Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

集群移动通信系统的组网设计

本文对集群移动通信系统在组网设计时应考虑的问题进行了分析，并提出了具体步骤和方法，可供集群系统组网设计时参考。     

用于低产和边远油井的活动采油装备

活动采油装备是利用抽汲车将抽子下入井内实施抽汲捞油作业，省去了地面及井下常规采油设备，达到了投入少，效益高，操作简便，便于管理和采油机动灵活的目的，为不能采用常规采油流程和设备的低产、低压、高含水油井和边远油井的开采提供了有效设备。采用活动采油装备在岔河集油田的25口油井内下入油管抽汲管柱、4口油井内下入套管抽汲管柱，抽油863t，获利17．67万元。这套装备仅使用半年就已收回全部投资，若推广使用，可望获得可观的经济效益。     

3G中的QoS结构及无线资源分配策略

在3G（第3代移动通信系统）中，为了给不同类型的业务提供不同级别的端到端QoS，网络资源必须进行合理分配。QoS和资源分配是密不可分的，而无线资源分配显得尤为重要。文中提出了UMTS的QoS结构，分3部分对空中接口部分的QoS（即无线资源分配策略问题）进行了讨论：首先提出了一种RRA算法，接着讨论了W－CDMA和TD－CDMA系统的无线资源分配问题，最后讨论了下行链路及上行链路的呼叫允许控制（CAC）。     

CADRE: An Asynchronous Embedded DSP for Mobile Phone Applications

Asynchronous design techniques have a number of compelling features that make them suited for complex system on chip designs. However, it is necessary to develop practical and efficient design techniques to overcome the present shortage of commercial design tools. This paper describes the development of CADRE (Configurable Asynchronous DSP for Reduced Energy), a 750K transistor, high performance, low-power digital signal processor IP block intended for digital mobile phone chipsets. A short time period was available for the project, and so a methodology was developed that allowed high-level simulation of the design at the earliest possible stage within the conventional schematic entry environment and simulation tools used for later circuit-level performance and power consumption assessment. Initial modeling was based on C behavioral models of the various data and control components, with the many asynchronous control circuits required automatically generated from their specifications. This has enabled design options to be explored and unusual features of the design, such as the Register Bank which is designed to exploit data access patterns, are presented along with the power and performance results of the processor as a whole.     

Performance Evaluation of Packet Mobile Communications through Level Crossing Analysis

In this paper the performance of a packet mobile radio network is studied inthe presence of shadow fading outage intervals.Under quite general assumptions for the medium access protocol,the probability mass function of the sequence of packets that may be lostdue to an outage interval is derived. It is seen that long sequences of lostpackets are likely to occur for typical values of the mobile speed andshadowing correlation parameters.For delay constrained sources, e.g., voice, the analysis is mainly focused atderiving the probability function of the sequence of dropped packetsand the probability of dropping. For data sources, the delay statistic isalso derived. In the latter case, the effect of finite buffer length isaddressed. Simulation is used to verify the accuracy of approximations introduced in the analysis.     

Cleanbot-Ⅰ擦窗机器人的智能化技术

本文简述了擦窗机器人智能化的主要概念．介绍了Ｃｌｅａｎｂｏｔ－Ｉ擦窗机器人系统的结构特点、主要组成部分、工作原理，操作方式，未知局部环境的模型建立，各类内、外传感器的结构、原理和信息融合技术，以及路径规划的方法．     

基于移动Agent技术的QoS保障机制

介绍了移动Agent的基本特性。移动Agent可在异构的网络各个节点间自由地移动,它能感知网络的状态,监控系统并与其他Agent进行交互。IETF的IS模型采用了RSVP(ResourcereSerVationProtocol)协议对系统资源进行预留,从而达到一定程度上保障所需QoS的目的。QoS保障机制将移动agent技术与RSVP协议结合起来,通过资源预留和agent动态移动的实现可以达到更好地改善QoS的目的。     

三维频率复用环境中的信道偏移指配方法

一种新的信道指配法－信道偏移指配方法正受到越来越多的重视，这种方法能在现有的频率资源条件下，较大地提高移动通信系统的容量。本文主要讨论了三维频率复用环境中的信道偏移指配方法，详细地分析了同频复用和相邻信道使用距离，定量地计量了信道偏移系统的频谱节约效率。本文最后还通过几个实例验证了所提算法的实用性。     

RS码频域编译码的计算机模拟

频域编译码是近年来由Ｂｌａｈｕｔ等人提出来的纠错码编译方法。本文介绍了在时域和频域编译ＲＳ码的基本方法，并给出了在移动信息道的简单分群Ｍａｒｋｏｖ模型下频域编译码的计算机模拟方法和结果。