Virtual local target method for avoiding local minimum in potential field based robot navigation

A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation.Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments.

Locally Minimum Storage Regenerating Codes in Distributed Cloud Storage Systems

In distributed cloud storage systems, inevitably there exist multiple node failures at the same time. The existing methods of regenerating codes, including minimum storage regenerating(MSR) codes and minimum bandwidth regenerating(MBR) codes, are mainly to repair one single or several failed nodes, unable to meet the repair need of distributed cloud storage systems. In this paper, we present locally minimum storage regenerating(LMSR) codes to recover multiple failed nodes at the same time. Specifically, the nodes in distributed cloud storage systems are divided into multiple local groups, and in each local group(4, 2) or(5, 3) MSR codes are constructed. Moreover, the grouping method of storage nodes and the repairing process of failed nodes in local groups are studied. Theoretical analysis shows that LMSR codes can achieve the same storage overhead as MSR codes. Furthermore, we verify by means of simulation that, compared with MSR codes, LMSR codes can reduce the repair bandwidth and disk I/O overhead effectively.

Source localization with minimum variance distortionless response for spherical microphone arrays

To improve localization accuracy, the spherical microphone arrays are used to capture high-order wavefield in- formation. For the far field sound sources, the array signal model is constructed based on plane wave decomposition. The spatial spectrum function is calculated by minimum variance distortionless response （MVDR） to scan the three-dimensional space. The peak values of the spectrum function correspond to the directions of multiple sound sources. A diagonal loading method is adopted to solve the ill-conditioned cross spectrum matrix of the received signals. The loading level depends on the alleviation of the ill-condition of the matrix and the accuracy of the inverse calculation. Compared with plane wave decomposition method, our proposed localization algorithm can acquire high spatial resolution and better estimation for multiple sound source directions, especially in low signal to noise ratio （SNR）.

A Maximum Likelihood TOA Based Estimator For Localization in Heterogeneous Networks

In this paper, we exploit the concept of data fusion in hybrid localization systems by combining different TOA (Time of Arrival) observables coming from different RATs (Radio Access Technology) and characterized by different precisions in order to enhance the positioning accuracy. A new Maximum Likelihood estimator is developed to fuse different measured ranges with different variances. In order to evaluate this estimator, Monte Carlo simulations are carried out in a generic environment and Cramer Rao Lower Bounds (CRLB) are investigated. This algorithm shows enhanced positioning accuracy at reasonable noise levels comparing to the typical Weighted Least Square estimator. The CRLB reveals that the choice of the number, and the configuration of Anchor nodes, and the type of RAT may enhance positioning accuracy.

无线传感器网络基于测距的节点定位算法综述OverviewoftheNodeLocalizationAlgorithmBasedonRangingofWirelessSensorNetworks

基于测距的定位方法对测量的距离信息运用几何知识求解未知节点的位置,常用在定位精度较高的领域,可在误差、能耗、受环境因素影响等方面进行优化。本文对基于测距的无线传感器网络节点定位算法进行详细地分析和比较。

Comparison of Three Commonly Used Equations for Calculating Local Scour Depth around Bridge Pier under Ice Covered Flow Condition

A precise prediction of maximum scour depth around bridge foundations under ice covered condition is crucial for their safe design because underestimation may result in bridge failure and over-estimation will lead to unnecessary construction costs. Compared to pier scour depth predictions within an open channel, few studies have attempted to predict the extent of pier scour depth under ice-covered condition. The present work examines scour under ice by using a series of clear-water flume experiments employing two adjacent circular bridge piers in a uniform bed were exposed to open channel and both rough and smooth ice covered channels. The measured scour depths were compared to three commonly used bridge scour equations including Gao’s simplified equation, the HEC-18/Jones equation, and the Froehlich Design Equation. The present study has several advantages as it adds to the understanding of the physics of bridge pier scour under ice cover flow condition, it checks the validity and reliability of commonly used bridge pier equations, and it reveals whether they are valid for the case of scour under ice-covered flow conditions. In addition, it explains how accurately an equation developed for scour under open channel flow can predict scour around bridge piers under ice-covered flow condition.

A self-organized locator obtaining method driven by local minima

The scalability of routing architectures for large networks is one of the biggest challenges that the Internet faces today.Greedy routing,in which each node is assigned a locator used as a distance metric,recently received increased attention from researchers and is considered as a potential solution for scalable routing.In this paper,LMD—a local minimum driven method is proposed to compute the topology-based locator.To eliminate the negative effect of the " quasi" greedy property—transfer routes longer than the shortest routes,a two-stage routing strategy is introduced,which combines the greedy routing with source routing.The greedy routing path discovered and compressed in the first stage is then used by the following source-routing stage.Through extensive evaluations,based on synthetic topologies as well as on a snapshot of the real Internet AS(autonomous system)topology,it is shown that LMD guarantees 100%delivery rate on large networks with low stretch.

