Addressing agent loss in vehicle formations and sensor networks

In this paper, we address the problem of agent loss in vehicle formations and sensor networks via two separate approaches: (1) perform a ‘self‐repair’ operation in the event of agent loss to recover desirable information architecture properties or (2) introduce robustness into the information architecture a priori such that agent loss does not destroy desirable properties. We model the information architecture as a graph G(V, E), where V is a set of vertices representing the agents and E is a set of edges representing information flow amongst the agents. We focus on two properties of the graph called rigidity and global rigidity, which are required for formation shape maintenance and sensor network self‐localization, respectively. For the self‐repair approach, we show that while previous results permit local repair involving only neighbours of the lost agent, the repair cannot always be implemented using only local information. We present new results that can be applied to make the local repair using only local information. We describe implementation and illustrate with algorithms and examples. For the robustness approach, we investigate the structure of graphs with the property that rigidity or global rigidity is preserved after removing any single vertex (we call the property as 2‐vertex‐rigidity or 2‐vertex‐global‐rigidity, respectively). Information architectures with such properties would allow formation shape maintenance or self‐localization to be performed even in the event of agent failure. We review a characterization of a class of 2‐vertex‐rigidity and develop a separate class, making significant strides towards a complete characterization. We also present a characterization of a class of 2‐vertex‐global‐rigidity. Copyright © 2008 John Wiley & Sons, Ltd.     

A method for diagnosis of current faults in antenna arrays using neural networks

A method for detection of faulty elements in antenna arrays from far‐field radiation pattern is presented. The proposed technique finds variation of current from correct values in the faulty elements. A step wise approach is proposed to determine magnitude and phase of current excitation and location of faulty element using neural networks. The results with radial basis function neural network and probabilistic neural network are compared. © 2008 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2009.     

网络时代杂志形态的转变与发展

信息化浪潮给人们的生活带来剧变,随着计算机和网络的普及,网络数字化阅读开始成为人们新型的阅读方式。多媒体互动电子杂志作为一种融合了平面杂志、网络多媒体技术特点的新型期刊形式,符合阅读方式发展的潮流。本文通过对传统纸媒杂志与多媒体互动电子杂志的比较分析,总结出了电子杂志自身的无可比拟的优势和目前发展中存在的问题,并对网络时代下杂志未来的发展趋势进行了展望。     

基于动态贝叶斯网络的社交圈归属匹配模型

为了帮助社交网中新成员寻找与之最为合适的社交圈,尝试采用动态贝叶斯网（DBN）理论解决社交网分析应用中成员（节点）与社交圈（集合）的匹配问题。将圈内成员个人的多项兴趣爱好程度作为描述社交圈基本属性的特征向量,对每一类圈子建立了带有辅助信息形式的DBN模型,求解最大输出概率即为最佳匹配对象。结果表明,在客观测试和主观评价两方面,该模型都收到了较为满意的结果。     

无线传感器网络路由协议及安全问题研究

无线传感器网络在军事和民用领域得到广泛的应用。由于传感器节点的资源有限以及通信的开放性使得其安全性显得尤为重要。出于对能量消耗的考虑,目前的路由协议设计得比较简单,作者对路由的安全性能以及可能受到的攻击进行分析,并给出相应的防范对策。     

Error compensation in machine tools: a neural network approach

For a non-idealized machine tool, each point in the workspace is associated with a tool point positioning error vector. If this error map can be determined, then it is possible to substantially improve the positioning performance of the machine by introducing suitable compensation into the control loop. This paper explores the possibility of using an artifical neural network (ANN) to compute this mapping. The training set for the ANN is obtained by mounting a physical artifact whose dimensions are precisely known in the machine's workspace. The machine, equipped with a touch trigger probe, measures the positions of features on the artifact. The difference between the machine reading and the known dimension is the machine error at that point in the workspace. Using standard modeling techniques, the kinematic error model for a CNC turning center was developed. This model was parameterized by measurement of the parametric error functions using a laser interferometer, electronic levels and a precision square. The kinematic model was then used to simulate the artifact-measuring process and develop the ANN training set. The effect of changing artifact geometry was explored and a machining operation was simulated using the ANN output to provide compensation. The results show that the ANN is capable of learning the error map of a real machine, and that ANN-based compensation can significantly reduce part-dimensional errors.     

