Path-planning and navigation of a mobile robot as discrete optimization problems

There is huge diversity among navigation and path-planning problems in the real world because of the enormous number and great variety of assumptions about the environments, constraints, and tasks imposed on a robot. To deal with this diversity, we propose a new solution to the path-planning and navigation of a mobile robot. In our approach, we formulated the following two problems at each time-step as discrete optimization problems: (1) estimation of a robot's location, and (2) action decision. For the first problem, we minimize an objective function that includes a data term, a constraint term, and a prediction term. This approach is an approximation of Markov localization. For the second problem, we define and minimize another objective function that includes a goal term, a smoothness term, and a collision term. Simulation results show the effectiveness of our approach. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000     

面向火灾救援的室内定位与逃生路径规划系统

在发生火灾等紧急情况时,由于高层楼宇空间小、出口少的结构特性,受困人员逃生往往很困难。针对传统的被动引导逃生方式中信息获取有限、易产生人群聚集等缺点,该文提出主动式逃生导航的概念,设计了一种改进的K-Means室内定位方法,结合人群密度检测与环境信息采集,进行路径导航,实现了一套基于传感器网络与智能手机的定位导航系统。实验表明,该系统能较好地提高定位精度,避开火灾点,增大每个人的逃生几率,该文为室内逃生导航方案提供了新的思路。     

A finite element method for poro mechanical modelling of geotechnical problems using local second gradient models

In this paper, a new finite element method is described and applied. It is based on a theory developed to model poromechanical problems where the mechanical part is obeying a second gradient theory. The aim of such a work is to properly model the post localized behaviour of soils and rocks saturated with a pore fluid. Beside the development of this new coupled theory, a corresponding finite element method has been developed. The elements used are based on a weak form of the relation between the deformation gradient and the second gradient, using a field of Lagrange multipliers. The global problem is solved by a system of equations where the kinematic variables are fully coupled with the pore pressure. Some numerical experiments showing the effectiveness of the method ends the paper. Copyright © 2005 John Wiley & Sons, Ltd.     

Development of microphone leak detection technology on Fugen NPP

A method of leak detection, based on high-temperature resistant microphones, was originally developed in JNC to detect leakages with flow rates from 1 m³/h to 500m³/h. The development performed on Fugen is focused on detection of a small leakage at an early stage. Specifically, for the inlet feeder pipes the leak rate of 0.2gpm (0.046m³/h) has been chosen as a target detection capability. Evaluation of detection sensitivity was carried out in order to check the capability of the method to satisfy this requirement. The possibility of detecting and locating a small leakage has been demonstrated through the research.     

Bayesian Landmark Learning for Mobile Robot Localization

To operate successfully in indoor environments, mobile robots must be able to localize themselves. Most current localization algorithms lack flexibility, autonomy, and often optimality, since they rely on a human to determine what aspects of the sensor data to use in localization (e.g., what landmarks to use). This paper describes a learning algorithm, called BaLL, that enables mobile robots to learn what features/landmarks are best suited for localization, and also to train artificial neural networks for extracting them from the sensor data. A rigorous Bayesian analysis of probabilistic localization is presented, which produces a rational argument for evaluating features, for selecting them optimally, and for training the networks that approximate the optimal solution. In a systematic experimental study, BaLL outperforms two other recent approaches to mobile robot localization.     

2005年中国风电产业回顾和未来5年的展望

在对2005年风电装机容量进行准确统计的基础上,分析了风电场建设快速增长但国产设备制造能力仍然薄弱的态势。回顾2005年内发生的对风电具有里程碑意义的事件及对发展趋势的影响。指出“十五规划”期间风电的进展和教训,强调未来5a应以国产化能力和风电上网电量衡量业绩。     

基于最优乘子潮流确定静态电压稳定临界点

给出了一种基于最优乘子潮流求静态电压稳定临界点的新方法.与连续潮流或直接法求解电压崩溃点不同,该方法从潮流的可行域外出发,利用潮流迭代过程中最优乘子的值和最小二乘解提供的信息,沿注入功率变化的方向逼近电压崩溃点.给出了判别和计算鞍结型和约束诱导型分岔点的方法,分析了逼近过程中的各种可能情况.对多个算例测试的结果表明:所提出的方法通过几次迭代即可收敛于静态电压稳定临界点,计算结果与应用连续潮流和直接法一致.     

空心半螺栓球节点的弹塑性分析研究

采用２０节点３在元对一种新型空心半螺栓球节的弹塑性变形状态进行了有限元分析,通过节点的电测试验,证明了文中所述理论分析方法是正确的,指出了该节点有待改进之处。     

基于复杂网络的软件测度研究

随着软件系统规模的增大,软件各组成元素之间的交互日益复杂,导致软件开发经常处于不稳定状态,软件质量问题逐步突出．借鉴复杂网络的发展成果,将软件结构描述为加权有向图,使用节点重要度定义了出度系数,以此来查找和判断软件结构中缺陷概率比较高的类,并利用无标度网络的缺陷发生特性来研究软件结构的缺陷分布．实例结果表明：该度量方法对查找软件缺陷类是有效的,有利于在软件开发初期就发现缺陷,提高软件开发质量．     

短消息指标新定义及在事务信道限制中的应用

短消息指标可以度量隐蔽信道的短消息传输能力,是信道容量的必要补充.但指标现有定义中还存在着以下问题:消息长度参数在普通信息系统中不能定量分析;信道限制机制难以同时满足传输时间和保真度两个约束;没有包含消息的敏感度信息.针对这些问题,首先通过引入短消息传输价值的概念,给出了短消息指标的新定义.在该定义中,利用价值阈值统一表示系统对信道短消息传输能力的容忍程度,并且在所采用的价值函数中引入了消息的敏感度因素.其后,基于安全实时数据库应用场景给出了结合短消息指标和信道容量的事务隐蔽信道度量和限制机制.理论分析和模拟结果表明,基于短消息指标的新定义,系统可以对隐蔽信道威胁实施全面的度量和可调节的限制.