Accurate Registration of Remote Sensing Images Based on Local Optimal Transformation

As the basic work of image stitching and object recognition,image registration played an important part in the image processing field.Much previous work in registration accuracy and realtime performance progressed very slowly,especially in registrating images with line feature.An innovative method for image registration based on lines is proposed,it can effectively improve the accuracy and real-time performance of image registration.The line feature can deal with some registration problems where point feature does not work.Our registration process is divided into two parts.The first part determines the rough registration transformation relation between reference image and test image.Then the similarity degree among different transformation and modified nonmaximum suppression(MNMS)algorithms are obtained,which produce local optimal solution to optimize the rough registration transformation.The final optimal registration relation can be obtained from two registration parts according to the match scores.The experimental results show that the proposed method makes a more accurate registration relation and performs better in real-time situation.

A Novel Range-Free Jammer Localization Solution in Wireless Network by Using PSO Algorithm

In wireless networks, jamming attacks are easy to launch and can significantly impact the network performance. The technique which localizes the jamming attacker is useful to address this problem. Some range-based localization schemes depend on the additional hardware of wireless nodes too much, and they can not work in resource-constrained wireless networks. Solutions in range-free localization are being pursued as a cost-effective alternative to more expensive range-based approaches.In this paper, we propose a novel range-free algorithm to localize the source of the attacker. We show that our approach only relies on the positions of each jammed or no-jammed node in the network, PSO algorithm is used to get the minimum covering circle of jammed positions and the circle center is the estimated jammer location. We compare our work with some existing range-free solutions via extensive simulations in two models, which are wireless sensor network (WSN) and vehicular ad hoc network (VANET) respectively. The experimental results suggest that our proposed algorithm achieves higher accuracy than the other solutions, and the localization error goes down with larger number of recorded jammed positions. In additional, when the recorded jammed positions are distributed in a specific constrained area, the localization error goes higher, we also propose an improved PSO algorithm to deal with this issue.

Quantitative Comparison of Predictabilities of Warm and Cold Events Using the Backward Nonlinear Local Lyapunov Exponent Method

The backward nonlinear local Lyapunov exponent method(BNLLE)is applied to quantify the predictability of warm and cold events in the Lorenz model.Results show that the maximum prediction lead times of warm and cold events present obvious layered structures in phase space.The maximum prediction lead times of each warm(cold)event on individual circles concentric with the distribution of warm(cold)regime events are roughly the same,whereas the maximum prediction lead time of events on other circles are different.Statistical results show that warm events are more predictable than cold events.

Restraint on the Effect of Friction by Localization Method

The characterization of friction in control systems and its restraint by localization method are analyzed. The minimum velocity and position precision of control systems with friction are obtained analytically. The condition of global stability is given.

CONSTRAINED MULTIOBJECTIVE GAMES IN LOCALLY CONVEX H-SPACES

A new class of constrained multiobjective games with infinite players in noncompact locally convex H-spaces without linear structure are introduced and studied.By applying a Fan-Glicksberg type fixed point theorem for upper semicontinuous set-valued mappings with closed acyclic values and a maximum theorem,several existence theorems of weighted Nath-equilibria and Pareto equilibria for the constrained multiobjective games are proved in noncompact locally convex H-spaces.These theorems improve,unify and generalize the corresponding results of the multiobjective games in recent literatures.

Analyzing the Completeness(Relative Minimum Magnitude) of History Seismic Catalogue in Sichuan Province

Sichuan Province,East Western of China,within the area of east longitude 97°21′-108°31′,north latitude 26°03′-34°19′,which is on the Mediterranean seismic zone;with its complicated geological background,several strong shocks occurred in this district since ancient times.Earthquake catalogue of this area could date back to B.C.26,however,limited by the conditions—technology or funds,lots of minor earthquake have been lost,which could be

Storm集群下一种基于Topology的任务调度策略

Storm作为开源的分布式实时计算系统在业界得到了广泛应用,针对Storm自带调度策略忽略了Topology组件任务间的逻辑耦合性,从而引起大量tuple传输产生较大网络时延问题,结合进程代数将Topology等效简化为具有明显局部可串行化特征的逻辑进程系统模型,并基于该模型采用最大本地化调度策略。实验结果表明,该策略能有效缩短平均流事件处理时延,且具有较高的稳定性和可靠性。

基于局部优化的重心Voronoi图计算

重心Voronoi图(centroidal Voronoi tessellation,CVT)是一个重要的几何结构,在地理信息系统,信号处理,网格生成/优化,可视化等领域有着重要应用。针对传统全局生成、优化的方法的不足,比如奇异点多、收敛速度较慢等问题,提出了生成优化与随机扰动两种局部优化方法,以及一个整合了层次生成、局部优化、蒙特卡罗优化的CVT生成算法框架。实验结果表明,相比于已有算法,本文方法在速度与质量上有综合的提升。