Ship detection based on multi-scale weighted fusion

Ship surveillance plays an important role in ensuring the safety of maritime transportation and navigation. Due to the influence of factors such as waves and special weather, the existing detection methods still cannot balance the accuracy, speed and the parameters of the model in the changeable and complex marine environment. To solve this problem, this paper proposes an improved real-time method based on YOLOv5, which has few parameters and achieves high detection accuracy with little memory and computation cost. Collaborative Attention (CA) mechanism is added to the network structure, which enables the model to more accurately locate and identify target regions. We also design a Spatial Pyramid Pooling module (SPP) and a weighted pyramid network called Bidirectional Feature Pyramid Network (BiFPN) based on the characteristics of the ships to better fuse feature information. Transformer encoder is introduced to capture long-distance dependencies and preserve global and local features to the greatest extent. Furthermore, the ability of our proposed structure to localize objects at each stage is improved through integrating the output of multiple modules. The experimental results show that, the comprehensive performance of this method is better than the existing technology in ship detection on different evaluation criteria.     

Improvisation of Node Mobility Using Cluster Routing-based Group Adaptive in MANET

In today's Internet routing infrastructure, designers have addressed scaling concerns in routing constrained multiobjective optimization problems examining latency and mobility concerns as a secondary constrain. In tactical Mobile Ad-hoc Network (MANET), hubs can function based on the work plan in various social affairs and the internally connected hubs are almost having the related moving standards where the topology between one and the other are tightly coupled in steady support by considering the touchstone of hubs such as a self-sorted out, self-mending and self-administration. Clustering in the routing process is one of the key aspects to increase MANET performance by coordinating the pathways using multiple criteria and analytics. We present a Group Adaptive Hybrid Routing Algorithm (GAHRA) for gathering portability, which pursues table-driven directing methodology in stable accumulations and on-request steering strategy for versatile situations. Based on this aspect, the research demonstrates an adjustable framework for commuting between the table-driven approach and the on-request approach, with the objectives of enhancing the output of MANET routing computation in each hub. Simulation analysis and replication results reveal that the proposed method is promising than a single well-known existing routing approach and is well-suited for sensitive MANET applications.     

Finite-time optimal tracking control for a class of nonlinear systems with prescribed performance

In this paper, a finite-time optimal tracking control scheme based on integral reinforcement learning is developed for partially unknown nonlinear systems. In order to realize the prescribed performance, the original system is transformed into an equivalent unconstrained system so as to a composite system is constructed. Subsequently, a modified nonlinear quadratic performance function containing the auxiliary tracking error is designed. Furthermore, the technique of experience replay is used to update the critic neural network, which eliminates the persistent of excitation condition in traditional optimal methods. By combining the prescribed performance control with the finite-time optimization control technique, the tracking error is driven to a desired performance in finite time. Consequently, it has been shown that all signals in the partially unknown nonlinear system are semiglobally practical finite-time stable by stability analysis. Finally, the provided comparative simulation results verify the effectiveness of the developed control scheme.     

地铁站场景下的可行驶区域检测

在室内环境下的机器人视觉导航任务中,可行驶区域检测是不可或缺的一部分,这是保证自动驾驶任务实现的基础.目前较多的解决方法是对数据集中出现过的障碍物进行识别来检测可行驶区域,缺乏灵活性,因此本文提出了一种针对地铁站等室内平坦地面的可行驶区域检测方法,提高实用性.本文采用经典的MobileNetV3网络对采集到的前方图像进行分类,判断是否为地面区域.由于室内地面的地标、箭头等贴纸的影响,因此需要对非地面区域进一步判断,与常规的立体障碍物进行区分.本文利用连续帧之间的特征点匹配获得相机移动距离,并利用直线拟合计算斜率的方法达到区分立体障碍物与平面地标的目的.实验表明,本文提出的方法能较好地检测机器人前方可行驶区域,具有较高的实用价值.