过路径修剪得到关键点,围绕关键点提出三种采样空间并进行采样,通过不断更新关键点从而得到最优或接近最优的路径。平面和机械臂关节空间下的仿真实验表明,Obi-RRT算法运行时间仅为RRT^*算法的十分之一,并且路径成本更低。     

Long paths in hypercubes with conditional node-faults

Let F be a set of f?2n-5 faulty nodes in an n-cube Q_n such that every node of Q_n still has at least two fault-free neighbors. Then we show that Q_n-F contains a path of length at least 2ⁿ-2f-1 (respectively, 2ⁿ-2f-2) between any two nodes of odd (respectively, even) distance. Since the n-cube is bipartite, the path of length 2ⁿ-2f-1 (or 2ⁿ-2f-2) turns out to be the longest if all faulty nodes belong to the same partite set. As a contribution, our study improves upon the previous result presented by [J.-S. Fu, Longest fault-free paths in hypercubes with vertex faults, Information Sciences 176 (2006) 759-771] where only n-2 faulty nodes are considered.     

Layout Optimization for Greenhouse WSN Based on Path Loss Analysis

When wireless sensor networks (WSN) are deployed in the vegetable greenhouse with dynamic connectivity and interference environment, it is necessary to increase the node transmit power to ensure the communication quality, which leads to serious network interference. To offset the negative impact, the transmit power of other nodes must also be increased. The result is that the network becomes worse and worse, and node energy is wasted a lot. Taking into account the irregular connection range in the cucumber greenhouse WSN, we measured the transmission characteristics of wireless signals under the 2.4 Ghz operating frequency. For improving network layout in the greenhouse, a semi-empirical prediction model of signal loss is then studied based on the measured data. Compared with other models, the average relative error of this semi-empirical signal loss model is only 2.3%. Finally, by combining the improved network topology algorithm and tabu search, this paper studies a greenhouse WSN layout that can reduce path loss, save energy, and ensure communication quality. Given the limitation of node-degree constraint in traditional network layout algorithms, the improved algorithm applies the forwarding constraint to balance network energy consumption and constructs asymmetric network communication links. Experimental results show that this research can realize the energy consumption optimization of WSN layout in the greenhouse.     

Simple algorithms for searching a polygon with flashlights

The k-searcher is a mobile guard whose visibility is limited to k rays emanating from her position, where the direction of each ray can be changed continuously with bounded angular rotation speed. Given a polygonal region P, is it possible for the k-searcher to eventually see a mobile intruder that is arbitrarily faster than the searcher within P? We present O(n²)-time algorithms for constructing a search schedule of the 1-searcher and the 2-searcher, respectively. Our framework for the 1-searcher can be viewed as a modification of that of LaValle et al. [Proc. 16th ACM Symp. on Computational Geometry, 2000, pp. 260-269] and is naturally extended for the 2-searcher.     

Reactive path integral quantum simulations of molecules solvated in superfluid helium

A hybrid ab initio   path integral molecular dynamics/bosonic path integral Monte Carlo simulation method has been developed, implemented and tested, which allows for the reactive simulations of molecules, clusters or complexes solvated by superfluid ⁴${}^4$He. The simulation takes into account “on-the-fly” the electronic structure and thus the chemical reactivity of the solutes, in conjunction with the Bose–Einstein statistics, and thus the superfluid character of this peculiar solvent. This enables investigations into cryochemical reactions taking place in helium nanodroplets, such as those used in helium nanodroplet isolation (HENDI) spectroscopy.     

A note on path bipancyclicity of hypercubes

In [C.H. Tsai, S.Y. Jiang, Path bipancyclicity of hypercubes, Inform. Process. Lett. 101 (2007) 93–97], the authors showed that any path in an n-cube with length of k, 2k2n−4, lies on a cycle of every even length from 2k to 2ⁿ inclusive. Base on Lemma 5 of that paper, they proved the subcase 2.2.1 of the main theorem of that paper. However, the lemma is false, therefore, we propose a lemma to replace that lemma. Therefore, the main result of [C.H. Tsai, S.Y. Jiang, Path bipancyclicity of hypercubes, Inform. Process. Lett. 101 (2007) 93–97] is still correct.     

融合学习路径的管理类数据挖掘课程教学改革

本文依据职位信息描述→慕课的学习路径分析→高校管理类数据挖掘课程体系改革为探索思路和实践线索,依据大数据分析实现管理类数据挖掘课程体系改革的路径分析.首先对职位信息进行采样和抽取,然后对学员的慕课学习路径进行预处理和数据挖掘,得到学员成功学习线路以及大量的辍学线路.通过实验提出高校管理类数据挖掘课程体系改革模式以及符合...