The majority of the energy consumption by the sensors is the energy requirement for data transmission in Wireless Sensor Networks (WSNs). Therefore, introducing mobile collectors to collect data instead of nmlti-hop...
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The majority of the energy consumption by the sensors is the energy requirement for data transmission in Wireless Sensor Networks (WSNs). Therefore, introducing mobile collectors to collect data instead of nmlti-hop data relay is essential. However, for rmny proposed data gathering ap-proaches, long data deNNy is the train problenm. Hence, the problem of how to decrease the energy consumption and the data deNNy needs to be solved. In this paper, a low deNNy data collection mechanism using multiple mobile collectors is pro- posed. First, a self-organization clustering algorithm is designed. Second, sensor nodes are organized into three-level clusters. Then a collection strategy based on the hierarchical structure is proposed, which includes two rules to dispatch mobile collec- tors rationally. Simulation results show that the proposed mechanism is superior to other existing approaches in terms of the reduction in energy ex-penditure and the decrease in data deNNy.
A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperat...
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ISBN:
(纸本)9781467321259
A small humanoid robot with a teleoperation system using 3G communication network is present in this paper. Considering the requirement of dynamic environment and hardware limitations of small humanoid, the teleoperation system was designed using 3G communication network, which has a good performance both on the long-distance operation and the communication speed. Then an improved walking planning method is explored on this robot. Most of conventional walking planning methods can not fit to the low computation performance of small humanoid nor the real-time teleoperation requirement. In order to solve this problem, an online walking planning method with has been presented in this paper. There are two primary advantages compared with conventional walking planning methods. First, the new online walking planning can realize walking based on real-time tasks due to its short control period. Secondly, the reduced computation and walking data can fit to the hardware limit of the small humanoid. The effectiveness of the proposed walking planning method was confirmed by experiments.
In view of the current domestic glass production enterprise which is lack of method to detect glass stones,cracks and other important defects,an online detection system for glass defect based on support vector machine...
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In view of the current domestic glass production enterprise which is lack of method to detect glass stones,cracks and other important defects,an online detection system for glass defect based on support vector machine is proposed in the *** paper is based on the research of image processing,feature extraction and pattern *** using of object-oriented Visual c + + 6.0 programming tools,and combined with OpenCV computer vision library,this system can realize glass defect on-line detection and *** successful rate for the defect inspection of the system can reach over 95%.
Deadlock is an undesired situation in a highly automated system due to the fact that no system can allow its occurrence which may produce some unnecessary economic losses or serious consequences. There are three mathe...
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Deadlock is an undesired situation in a highly automated system due to the fact that no system can allow its occurrence which may produce some unnecessary economic losses or serious consequences. There are three mathematical tools to handle deadlocks in resource allocation systems: graph theory, finite state machine, and Petri net. Due to its inherent characteristics, Petri nets are widely applied to manufacturing systems. Generally, these existing deadlock methods are classified into three strategies: deadlock detection and recovery, deadlock avoidance, and deadlock prevention. In this paper, a review of deadlock prevention policies and merits and drawbacks of these policies are presented. Then it gives the possible trend of the research in the future.
The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground controlsystem (GCS) is an important part of the quadrotor UAV flight controlsystem, and it can promote the flight per...
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The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground controlsystem (GCS) is an important part of the quadrotor UAV flight controlsystem, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.
Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented ...
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Aiming at the problems of registration error and synthetic movement ghost which are caused by moving objects in image mosaicing, a mosaicing algorithm for dynamic scene using multi-scale pyramid histogram of oriented gradients (PHOG) and optimal seam is proposed. Firstly, a new feature, multi-scaled PHOG, is generated by introducing PHOG to multi-scale space corner detections. The feature is used to align images for avoiding the local impact caused by moving objects in image registration. Then, an optimal seam, guaranteeing the minimum difference in geometry and gray value, is searched by graph cut algorithm through constructing an energy function to remove the movement ghost. The experimental results show that the proposed algorithm is efficient in dealing with the problems of image mosaicing with moving objects, and the mosaicing results are satisfactory with high precision.
In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve au...
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In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground controlsystem and stored via a communication module based on the UDP network protocol.
In traditional speech emotion recognition researches, speech is modeled as linear and short-term stationary signal, with Fourier analysis used as the foundation of speech signal processing and feature extraction. To o...
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To better handle the problem on robust stability for neutral controlsystems, in which time-varying delay was involved, a stability criterion with less conservatism was put forward. Firstly, a novel Lyapunov-Krasovski...
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To better handle the problem on robust stability for neutral controlsystems, in which time-varying delay was involved, a stability criterion with less conservatism was put forward. Firstly, a novel Lyapunov-Krasovskii functional was constructed based on the uncertain neutral controlsystem model. The generalized convex combination and integral inequality techniques were altogether employed, which can help to estimate the derivative of Lyapunov-Krasovskii functional and effectively extend the application area of the results. Secondly, by taking the lower and upper bounds of time-delays and their derivatives, a criterion on asymptotical and robust stability were presented in terms of linear matrix inequality (LMI), which can be easily checked by resorting to LMI in Matlab Toolbox. Finally, through one numerical example the criterion was compared with relative ones. The smaller delay upper bound was obtained by the criteria, which demonstrates that our stability criterion can reduce the conservatism more efficiently than those earlier ones.
Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various ...
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Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computational experiments point of view is proposed.
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