Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

Robustness issues in optimal control of unstable plants

This paper presents a robustness analysis of the optimal solution of the step tracking problem in a one-degree of freedom control architecture, for the discrete-time multivariable (MIMO) case. It is shown that the resulting closed loop becomes arbitrarily fragile, i.e. the sensitivity peak becomes arbitrarily large, for certain reference directions. The cause of this problem is that the optimal controller depends on the reference direction. The paper shows that this dependence can be eliminated with an alternative formulation of the optimal problem where the cost is averaged over all reference directions.     

基于多代理技术的传感器管理系统

针对分布式对空监视网中混合式传感器管理结构存在的问题，提出了基于多代理技术的混合式传感器管理结构。该结构较好地克服了混合式管理结构中在融合中心存在的瓶颈问题，通过多个传感器代理、融合中心代理之间的相互协商来实现传感器任务的分配。传感器代理与传感器相结合使传感器的工作模式实现高度的自动化和模块化，便于传感器的灵活组网。     

Identification and modelling of aerobic hydrolysis – application of optimal experimental design

Hydrolysis mechanism plays a dominant role in the delicate balance of electron donor/electron acceptor ratios in BNR and EBPR systems as an important carbon source. In this study, the surface‐saturation‐type hydrolysis kinetics was investigated based on respirometric measurements, within the context of the theoretical and the practical identifiability of mathematical models. The identifiable parameters of a selected model were derived from respirograms. In addition, the information from the experiments was evaluated on the basis of Optimal Experimental Design (OED) methodology for different initial conditions of the batch respirometric experiment. © 2003 Society of Chemical Industry     

信息融合的飞机识别方法

以信息融合的理论为基础，利用从可见光图像序列和8-12μm长波红外图像序列中提取的信息对不同种类飞机进行识别。采用矩特征并结合BP神经网络的方法，分别在特征级和决策级两个不同层次上实现了信息融合。实验结果表明，通过信息融合进行飞机识别的准确率可达到90％以上。     

彩色多频同步显示器行激励级电路的倒推设计法（1）

行激励级电路的设计是完全为行输出级服务的,它实质上是行输出级电路设计的一个重要而不可分割的组成部分。因此行激励级电路的设计,自然采用了从显象管偏转线圈和行输出管到激励变压器和行激励级的倒推设计法。     

Vote counting measures for ensemble classifiers

Various measures, such as Margin and Bias/Variance, have been proposed with the aim of gaining a better understanding of why Multiple Classifier Systems (MCS) perform as well as they do. While these measures provide different perspectives for MCS analysis, it is not clear how to use them for MCS design. In this paper a different measure based on a spectral representation is proposed for two-class problems. It incorporates terms representing positive and negative correlation of pairs of training patterns with respect to class labels. Experiments employing MLP base classifiers, in which parameters are fixed but systematically varied, demonstrate the sensitivity of the proposed measure to base classifier complexity.     

多传感器检测中的数据溶合技术

多传感器检测是使用多种(或多个)传感器对同一被测对象进行广泛的测量。应用多传感器检测技术和多传感器数据溶合技术对车削加工中的零件外圆尺寸检测进行了实验研究,结果表明,多传感器检测技术能够满足现代检测技术对信息的精确要求,使得检测监控系统更加准确、可靠。     

Effect of antioxidant contained in poly(ethylene glycol) on cell fusion

The effect of antioxidants contained in poly(ethylene glycol) (PEG) on cell fusion was studied using L929 cells in the monolayer state. Hydroquinone monomethyl ether (HQME), 2-mercaptobenzimidazole (MB), butyl hydroxyanisole (BHA) and 2,6-di-(t-butyl)-4-methylphenol (BHT) were chosen from the antioxidants that have currently been used to protect commercially available PEG from oxidation. Cell culture was conducted in 40% w/w aqueous solution of PEG with a molecular weight of 3000 in the presence of different concentrations of antioxidants. BHA clearly enhanced membrane fusion of L929 cells with increasing concentration in PEG solution, whereas HQME, MB and BHT had no significant effect on cell fusion. The enhancement of cell fusion by BHA might be ascribed to balanced hydrophobicity and high water solubility in comparison with the other three antioxidants.