Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

基于改进D?Lite遗传算法路径规划研究

针对遗传算法在移动机器人路径规划中易产生早熟现象和收敛速度慢的问题,提出了改进的D~* Lite遗传算法。该算法将D~* Lite算法和遗传算法相结合,通过引入碰撞系数和可视检测技术以提高路径安全性,寻找最短路径。在遗传算法设计中加入动态调整交叉与变异概率,以解决算法在路径规划中因陷入局部最优值而不能到达目标点的问题。最后,通过实验仿真可知:与蚁群算法和免疫遗传算法相比,改进的D~* Lite遗传算法执行效率高,可以快速规划出全局最优路径。     

无线传感器网络中移动sink节点的路径规划

在无线传感器网络中,大量感知数据汇集到sink节点的采集方法会导致sink节点附近的节点能量耗尽,造成能量空洞。针对该问题,利用移动的sink节点进行数据收集是一种解决方法,其中移动sink的路径规划成为一个重要的问题。提出了一个移动sink路径规划算法,将无线传感器中随机分布的节点划分为不同的子区域,寻找sink节点移动的最佳转向点,最终得到最优的移动路径,以实现无线传感器网络生命周期最大化。仿真实验表明,与现有方案相比,该算法能显著延长网络的生命周期。     

台北101层国际金融中心之结构施工技术与其设计考量概述

本文旨在简要说明目前正在施工中之超高层大楼—台北国际金融中心之结构系统、钢结构工程、钢筋混凝土工程基础与深开挖工程等特殊施工技术,并佐以相关之设计考量与施工规划概要,以供工程界做参考。     

Indicators for inspection and maintenance planning of concrete structures

Based on an idea introduced by Benjamin and Cornell (1970. Probability, statistics and decision for civil engineers. New York: McGaw Hill) and previous works by the authors it is demonstrated how condition indicators may be formulated for the general purpose of quality control and for assessment and inspection planning in particular. The formulation facilitates quality control based on sampling of indirect information about the condition of the considered components. This allows for a Bayesian formulation of the indicators whereby the experience and expertise of the inspection personnel may be fully utilized and consistently updated as frequentistic information is collected. The approach is illustrated on an example considering a concrete structure subject to corrosion. It is shown how half-cell potential measurements may be utilized to update the probability of excessive repair after 50 years. Furthermore in the same example it is shown how the concept of condition indicators might be applied to develop a cost optimal maintenance strategy composed of preventive and corrective repair measures.     

Parallel path consistency

Filtering algorithms are well accepted as a means of speeding up the solution of the consistent labeling problem (CLP). Despite the fact that path consistency does a better job of filtering than arc consistency, AC is still the preferred technique because it has a much lower time complexity. We are implementing parallel path consistency algorithms on multiprocessors and comparing their performance to the best sequential and parallel arc consistency algorithms.^(1,2) (See also work by Kerethoet al. ⁽³⁾ and Kasif⁽⁴⁾) Preliminary work has shown linear performance increases for parallelized path consistency and also shown that in many cases performance is significantly better than the theoretical worst case. These two results lead us to believe that parallel path consistency may be a superior filtering technique. Finally, we have implemented path consistency as an outer product computation and have obtained good results (e.g., linear speedup on a 64K-node Connection Machine 2).     

基于Struts框架的科研资源计划系统的应用研究

Struts是基于模型视图控制体系(MVC)的Web应用框架。详细介绍了基于MVC体系的Struts工作原理，探讨应用Struts框架构建企业级应用系统的步骤及方法。给出了基于Struts的科研资源计划系(SRRPS)的设计实现，结果表明Struts框架能极大地提高系统的可扩展性、可重用性及可维护性。     

洞穴——从微中子研究到地下空间规划

微中子研究需要很大很深的洞穴，以便在没有太多宇宙射线噪音的情况下捕获重要事件。大型的自然洞穴往往出现在喀斯特石灰岩地区，少数大型洞穴也会出现在矿区，而民用洞穴则被广泛用作发电站、火车站、仓库及其他用途。应力控制被认为是在洞穴深挖中消除巨大应力的普遍方法。如果能够在大型洞穴使用应力控制方法，我们就可以建造安全的洞室来进行微中子研究；从另一方面来讲，大而浅的洞穴也能解决城市规划的很多问题。     

Contractor Prebid Planning Principles

Planning is an essential function of project management. Yet, many small- and medium-sized contractors do a relatively poor job of operational planning. Better prebid plans will reduce costs, shorten schedules, and improve labor productivity. Unfortunately, the published literature offers little guidance for smaller contractors on what constitutes effective planning. Most papers describe planning as a macrolevel process for owners. Most emphasize scope definition for industrial projects. This paper describes a microlevel planning process for contractors. It consists of eight steps which are: (1) assess contract risks; (2) develop a preliminary execution plan; (3) develop site layout plans; (4) identify the sequences that are essential-to-success; (5) develop detailed operational plans; (6) develop proactive strategies to assure construction input into design; (7) revise the preliminary plan; and (8) communicate and enforce the plan. The entire process is illustrated with a case study project and is fully illustrated with figures which show how to integrate the work of multiple contractors, keep key resources (crews or equipment) fully engaged with no downtime, provide time buffers so the work of follow on crews can be efficiently done, expedite the schedule using multiple work stations and concurrent work, ways to communicate the work plan to the superintendent and foremen, and how to assess the feasibility of various work methods. The steps are easy to understand and implement. They will yield immediate positive results.