dynamical moving task allocation in complex environment fordistributed multi-robot coordination system is mainly investigated. We proposed a hybriddynamical moving task allocation method in this paper, when eitherr...
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ISBN:
(纸本)9781479970995
dynamical moving task allocation in complex environment fordistributed multi-robot coordination system is mainly investigated. We proposed a hybriddynamical moving task allocation method in this paper, when eitherrobots or tasks update their conditions, robots independently select tasks from a combinatorial cost table as to minimize an objective function. And we use two sample time thresholds forrobots to decide the conditions of robots and tasks, andreallocate tasks. To validate our approach, we integrated the proposeddynamical moving task allocation method with our previously developed path planning method and applied it to the distributed multi-robot coordination system problem. simulationresults demonstrated the efficiency androbustness of our proposed task allocation method even under communication failures androbots malfunctions.
This study compares the degradation of diethyl phthalate (dEP) by the electro-peroxone (E-peroxone) process with three different carbon-based cathodes, namely, carbon-polytetrafluorethylene (carbon-PTFE), carbon felt,...
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This study compares the degradation of diethyl phthalate (dEP) by the electro-peroxone (E-peroxone) process with three different carbon-based cathodes, namely, carbon-polytetrafluorethylene (carbon-PTFE), carbon felt, andreticulated vitreous carbon (rVC). results show that the three cathodes haddifferent electrocatalytic activity for converting sparged O2 to H2O2, which increased in order of carbon felt, rVC, and carbon-PTFE. The in-situ generated H2O2 then reacts with sparged O3 to yield OH, which can in turn oxidize ozone-refractory dEP toward complete mineralization. In general, satisfactory total organic carbon removal yields (76.4-91.8%) could be obtained after 60min of the E-peroxone treatment with the three carbon-based cathodes, and the highest yield was obtained with the carbon-PTFE cathode due to its highest activity for H2O2 generation. In addition, the carbon-PTFE and carbon felt cathodes exhibited excellent stability over six cycles of the E-peroxone treatment of dEP solutions. Based on the intermediates (e.g., monoethyl phthalate, phthalic acid, phenolics, and carboxylic acids) identified by HPLC-UV, plausible reaction pathways were proposed fordEP mineralization by the E-peroxone process. The results of this study indicate that carbon-based cathodes generally have good electrocatalytic activity and stability for application in extended E-peroxone operations to effectively remove phthalates from water.
This paper presents a direct Yaw-moment control(dYC) strategy to prevent light vehicles from entering the unsteady state and improve the handling stability.A novelty of this work is the ability to achieve superior per...
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ISBN:
(纸本)9783037855409
This paper presents a direct Yaw-moment control(dYC) strategy to prevent light vehicles from entering the unsteady state and improve the handling stability.A novelty of this work is the ability to achieve superior performance through the lower workload of the actuators by using the optimal control allocation method to distribute the active yaw *** the main-loop,the dYC controller is designed based on the classical PId algorithm with the yaw rate and sideslip angle *** tests are carried out on the conditions of sine steering and single lane change *** indicate that the working potential of each actuator can be fully utilized and a significant improvement in handling stability can be achieved from the dYC system.
In order to reduce ring-liner interface friction power loss,this paper focuses on the structure parameters of the top ring,and investigates how the value of those parameters will influence top ring-liner friction powe...
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In order to reduce ring-liner interface friction power loss,this paper focuses on the structure parameters of the top ring,and investigates how the value of those parameters will influence top ring-liner friction power loss and the minimum thickness of oil film at top ring-liner interface.A mixed lubrication model is developed to simulate the effect of varying design parameters on ring-liner *** study shows that ring-liner friction power loss will be reduced with decreased axial ring height and barrel *** study provides a theoretical basis fordesign the top ring with reduced friction power loss at ring-liner interface.
The Qr-rLS-CMOE algorithm which was applied to synchronous dS/CdMA systems in AWGN channel, is modified and applied to asynchronous dS/CdMA systems in multi-path fading channel in this paper. Computersimulation exper...
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The Qr-rLS-CMOE algorithm which was applied to synchronous dS/CdMA systems in AWGN channel, is modified and applied to asynchronous dS/CdMA systems in multi-path fading channel in this paper. Computersimulation experiences show that the asynchronous Qr-rLS-CMOE (A-Qr-rLS-CMOE) blind multiuserdetection algorithm can well cancel multiple access interference and overcome multipath fading, and has a good anti-near-far effect in the case of τ<
The Qr-rLS-CMOE algorithm which was applied to synchronous dS/CdMA systems in AWGN channel, is modified and applied to asynchronous dS/CdMA systems in multi-path fading channel in this paper. Computersimulation exper...
