Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

REST API技术及在移动通信网络管理中的应用

介绍了目前最炙手可热的REST架构风格，该风格顺应Web2.0的兴起，完美的匹配了云计算时代来临的可扩展要求，在各种应用场景中都得到了充分的表现。根据其技术特点，分析了该风格的API在移动通信网络管理中的应用，从网管系统内部、网管系统之间以及网管系统与上层APP应用之间等多方面对是否适用于REST风格以及如何在合适的位置使用REST API进行了分析。     

基于三维胞元空间的MA双向并行路由算法

针对传统移动代理(MA)在监测无线传感器网络(WSNs)的感兴趣信息时产生的延迟较大和能耗较多问题,提出了基于三维胞元空间的MA双向并行(3D-BPMA)路由算法.3D-BPMA将MA与传统的客户/服务器(c/S)模式相结合,在胞元内利用C/S模式搜集信息,在单层胞元系统和路由器与路由器之间采用MA双向并行的策略进行传输.仿真结果表明:3D-BPMA与LCF,DSG-MIP算法相比减少了平均响应时间和网络平均能耗,提高了MA发送率.     

A signal adaptive diffusion filter for video coding: Mathematical framework and complexity reductions

In this paper we combine video compression and modern image processing methods. We construct novel iterative filter methods for prediction signals based on Partial Differential Equation (PDE) based methods. The mathematical framework of the employed diffusion filter class is given and some desirable properties are stated. In particular, two types of diffusion filters are constructed: a uniform diffusion filter using a fixed filter mask and a signal adaptive diffusion filter that incorporates the structures of the underlying prediction signal. The latter has the advantage of not attenuating existing edges while the uniform filter is less complex. The filters are embedded into a software based on HEVC with additional QTBT (Quadtree plus Binary Tree) and MTT (Multi-Type-Tree) block structure. In this setting, several measures to reduce the coding complexity of the tool are introduced, discussed and tested thoroughly. The coding complexity is reduced by up to 70% while maintaining over 80% of the gain. Overall, the diffusion filter method achieves average bitrate savings of 2.27% for Random Access having an average encoder runtime complexity of 119% and 117% decoder runtime complexity. For individual test sequences, results of 7.36% for Random Access are accomplished.     

燃煤锅炉除尘专用滤料的开发

介绍机械制造厂燃煤锅炉的烟尘特点,分析滤料失效的原因,提出一套针对该工况的滤料解决方案。介绍针对复杂工况条件所选用的纤维种类以及复合面层原料成分配比的确定,最终选用针刺工艺加工并对该新产品的基本性能进行了测试分析。     

ProVoc: An app to train vocabulary depth in order to foster children's reading comprehension

Many studies have demonstrated the crucial role of vocabulary in predicting reading performance in general. More recent work has indicated that one particular facet of vocabulary (its depth) is more closely related to language comprehension, especially inferential comprehension. On this basis, we developed a training application to specifically improve vocabulary depth. The objective of this study was to test the effectiveness of a mobile application designed to improve vocabulary depth. The effectiveness of this training was examined on 3rd and 4th grade children's vocabulary (breadth and depth), decoding and comprehension performances. A randomized waiting-list control paradigm was used in which an experimental group first received the intervention during the first 4 weeks (between pretest and post-test1), thereafter, a waiting control group received the training for the next 4 weeks (between postest1 and posttest2). Results showed that the developed application led to significant improvements in terms of vocabulary depth performance, as well as a significant transfer effect to reading comprehension. However, we did not observe such a beneficial effect on either vocabulary breadth or written word identification. These results are discussed in terms of the links between vocabulary depth and comprehension, and the opportunities the app presents for remedying language comprehension deficits in children.     

Development of mobile miniature natural gas liquefiers

With increasing consumption of natural gas (NG), small NG reservoirs, such as coalbed methane and oil field associated gas, have recently drawn significant attention. Owing to their special characteristics (e.g., scattered distribution and small output), small-scale NG liquefiers are highly required. Similarly, the mixed refrigerant cycle (MRC) is suitable for small-scale liquefaction systems due to its moderate complexity and power consumption. In consideration of the above, this paper reviews the development of mobile miniature NG liquefiers in Technical Institute of Physics and Chemistry (TIPC), China. To effectively liquefy the scattered NG and overcome the drawbacks of existing technologies, three main improvements, i.e., low-pressure MRC process driven by oil-lubricated screw compressor, compact cold box with the new designed heat exchangers, and standardized equipment manufacturing and integrated process technology have been made. The development pattern of “rapid cluster application and flexible liquefaction center” has been eventually proposed. The small-scale NG liquefier developed by TIPC has reached a minimum liquefaction power consumption of about 0.35 kW·h/Nm³. It is suitable to exploit small remote gas reserves which can also be used in boil-off gas reliquefaction and distributed peak-shaving of pipe networks.     

一种改进的新三步搜索算法

在对三步法工作原理进行研究的基础上提出了新三步搜索算法（NITSS）。该方法充分利用视频序列运动矢量概率分布上的中心偏置特性．在三步搜索算法的基础上引入了十字型分布的4个点构成搜索点群。实验结果表明。新三步搜索算法解决了三步法的小运动估计效果较差问题．提高了搜索精度，保持了三步法的高效率。     

Effective Location Based Services with Dynamic Data Management in Mobile Environments

With the proliferation of mobile computing technologies, location based services have been identified as one of the most promising target application. We classify mobile information service domains based on feature characteristics of the information sources and different patterns of mobile information access. By carefully examining the service requirements, we identify the dynamic data management problem that must be addressed for effective location based services in mobile environments. We then devise a general architecture and cost model for servicing both location independent and location dependent data. Based on the architecture and cost model, we propose a set of dynamic data management strategies that employs judicious caching, proactive server pushing and neighborhood replication to reduce service cost and improve response time under changing user mobility and access patterns. Detail behavior analysis helps us in precisely capturing when and how to apply these strategies. Simulation results suggest that different strategies are effective for different types of data in response to different patterns of movement and information access. Shiow-yang Wu is an associate professor of the Department of Computer Science and Information Engineering at National Dong Hwa University, Hualien, Taiwan, R.O.C. He received the BS and MS degrees in computer engineering from National Chiao Tung University, Hsinchu, Taiwan, ROC, and the PhD degree in computer science from the University of Texas at Austin in 1984, 1986, and 1995, respectively. His research interests include data/knowledge bases, mobile computing, distributed processing, intelligence information systems, and electronic commerce. Kun-Ta Wu was born in Taipei, Taiwan, R.O.C., in 1976. He received the B.S. degree in computer science from Soochow University, Taipei, Taiwan, R.O.C., in 1999 and the M.S. degree in computer science and information engineering from National Dong Hwa University, Hualien, Taiwan, R.O.C., in 2001. Currently, he is an Assistant Researcher in the Domestic Division at Science and Technology Information Center, National Science Council, R.O.C., as a member of Information Gathering and Analysis Group of National Information and Communication Security Taskforce. His research interests include mobile computing, wireless network and information security.     

移动机器人路径规划方法研究

移动机器人技术研究中的一个重要领域是路径规划技术，它分为基于模型的环境已知的全局路径规划和基于传感器的环境未知的局部路径规划。综述了移动机器人路径规划技术的发展现状指出了各种方法的优点与不足，最后对移动机器人路径规划技术的发展趋势进行了展望。