Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

自适应有源噪声控制的滤波-LMAD算法

本文研究了稳定非高斯环境下的自适应有源噪声控制问题，提出了滤波－ＬＭＡＤ（ｌｅａｓｔｍｅａｎａｂｓｏｌｕｔｅｄｅｖｉａｔｉｏｎ）算法及归一化滤波－ＬＭＡＤ算法，仿真结果表明，与常用的滤波－ＬＭＳ算法和归－化滤波－ＬＭＳ算法相比，本文提出了算法收敛速度更快。     

对溢洪闸门自动监控系统中几个问题的探讨

结合某水电站介绍了溢洪闸门自动监控系统的结构、功能，讨论了该研制过程中的几个问题的解决办法．     

余热利用系统多目标优化模型及应用

以炭黑生产中的余热利用系统为背景建立了余热利用系统多目标优化规划数学模型;阐述了模型的求解方法;给出了实例分析。     

Capacitated Clustering Problems by Hybrid Simulated Annealing and Tabu Search

The capacitated clustering problem (CCP) is the problem in which a given set of weighted objects is to be partitioned into clusters so that the total weight of objects in each cluster is less than a given value (cluster ‘capacity’). The objective is to minimize the total scatter of objects from the ‘centre’ of the cluster to which they have been allocated. A simple constructive heuristic, a R-interchange generation mechanism, a hybrid simulated annealing (SA) and tabu search (TS) algorithm which has computationally desirable features using a new non-monotonic cooling schedule, are developed. A classification of the existing SA cooling schedules is presented. The effects on the final solution quality of the initial solutions, the cooling schedule parameters and the neighbourhood search strategies are investigated. Computational results on randomly generated problems with size ranging from 50 to 100 customers indicate that the hybrid SA/TS algorithm out-performs previous simulated annealing algorithms, a simple tabu search and local descent algorithms.     

全局最小均方算法

本文提出了一种基于全局均方误差最小准则的全局最小均方（ＴＬＭＳ）算法，在理论上分析了它的统计特性和收敛性，用数字仿真技术优良地它的性能。     

解Job－Shop调度问题的一个遗传算法

本文首先介绍了遗传算法的基本概念和流程，然后叙述了如何把Ｊｏｂ－Ｓｈｏｐ调度问题编码成为遗传算法的形式，并解释了对于实现这一算法中一些问题的考虑．最后给出了算法运行结果并对结果与算法做了总结。     

集群系统与公用网互连的仿真模型和模拟算法

在讨论ＭＰＴ１３２７信令的集群移动通信系统与国内Ｎｏ．７信令的ＰＳＴＮ网间互连，帝现两种信令配合中，研究了集群系统的仿真模型和模拟算法，同时模拟出整个集群系统的工作情况，运行结果证实了所提方案的可行性与准确性。     

新颖的基于小波变换的数字水印方案

随着计算机网络技术与多媒体技术的快速发展，数字产品的版权保护已经成为信息技术领域中最重要的问题之一，提出了一种新颖的基于离散小波变换的数字水印方案，该方案利用改进的Pacthwork算法，将水印嵌入到LL子带中，水印信号在解码过程中无需使用原始图像可快速地重嵌入，该算法利用BCH码来降低误码率，应用所提出的算法，把一个32个字符的水印嵌入到图像中，实现结果表明水印是不可察觉的，经过JPEG有损压缩，低通与中值滤波等图像处理操作后仍是鲁棒的。     

Automating the identification and analysis of protein {beta}-barrels

ßBarrels are widespread and well-studied featuresof a great many protein structures. In this paper an unsuper-visedmethod for the detection of P-barrels is developed based ontechniques from graph theory. The hydrogen bonded connectivityof ß-sheets is derived using standard pattern recognitiontechniques and expressed as a graph. Barrels correspond to topologicalrings in these connectivity graphs and can thus be identifiedusing ring perception algorithms. Following from this, the characteristictopological structure of a barrel can be expressed using a novelform of reduced nomenclature that counts sequence separationsbetween successive members of the ring set These techniquesare tested by applying them to the detection of barrels in anon-redundant subset of the Brookhaven database. Results indicatethat topological rings do seem to correspond uniquely to ß-barrelsand that the technique, as implemented, finds the majority ofbarrels present in the dataset.