Approximate Maximum Likelihood Algorithm for Moving Source Localization Using TDOA and FDOA Measurements

A closed-form approximate maximum likelihood（AML） algorithm for estimating the position and velocity of a moving source is proposed by utilizing the time difference of arrival（TDOA） and frequency difference of arrival（FDOA） measurements of a signal received at a number of receivers.The maximum likelihood（ML） technique is a powerful tool to solve this problem.But a direct approach that uses the ML estimator to solve the localization problem is exhaustive search in the solution space,and it is very computationally expensive,and prohibits real-time processing.On the basis of ML function,a closed-form approximate solution to the ML equations can be obtained,which can allow real-time implementation as well as global convergence.Simulation results show that the proposed estimator achieves better performance than the two-step weighted least squares（WLS） approach,which makes it possible to attain the Cramér-Rao lower bound（CRLB） at a sufficiently high noise level before the threshold effect occurs.

Empirical investigation of stochastic local search for maximum satisfiability

The maximum satisfiability (MAX-SAT)problem is an important NP-hard problem in theory,and has a broad range of applications in practice.Stochastic local search (SLS)is becoming an increasingly popular method for solving MAX-SAT.Recently,a powerful SLS algorithm called CCLS shows efficiency on solving random and crafted MAX-SAT instances.However,the performance of CCLS on solving industrial MAX-SAT instances lags far behind.In this paper,we focus on experimentally analyzing the performance of SLS algorithms for solving industrial MAXSAT instances.First,we conduct experiments to analyze why CCLS performs poor on industrial instances.Then we propose a new strategy called additive BMS (Best from Multiple Selections)to ease the serious issue.By integrating CCLS and additive BMS,we develop a new SLS algorithm for MAXSAT called CCABMS,and related experiments indicate the efficiency of CCABMS.Also,we experimentally analyze the effectiveness of initialization methods on SLS algorithms for MAX-SAT,and combine an effective initialization method with CCABMS,resulting in an enhanced algorithm.Experimental results show that our enhanced algorithm performs better than its state-of-the-art SLS competitors on a large number of industrial MAX-SAT instances.

Energy Efficient Access Point Selection and Signal Projection for Accurate Indoor Positioning

We propose a method to improve positioning accuracy while reducing energy consumption in an indoor Wireless Local Area Network(WLAN) environment.First,we intelligently and jointly select the subset of Access Points(APs) used in positioning via Maximum Mutual Information(MMI) criterion.Second,we propose Orthogonal Locality Preserving Projection(OLPP) to reduce the redundancy among selected APs.OLPP effectively extracts the intrinsic location features in situations where previous linear signal projection techniques failed to do,while maintaining computational efficiency.Third,we show that the combination of AP selection and OLPP simultaneously exploits their complementary advantages while avoiding the drawbacks.Experimental results indicate that,compared with the widely used weighted K-nearest neighbor and maximum likelihood estimation method,the proposed method leads to 21.8%(0.49 m) positioning accuracy improvement,while decreasing the computation cost by 65.4%.

LOCAL MAXIMUM PRINCIPLE FOR SINGULAR DISCRETE-TIME LINEAR SYSTEMS

In this paper a local maximum principle for the singular discrete-time linear systemMx(k)=φx(k-1)+Bu(k-1)is investigated.By using this local maximum principle we can discussthe linear-quadratic optimal regulator problem and the minimum energy problem for singulardiscrete-time linear systems.

Theoretical study on damage bifurcation of unstable failure process of quasi-brittle materials

To obtain the damage effect in the process of elasto-plasticity deformation of quasi-brittle materials, the isotropic damage loading-unloading function and damage variable were introduced to non-continuous bifurcation. The critical bifurcation orientation and its corresponding hardening modulus for quasi-brittle materials were derived considering the effect of stiffness degradation and volumetric dilatancy under the assumption of isotropic damage. The relationships of localized orientation angle and maximal hardening modulus dependent on degree of damage and initial Poisson's ratio of rock were explored. Comparative analyses were conducted to study the bifurcation of uniaxial tension-compression samples under the conditions of plane stress and plane strain. It is shown that as the initial Poisson's ratio or degree of damage increases, the localization orientation angle of the plane uniaxial compression sample tends to be initiated to decrease. However, the localization orientation angle of the plane uniaxial tension sample tends to be initiated to increase. The sum of orientation angle under tension and compression conditions is 90°. There are plane stress and plane strain cases of the maximum hardening modulus that is independent of the uniaxial compression and tension.