Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some oth...
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Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some other issues make the locomotion control of legged robots a much complicated task, such as the redundant degree of freedoms and balance keeping. From literatures, locomotion control has been solved mainly based on programming mechanism. To use this method, walking trajectories for each leg and the gaits have to be designed, and the adaptability to an unknown environment cannot be guaranteed. From another aspect, studying and simulating animals' walking mechanism for engineering application is an efficient way to break the bottleneck of locomotion control for legged robots. This has attracted more and more attentions. Inspired by central pattern generator (CPG), a control method has been proved to be a successful attempt within this scope. In this paper, we will review the biological mechanism, the existence evidences, and the network properties of CPG. From the en- gineering perspective, we will introduce the engineering simulation of CPG, the property analysis, and the research progress of CPG inspired control method in locomotion control of legged robots. Then, in our research, we will further discuss on existing problems, hot issues, and future research directions in this field.
Task scheduling is one of the core steps to effectively exploit the capabilities of heterogeneous re-sources in the *** paper presents a new hybrid differential evolution(HDE)algorithm for findingan optimal or near-op...
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Task scheduling is one of the core steps to effectively exploit the capabilities of heterogeneous re-sources in the *** paper presents a new hybrid differential evolution(HDE)algorithm for findingan optimal or near-optimal schedule within reasonable *** encoding scheme and the adaptation ofclassical differential evolution algorithm for dealing with discrete variables are discussed.A simple but ef-fective local search is incorporated into differential evolution to stress *** performance of theproposed HDE algorithm is showed by being compared with a genetic algorithm(GA)on a known staticbenchmark for the *** results indicate that the proposed algorithm has better perfor-mance than GA in terms of both solution quality and computational time,and thus it can be used to de-sign efficient dynamic schedulers in batch mode for real grid systems.
Gene selection, a key procedure of the discriminant analysis of microarray data, is to select the most informative genes from the whole gene set. Rough set theory is a mathematical tool for further reducing redundancy...
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In the literature of traffic flow theory, the research on the effect on stability of traffic flow for cooperative driving control possesses an important significance. However, presently the the study on the problem is...
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ISBN:
(纸本)9781424435036
In the literature of traffic flow theory, the research on the effect on stability of traffic flow for cooperative driving control possesses an important significance. However, presently the the study on the problem is unsatisfactory because it is difficult to determine the impact qualitatively or quantitatively in real traffic experiment. In this paper, some efforts have been made for better understanding the effect on stability of traffic flow for cooperative driving control by investigating the stability for lattice traffic models, which are presented here by incorporating motion information of cars preceding. From linear stability analysis and direct simulations validation, we learn some properties of the effect on the stability and congestion waves by using the information of many other cars. First, cooperative driving behavior of many cars preceding can efficiently stabilize the traffic flow. Second, cooperative driving behavior of the cars nearby plays a prominent role in stability. Third, when the car number participating in cooperative driving policy exceeds a certain value, the congestion waves will disappear.
The coverage of Wireless Sensor Networks (WSNs) is one of the most important measurement criteria of Qos. Optimal coverage of sensors is propitious to the maximum possible utilization of the available sensors. It can ...
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Aiming at the deficiency of the current meridian diagnosis algorithms, SVM is applied to meridian diagnosis system. The system structure is described firstly, then the model selection of SVM is discussed in detail by ...
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Aiming at the deficiency of the current meridian diagnosis algorithms, SVM is applied to meridian diagnosis system. The system structure is described firstly, then the model selection of SVM is discussed in detail by taking chronic pharyngitis as an example: one-against-one method is used to realize multi-class;the problem of non-symmetrical samples of C-SVM is solved by giving positive and negative samples of different weights;a margin-based bound on generalization method is used to search parameters of the model. Finally, test results show that the classifier, which is realized and tested using vc++6.0, possess a very high recognition rate and can be applied to meridian diagnosis system.
Pairwise testing, which requires that every combination of valid values of each pair of system factors be covered by at lease one test case, plays an important role in software testing since many faults are caused by ...
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Pairwise testing, which requires that every combination of valid values of each pair of system factors be covered by at lease one test case, plays an important role in software testing since many faults are caused by unexpected 2-way interactions among system factors. In real systems, constraints usually exist between values, which means that some values cannot coexist in a valid test. Although meta-heuristic strategies like simulated annealing can generally discover smaller pairwise test suite in the presence of constraints, they may cost more time to perform search, compared with greedy algorithms. We propose a new method, improved extremal optimization, for constructing constrained pairwise test suites. Experimental results show that improved extremal optimization gives similar size of resulting pairwise test suite and yields a 13% reduction in solution time over simulated annealing.
Pairwise testing, which requires that every combination of valid values of each pair of system factors be covered by at lease one test case, plays an important role in software testing since many faults are caused by ...
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Pairwise testing, which requires that every combination of valid values of each pair of system factors be covered by at lease one test case, plays an important role in software testing since many faults are caused by unexpected 2-way interactions among system factors. Although meta-heuristic strategies like simulated annealing can generally discover smaller pairwise test suite, they may cost more time to perform search, compared with greedy algorithms. We propose a new method, improved Extremal Optimization (EO) based on the Bak-Sneppen (BS) model of biological evolution, for constructing pairwise test suites and define fitness function according to the requirement of improved EO. Experimental results show that improved EO gives similar size of resulting pairwise test suite and yields an 85% reduction in solution time over SA.
In today's web, more and more software and applications are wrapped as services. However interactions between services are not always perfectly completed because of mismatches among them. service mediation and ada...
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In today's web, more and more software and applications are wrapped as services. However interactions between services are not always perfectly completed because of mismatches among them. service mediation and adaptation problems obtain increasingly concerns. In this paper, we propose an extension of interface automata, labelled interface automata, to illustrate mismatching services and adaptation. We characterize the problem by classifying different kinds of adaptation scenarios. Then we focus on how to use labelled interface automata to illustrate the building of adaption service between mismatching services.
In semi-automatic service composition, developers should construct the process model according to concrete application requirement and then the instance services are bound automatically for every abstract task and mak...
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