The uses of fuzzy logic in autonomous robot navigation

 The development of techniques for autonomous navigation in real-world environments constitutes one of the major trends in the current research on robotics. An important problem in autonomous navigation is the need to cope with the large amount of uncertainty that is inherent of natural environments. Fuzzy logic has features that make it an adequate tool to address this problem. In this paper, we review some of the possible uses of fuzzy logic in the field of autonomous navigation. We focus on four issues: how to design robust behavior-producing modules; how to coordinate the activity of several such modules; how to use data from the sensors; and how to integrate high-level reasoning and low-level execution. For each issue, we review some of the proposals in the literature, and discuss the pros and cons of fuzzy logic solutions. Received: 31 March 1997 / Accepted: 24 September 1997     

复杂系统的广义预测模糊控制

针对多变量复杂系统提出一种基于广义预测与模糊控制相集成的控制策略。控制器具有多层结构与智能控制特点，不仅计算量小、实时性强，而且具有良好的“解耦”和动态跟踪性能，明显地提高了该类系统的闭环控制效果。     

泥沙随机起动的简化模式

泥沙的起动既有随机性，又有模糊性，据此作者将模糊数学方法引入泥沙起动研究。建立了直接反映泥沙随机起动特性的起动流速计算模式，该模式得到了实测资料的检验。这一模式可以体现泥沙起动的随机性，较好地反映了泥沙起动的本来面目     

压力容器壳体曲面造型与展开误差分析

采用基于特征的多面体造型方法，解决了压力容器壳体曲面造型的问题，同时，提出了一种筒体展开的算法，并进行了误差分析与修正。     

基于边界表示的曲面实体造型系统的数据结构

实体造型是ＣＡＤ系统的核心模块，而二次曲面在工程中常用来描述轴，孔及圆角等形状特征。讨论了在微机上实现的一个基于边界表示的实体模型的数据结构，并针对二次曲面的特点，实现了对自封闭曲面的无二义性拓扩定义，为顺利进行曲面的拼合运算打下了基础。     

Performance comparison of 100Base-T fast ethernet and 100VG-AnyLAN

There are two competing technologies for 100 Mbps Ethernet, namely IEEE 802.3u 100Base-T Fast Ethernet and IEEE 802.12 100VG-AnyLAN. The former technology is based on the same medium access control protocol as the popular IEEE 802.3 CSMA/CD network, while the later is based on a new demand priority protocol. Contrary to common belief, a test conducted recently by Newman and Levy using commercially available adaptor cards and hubs showed that 100Base-T networks outperformed 100VG-AnyLAN networks with similar configurations by a significant margin. From the analytical models developed, we found that the anomaly is due to the larger-than-expected overheads incurred by the 100VG-AnyLAN hub in polling every station in the network in a round robin manner.     

Simulation based on learning methods

The use of simulation technology as a tool for planning and control is of increasing significance in most fields of production. The main part of the expenditure concerning simulation analyses is the modelling of the considered production. Despite the use of modern building-block-oriented modelling technology, this modelling can often not be done by the user, but only by external experts. Against this backdrop, an adaptive simulation system is being developed by the Institute for Industrial Manufacturing and Management (IFF) at the University of Stuttgart. It independently adapts to real production processes, i.e. it learns about the interdependencies of production processes, and, in this way, supports the user in constructing and maintaining the model. In terms of information technology, the research in the field of artificial intelligence, especially in the subdomain of machine learning, is the basis for the realization of such adaptive systems.     

Colour classification by neural networks in graphic arts

This paper presents a hierarchical modular neural network for colour classification in graphic arts, capable of distinguishing among very similar colour classes. The network performs analysis in a rough to fine fashion, and is able to achieve a high average classification speed and a low classification error. In the rough stage of the analysis, clusters of highly overlapping colour classes are detected. Discrimination between such colour classes is performed in the next stage by using additional colour information from the surroundings of the pixel being classified. Committees of networks make decisions in the next stage. Outputs of members of the committees are adaptively fused through the BADD defuzzification strategy or the discrete Choquet fuzzy integral. The structure of the network is automatically established during the training process. Experimental investigations show the capability of the network to distinguish among very similar colour classes that can occur in multicoloured printed pictures. The classification accuracy obtained is sufficient for the network to be used for inspecting the quality of multicoloured prints.     

遥感图像的模糊边缘检测技术

本文结合遥感图像的实际背景，给出了可用于操作实施的模糊边缘检测数学模型和算法。     

pH过程的模糊控制仿真研究

pH过程广泛存在于化工、生物工艺、污水处理、发电等工业过程中，对这一过程进行良好的控制有着十分重要的意义。由于pH过程是一个具有严重非线性及滞后性的被控对象，传统的PID控制难以达到理想的控制效果。本文使用模糊控制技术，设计采用了带有自调整因子的模糊控制器，不仅能较好地处理pH过程的严重非线性和滞后性，而且具有较强的鲁棒性和抗干扰能力。