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The Qr-rLS-CMOE algorithm which was applied to synchronous dS/CdMA systems in AWGN channel, is modified and applied to asynchronous dS/CdMA systems in multi-path fading channel in this paper. Computersimulation experiences show that the asynchronous Qr-rLS-CMOE (A-Qr-rLS-CMOE) blind multiuserdetection algorithm can well cancel multiple access interference and overcome multipath fading, and has a good anti-near-far effect in the case of τ<
This paper presents an interactive virtual reality game using real and virtual objects with general beam projector and computer vision. We show how the computerrecognizes the objects and makes the virtual objects mov...
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ISBN:
(纸本)0780385675
This paper presents an interactive virtual reality game using real and virtual objects with general beam projector and computer vision. We show how the computerrecognizes the objects and makes the virtual objects move afterdetecting the real objects in the game space created by a beam projector. To achieve the goals, we developed two methods: find objects distance (FOd) method and findreflection angle (FrA) method. Afterdetecting the real and virtual objects, the methods predict the next moving direction of virtual objects. This interactive virtual reality (Vr) game is named as Ting" which contains various fire-shaped virtual objects and bamboo-shapedreal objects. "Ting Ting" game's core technology can be used in various application area as an interactive communication engine. These include but are not limited to, for example, an education game in schools, or an entertainment application in museums and/or science halls.
The objectives of Human engineering (HE) are generally viewed as increasing human performance, reducing human error, enhancing personnel and equipment safety, andreducing training andrelated personnel costs. There a...
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The objectives of Human engineering (HE) are generally viewed as increasing human performance, reducing human error, enhancing personnel and equipment safety, andreducing training andrelated personnel costs. There are other benefits that are thoroughly consistent with the direction of the Navy of the future, chief among these is reduction of required numbers of personnel to operate and maintain Navy ships. The Naval research Advisory Committee (NrAC) report on Man-Machine Technology in the Navy estimated that one of the benefits from increased application of man-machine technology to Navy ship design is personnel reduction as well as improving system availability, effectiveness, and safety The objective of this paper is to discuss aspects of the human engineeringdesign of ships and systems that affect manning requirements, and impact human-performance and safety The paper will also discuss how the application of human engineering leads to improved performance, and crew safety, andreduced workload, all of which influence manning levels. Finally, the paper presents a discussion of tools and case studies of good human engineeringdesign practices which reduce manning.
作者：
BOHM, SELHAKEEM, AKHACHICHA, MDepartment of Electrical and Computer Engineering
Concordia University 1455 De Maisonneuve Blvd. West Montreal H3A 1M8 Canada Was born in Montreal
Canada on 14 September 1966. He received the B. Eng. degree in electrical engineering from Concordia University Montreal Canada in 1989. He is at present completing the M.A.Sc. degree in electrical engineering at Concordia University. (S'75–S'79–M'79–SM'86) received the Ph.D. degree from Southern Methodist University
Dallas TX in 1979. He spent the next two years working as a Visiting Professor in Egypt after which he moved to Ottawa Canada in 1982. He assumed teaching and research positions in Carleton and Manitoba Univerities and later moved to Concordia University Montreal Canada in 1983 where he is now a Professor in the Electrical and Computer Engineering Department. He has published numerous papers in IEEE and international journals in the areas of spread spectrum and networking. He is a well-known expert in these areas and serves as a consultant to many companies. His current research interests include wide-band metropolitan networks switching architectures and performance of on-board multibeam satellites acquisitionless CDMA networks code distribution and orthogonalization of CDMA signals responsive congestion control for ATM-based networks ARQ techniques and investigation of the novel SUGAR CDMA systems in fading channels. Dr. Elhakeem is a Senior Member of the Canadian Electrical Engineering Society and Armed Forces Association. He has chaired numerous technical sessions in IEEE Conferences was the Technical Program Chairman for IEEE Montech 1986 Montreal Canada. Dr. Elhakeem is the key guest editor of theIEEE Journal of Selected Areas in Communicationsfor the May June issues 1993 covering CDMA networks. Advanced Technology & Networks
VISTAR Telecommunications Inc. Ottawa Ontario K1G 3J4 Canada An Associate Director of Advanced Technology & Networks Group
VISTAR Telecommunications Inc. Ottawa Canada. He is also an Adjunct Pr
In this paper, we study the performance of a prioritized on-board baseband switch in conjunction with a multibeam satellite handling integrated services. The services considered for the analysis include voice, video, ...
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In this paper, we study the performance of a prioritized on-board baseband switch in conjunction with a multibeam satellite handling integrated services. The services considered for the analysis include voice, video, file transfer and interactive data. The prioritized switch uses both input and output buffering, switch speed-up as well as a two-phase head-of-line resolution algorithm, in order to reduce the buffer loss while maintaining acceptable userdelays. The minimum required buffer capacity and switch speed-up for each service in a prioritized environment are found under uniform traffic conditions. It is shown that under uniform traffic conditions, only minimal buffering and switch speed-up are needed even for the lowest priority users. The performance dependence on the switch size is also substantially reduced with head of line resolution and buffering even in a prioritized environment.
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