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IEEE International Conference on Robotics and Automation (ICRA)

作者： Liu Lin Wang Lei Zhiqiang Zheng Zengqi Sun College of Mechatro-electronic and Automation National University of Defense Technology Changsha Hunan China State Key Lab of Intelligent Technology and System Tsinghua University Beijing China

This work presents a novel learning market based layered architecture for distributed multi-robot systems. For the market system, a reward function is defined and adapted by some kind of learning algorithm in the dynamical system. A layered architecture combining the market based system with the typical layered robot architecture is also proposed to make the robot team execute smoothly in the dynamic environment. Results illustrate the relationships between task time, task amount and robot amount. The task/robot rate is defined to deeply study their relationships.

关键词： Robot kinematics Multirobot systems Computer architecture Intelligent robots Automation Intelligent systems Heuristic algorithms Computer networks Resource management Power generation economics

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One image analysis method for the acquirement of cell's immunological information

One image analysis method for the acquirement of cell's immu...

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International Conference on Signal Processing Proceedings (ICSP)

作者： Yang Da-Gang Dou Wan-Chun Zhang Xi-Wen Cai Shi-Jie State Key Lab. for Novel Software Technology Nanjing University Nanjing China Intelligence Engineering Lab of ISCAS Beijing China Department of Civil and Environment Engineering Stanford University U.S.A.

This paper acquires cell's immunological information through analyzing color immunofluorescence image. A pixel growing algorithm with dynamic seed values is proposed to extract fluorescent regions in the CIE (L*, a*, b*) uniform color space; Ellipse matching method is proposed to extract cells from obtained fluorescent regions; and antigen information is acquired by computing and decomposing color of cell based on the above two steps. The experiment indicates that acquired immunological information meets practical medicine analysis.

关键词： Image analysis Fluorescence Image color analysis Data mining Large Hadron Collider Solids Shape Humans Constitution

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Temperature rise in low-k ULSI interconnects

Temperature rise in low-k ULSI interconnects

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2004 7th International Conference on Solid-state and Integrated Circuits technology Proceedings, ICSICT 2004

作者： Zhou, Jia Ruan, Gang Xiao, Xia Huang, Yiping Lee, H.-D. Department of Microelectronics System State Key Lab. Fudan University 220 Handan Road Shanghai 200433 China Department of Electronics Science and Technology of Information Tianjin University 92 Weijin Road Tianjin 300072 China Department of Electronics Engineering Chungnam National University 220 Gung-Dong Yusung-Gu Taejeon 305-764 Korea Republic of

In this paper, analysis to the temperature rise in three ULSI interconnect structures of 50nm node technology have been carried out by using the compact quasi-analytic model we developed. Although the error in analyzing structure I is increased to 7.7%, the results still mean much for temperature rise prediction in interconnect design. Thick interlayer is the main causes to make the heat transfer conditions of interconnect severely rugged. The investigation to the thermal conductivity of the interlayer reveals that temperature rise decays in two order exponential way and when k<0.1 w/°Cm, the temperature rise increases extremely fast. New dielectric materials with low k but relatively less porous are desired in the interconnect structure for future 45nm node technology and beyond. ©2004 IEEE.

关键词： ULSI circuits

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Edge Effect Correction in the S-A Method for Geochemical Anomaly Separation

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Journal of China University of Geosciences 2004年第4期15卷 379-387页

作者： Ge Yong Department of Earth and Atmospheric Science, York University, Toronto, ON, M3J 1P3, Canada state key laboratory of Resources and Environmental Information system, Institute of Geographic Sciences & Natural Resources Research, Chinese Academy of Sciences, Beijing 100101, China Cheng Qiuming Department of Earth and Atmospheric Science, York University, Toronto, ON, M3J 1P3, Canada Earth systems and Mineral Resource Engineering lab, China University of Geosciences, Wuhan 430074, China Zhang Shenyuan Department of Earth and Atmospheric Science, York University, Toronto, ON, M3J 1P3, Canada Department of Resource and Earth Science, China University of Mining & technology, Beijing 100083, China Department of Earth and Atmospheric Science York University Toronto ON M3J 1P3 Canada State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences & Natural Resources Research Chinese Academy of SciencesBeijing 100101China Department of Earth and Atmospheric Science York University Toronto ON M3J 1P3 Canada Earth Systems and Mineral Resource Engineering Lab China University of Geosciences Wuhan 430074 China Department of Earth and Atmospheric Science York University Toronto ON M3J 1P3 Canada Department of Resource and Earth Science China University of Mining & Technology Beijing 100083 China

