一种融合多帧ICP和图优化的算法研究

当前基于迭代最近点拼接的同时定位与建图算法,存在误差积累、无法满足大范围定位精度的缺陷。为此,提出一种融合多帧迭代最近点和图优化的算法。在时域上处理点云拼接问题,将单帧迭代最近点算法推广到多帧进行最近点迭代,提取同一地点在不同时刻的数据特征,形成多个封闭循环,再运用基于最小二乘的图优化方法对点云拼接后的全网数据进行全局优化,消除累计误差,提升整体的定位精度。采用鲁巷和密歇根的数据进行测试,结果表明,该方法在一定程度上减少了匹配误差,平均误差为1.0m,最小误差为0.2m,可以满足大范围同步定位与建图的精度需求。     

基于梯度投影法与随机优化算法的约束优化方法

针对带有线性等式和不等式约束的无确定函数形式的约束优化问题,提出一种利用梯度投影法与遗传算法、同时扰动随机逼近等随机算法相结合的优化方法。该方法利用遗传算法进行全局搜索,利用同时扰动随机逼近算法进行局部搜索,算法在每次进化时根据线性约束计算父个体处的梯度投影方向,以产生新个体,从而能够严格保证新个体满足全部约束条件。将上述约束优化算法应用于典型约束优化问题,其仿真结果表明了所提出算法的可行性和收敛性。     

Integral approximation—an approach to reduced models for particulate processes

In this contribution, a model reduction technique for population balance systems describing particulate processes is presented. This technique is based on integral approximation and allows the derivation of highly accurate moment models. In contrast to other model reduction methods which can be found in literature, this integral approximation technique can be applied for arbitrarily complex phenomena specifications. The applicability of the presented method will be demonstrated for different example processes by comparing the dynamic behavior of the original population balance models with those of the derived reduced models of moments.     

Polynomial time approximation algorithms for proportionate open‐shop scheduling

This paper deals with the presentation of polynomial time (approximation) algorithms for a variant of open‐shop scheduling, where the processing times are only machine‐dependent. This variant of scheduling is called proportionate scheduling and its applications are used in many real‐world environments. This paper develops three polynomial time algorithms for the problem. First, we present a polynomial time algorithm that solves the problem optimally if , where n and m denote the numbers of jobs and machines, respectively. If, on the other hand, , we develop a polynomial time approximation algorithm with a worst‐case performance ratio of that improves the bound existing for general open‐shops. Next, in the case of , we take into account the problem under consideration as a master problem and convert it into a simpler secondary approximation problem. Furthermore, we formulate both the master and secondary problems, and compare their complexity sizes. We finally present another polynomial time algorithm that provides optimal solution for a special case of the problem where .     

正态分布属性数据集上的Skyline查询

Skyline查询适用于多目标决策、数据挖掘等领域。以往的研究工作主要关注确定型数据集,少数针对不确定型数据集的研究处理的也多是离散型不确定数据。为此,定义属性呈连续型分布的不确定数据集,并给出一种针对该种数据集的Skyline查询算法,利用索引和分治思想解决其Skyline查询问题。实验结果表明,该算法可以在牺牲少量精度的情况下提高查询效率。     

受限波兹曼机联合稀疏近似的脑功能检测模型

人脑功能连通性检测是神经科学研究的重要技术．使用受限制波兹曼机（RestrictedBoltzmannMachine,RBM）对大量多被试功能磁共振（functionalMagneticResonanceImaging,fMRI）数据进行建模可以检测人脑功能连接,但是不能有效检测单被试数据的功能连接．本文研究一种新颖的融合了稀疏近似与RBM技术的脑功能连通性检测模型,该模型充分利用fMRI数据的稀疏性,采用稀疏近似理论对fMRI数据进行空间域稀疏近似压缩,然后使用RBM建立模型,以检测脑功能连通性．实验结果表明,该融合模型可以有效地提取单被试数据的脑功能时间域混合模型及其相应的脑功能图谱,解决了RBM在单被试数据分析上的瓶颈．     

贝叶斯网络分类器近似学习算法

贝叶斯网络在很多领域应用广泛,作为分类器更是一种有效的常用分类方法,它有着很高复杂度,这使得贝叶斯网络分类器在应用中受到诸多限制。通过对贝叶斯网络分类器算法的近似处理,可以有效减少计算量,并且得到令人满意的分类准确率。通过分析一种将判别式算法变为产生式算法的近似方法,介绍了这种算法的近似过程,并将其应用在了贝叶斯网分类算法中。接着对该算法进行分析,利用该算法的稳定性特点,提出Bagging-aCLL 集成分类算法,它进一步提高了该近似算法的分类精度。最后通过实验确定了该算法在分类准确率上确有不错的表现。     

Stochastic stability of semi‐Markovian jump systems with mode‐dependent delays

Semi‐Markovian jump systems, due to the relaxed conditions on the stochastic process, and its transition rates are time varying, can be used to describe a larger class of dynamical systems than conventional full Markovian jump systems. In this paper, the problem of stochastic stability for a class of semi‐Markovian systems with mode‐dependent time‐variant delays is investigated. By Lyapunov function approach, together with a piecewise analysis method, a sufficient condition is proposed to guarantee the stochastic stability of the underlying systems. As more time‐delay information is used, our results are much less conservative than some existing ones in literature. Finally, two examples are given to show the effectiveness and advantages of the proposed techniques. Copyright © 2013 John Wiley & Sons, Ltd.     

Quadratic approximate dynamic programming for input‐affine systems

We consider the use of quadratic approximate value functions for stochastic control problems with input‐affine dynamics and convex stage cost and constraints. Evaluating the approximate dynamic programming policy in such cases requires the solution of an explicit convex optimization problem, such as a quadratic program, which can be carried out efficiently. We describe a simple and general method for approximate value iteration that also relies on our ability to solve convex optimization problems, in this case, typically a semidefinite program. Although we have no theoretical guarantee on the performance attained using our method, we observe that very good performance can be obtained in practice.Copyright © 2012 John Wiley & Sons, Ltd.