Anomaly separation using geochemical data often involves operations in the frequency domain, such as filtering and reducing noise/signal ratios. Unfortunately, the abrupt edge truncation of an image along edges and holes (with missing data) often causes frequency distribution distortion in the frequency domain. For example, bright strips are commonly seen in frequency distribution when using a Fourier transform. Such edge effect distortion may affect information extraction results; sometimes severely, depending on the edge abruptness of the image. Traditionally, edge effects are reduced by smoothing the image boundary prior to applying a Fourier transform. Zero-padding is one of the most commonly used smoothing methods. This simple method can reduce the edge effect to some degree but still distorts the image in some cases. Moreover, due to the complexity of geoscience images, which can include irregular shapes and holes with missing data, zero-padding does not always give satisfactory results. This paper proposes the use of decay functions to handle edge effects when extracting information from geoscience images. As an application, this method has been used in a newly developed multifractal method (S-A) for separating geochemical anomalies from background patterns. A geochemical dataset chosen from a mineral district in Nova Scotia, Canada was used to validate the method.

关键词： edge effect correction fractal modeling spatial information extraction zero-padding decay functions.

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A network service framework for mobile pervasive computing

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International Conference on Communication technology (ICCT)

作者： Enyi Chen Yuanchun Shi Guangyou Xu Department of Computer Science and Technology The State Key Laboratory on Intelligence System and Technology Tsinghua University Beijing China

ISBN: (纸本)7563506861

In this paper, we propose a framework for wireless/mobile pervasive computing to augment capabilities and to save scanty resources of mobile host by making full use of available resources in the surrounding. Firstly, a mobile device finds and utilizes the cheap computer as a surrogate to forward the service requests. Secondly, after the surrogate discovers the services, it will filter, synthesize or handoff them according to the context information. We also take consideration of robustness, scalability, and load balancing by utilizing multi surrogates. Service descriptions are encoded by the extensible markup language (XML) technology to provide flexibility. The analytical results on the performance of our framework show that it has significant advantages in terms of reducing wireless bandwidth consumption, ant etc.

关键词： Mobile computing Pervasive computing XML Information filtering Information filters Context-aware services Robustness Scalability Load management Performance analysis

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Seamless provisioning of service in the ubiquitous computing environment

Seamless provisioning of service in the ubiquitous computing...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： En-Yi Chen De-Gan Zhang Yuan-Chun Shi Guang-You Xu The State Key Laboratory of Intelligence System and Technology Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)0780378652

In the ubiquitous computing environment (UCE), how to seamlessly provision the service or application to its occupant or its mobile user is an interesting research topic. This paper introduces our two UCEs called smart classroom (SCR) and intelligent meeting room (IMR) respectively. When a teacher gives his lesson in the SCR, different services will automatically be provisioned to him according to captured context information. When the users with various kinds of portable devices, such as PDA, mobile phone or laptop, attend a meeting in IMR, they can easily organize a meeting and unobtrusively access the services provided by IMR, for example, they could give presentation by "projector service". The paper also describes the software infrastructure of SCR and IMR - smart platform, a multi agents (MAs) system.

关键词： Ubiquitous computing Pervasive computing Thyristors Portable computers Application software Mobile computing Embedded software Computer networks Space technology Education

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A programming framework for service association in ubiquitous computing environments

A programming framework for service association in ubiquitou...

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International Conference on Information, Communications and Signal Processing

作者： Enyi Chen Yuanchun Shi Degan Zhang Guangyou Xu The State Key Laboratoy of Intelligence System and Technology Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)0780381858

In a ubiquitous computing environment, an application is a collection of services linked at runtime, which we call service association. To solve service-to-service communication and interaction in service association, a novel programming framework is provided in this paper, which consists of two abstraction models - service component model (SCM) and service association model (SAM). According to SCM, a service can be depicted as an XML document with semantic interface by service description language. Based on SAM, the relation of services can be defined as a service dependency graph, so that dynamic service association can be maintained at the runtime. To evaluate our programming framework, we are developing a prototype system called Intelligent Meeting Room.

关键词： Ubiquitous computing Application software Intelligent systems Runtime environment XML Hardware Displays Computer science Software prototyping Prototypes

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Autonomous optical navigation for interplanetary exploration based on information of earth-moon

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Journal of Harbin Institute of technology(New Series) 2003年第3期10卷 343-348页

作者：吴伟仁田玉龙黄翔宇 Institute for Pattern Recognition and Artificial Intelligence State Key Lab. for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China Deep Space Exploration Research Center Harbin Institute of Technology Harbin 150001 Chinahe image elements of earth-center and moon-center are obtained by processing the images of earth and moon these image elements in combination with the inertial attitude information and the moon ephemeris are utilized to obtain the probe initial position relative to earth and the Levenberg-Marquardt algorithm is used to determine the accurate probe position relative to earth and the probe orbit relative to earth is estimated by using the extended Kalman filter. The autonomous optical navigation algorithm is validated using the digital simulation.

The image elements of earth-center and moon-center are obtained by processing the images of earthand moon, these image elements in combination with the inertial attitude information and the moon ephemerisare utilized to obtain the probe initial position relative to earth, and the Levenberg-Marquardt algorithm is usedto determine the accurate probe position relative to earth, and the probe orbit relative to earth is estimated by u-sing the extended Kalman filter. The autonomous optical navigation algorithm is validated using the digital simu-lation.

关键词： autonomous optical navigation interplanetary exploration Levenberg-Marquardt algorithm

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Remote sensing image compression for deep space based on region of interest

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Journal of Harbin Institute of technology(New Series) 2003年第3期10卷 300-303页

作者：王振华吴伟仁田玉龙田金文柳健 Institute for Pattern Recognition and Artificial Intelligence State Key Lab for Image Processing and Intelligent ControlHuazhong University of Science and Technology Wuhan 430074 China Institute for Pattern Recognition and Artificial Intelligence State Key Lab for Image Processing and Intelligent ControlHuazhong University of Science and Technology Wuhan 430074 China major limitation for deep space communication is the limited bandwidths available. The downlink rate using X-band with an L2 halo orbit is estimated to be of only 5.35 GB/d. However the Next Generation Space Telescope (NGST) will produce about 600 GB/d. Clearly the volume of data to downlink must be reduced by at least a factor of 100. One of the resolutions is to encode the data using very low bit rate image compression techniques. An very low bit rate image compression method based on region of interest(ROI) has been proposed for deep space image. The conventional image compression algorithms which encode the original data without any data analysis can maintain very good details and haven't high compression rate while the modern image compressions with semantic organization can have high compression rate even to be hundred and can't maintain too much details. The algorithms based on region of interest inheriting from the two previews algorithms have good semantic features and high fidelity and is therefore suitable for applications at a low bit rate. The proposed method extracts the region of interest by texture analysis after wavelet transform and gains optimal local quality with bit rate control. The Result shows that our method can maintain more details in ROI than general image compression algorithm(SPIHT) under the condition of sacrificing the quality of other uninterested areas

A major limitation for deep space communication is the limited bandwidths available. The downlinkrate using X-band with an L2 halo orbit is estimated to be of only 5.35 GB/d. However, the Next GenerationSpace Telescope (NGST) will produce about 600 GB/d. Clearly the volume of data to downlink must be re-duced by at least a factor of 100. One of the resolutions is to encode the data using very low bit rate image com-pression techniques. An very low bit rate image compression method based on region of interest(ROI) has beenproposed for deep space image. The conventional image compression algorithms which encode the original datawithout any data analysis can maintain very good details and haven' t high compression rate while the modernimage compressions with semantic organization can have high compression rate even to be hundred and can' tmaintain too much details. The algorithms based on region of interest inheriting from the two previews algorithmshave good semantic features and high fidelity, and is therefore suitable for applications at a low bit rate. Theproposed method extracts the region of interest by texture analysis after wavelet transform and gains optimal localquality with bit rate control. The Result shows that our method can maintain more details in ROI than generalimage compression algorithm(SPIHT) under the condition of sacrificing the quality of other uninterested areas.

关键词： wavelet compression ROI deep space

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Architecture of Tsinghuaeolus

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5th Robot World Cup Soccer Games and Conferences, RoboCup 2001

作者： Yao, Jinyi Chen, Jiang Cai, Yunpeng Li, Shi State Key Lab of Intelligent Technology and System Deparment of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)3540439129

RoboCup Simulation Server provides a wonderful challenge for all the participants. This paper explains key technology implemented by Tsinghuaeolus RoboCup team played in RoboCup environment, including basic adversarial skills, which is developed by using Dynamic Programming in combination with heuristic search algorithm, and reactive strategy architecture. Tsinghuaeolus was the winner of RoboCup2001. © 2002 Springer-Verlag Berlin Heidelberg.

关键词： Heuristic algorithms

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