A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modelin...A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.展开更多
In the proposed system for online inspection of steel balls, a diffuse illumination is developed to enhance defect appearances and produce high quality images. To fully view the entire sphere, a novel unfolding method...In the proposed system for online inspection of steel balls, a diffuse illumination is developed to enhance defect appearances and produce high quality images. To fully view the entire sphere, a novel unfolding method is put forward based on geometrical analysis, which only requires one-dimensional movement of the balls and a pair of cameras to capture images from different directions. Moreover, a realtime inspection algorithm is customized to improve both accuracy and efficiency. The precision and recall of the sample set were 87.7% and 98%, respectively. The average time cost on image processing and analysis for a steel ball was 47 ms, and the total time cost was less than 200 ms plus the cost of image acquisition and balls' movement. The system can sort 18 000 balls per hour with a spatial resolution higher than 0.01 mm.展开更多
To quickly find documents with high similarity in existing documentation sets, fingerprint group merging retrieval algorithm is proposed to address both sides of the problem:a given similarity threshold could not be t...To quickly find documents with high similarity in existing documentation sets, fingerprint group merging retrieval algorithm is proposed to address both sides of the problem:a given similarity threshold could not be too low and fewer fingerprints could lead to low accuracy. It can be proved that the efficiency of similarity retrieval is improved by fingerprint group merging retrieval algorithm with lower similarity threshold. Experiments with the lower similarity threshold r=0.7 and high fingerprint bits k=400 demonstrate that the CPU time-consuming cost decreases from 1 921 s to 273 s. Theoretical analysis and experimental results verify the effectiveness of this method.展开更多
To improve the performance and robustness in service discovery, a self-organizing mechanism for service alliances of Service Providers (SPs) is proposed in this paper. According to the similarity of service content, a...To improve the performance and robustness in service discovery, a self-organizing mechanism for service alliances of Service Providers (SPs) is proposed in this paper. According to the similarity of service content, an SP publishes its services in a partition of SPs to construct connections between highly similar SPs. These SPs constitute a self-organized distributed environment. A self-organizing protocol is designed to ensure the correctness of the construction of the alliances. The protocol consists of four stages - initiating stage, developing stage, developed stage and degradation stage. The experimental results demonstrate that this protocol ensures the self-property. The visualization of alliance developing stages illustrates that sub-alliances are sp lit in balance and self-connected. Compared with the Random Walker algorithm, the time cost and the number of forwarded messages in alliance-based mechanism is lower in service discovery. On three typical topologies (Grid, Random-Graph, Power-Law), the success rate of service discovery is much higher, which shows that self-organized alliances are helpful to enhance the discovery performance.展开更多
Semi-solid metal processing is being developed in die casting applications to give several cost benefits. To efficiently apply this emerging technology, it is important to understand the evolution of microstructure in...Semi-solid metal processing is being developed in die casting applications to give several cost benefits. To efficiently apply this emerging technology, it is important to understand the evolution of microstructure in semi-solid slurries for the control of the theological behavior in semi-solid state. An experimental apparatus was developed which can capture the grain structure at different times at early stages to understand how the semi-solid structure evolves. In this technique, semi-solid slurry was produced by injecting fine gas bubbles into the melt through a graphite diffuser during solidification. Then, a copper quenching mold was used to draw some semi-solid slurry into a thin channel. The semi-solid slurry was then rapidly frozen in the channel giving the microstructure of the slurry at the desired time. Samples of semi-solid 356 aluminum alloy were taken at different gas injection times of 1, 5, 10, 15, 20, 30, 35, 40, and 45 s. Analysis of the microstructure suggests that the fragmentation by remelting mechanism should be responsible for the formation of globular structure in this rheocasting process.展开更多
基金Supported by the National Natural Science Foundation of China(No.61100143,No.61370128)the Program for New Century Excellent Talents in University of the Ministry of Education of China(NCET-13-0659)Beijing Higher Education Young Elite Teacher Project(YETP0583)
文摘A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.
文摘In the proposed system for online inspection of steel balls, a diffuse illumination is developed to enhance defect appearances and produce high quality images. To fully view the entire sphere, a novel unfolding method is put forward based on geometrical analysis, which only requires one-dimensional movement of the balls and a pair of cameras to capture images from different directions. Moreover, a realtime inspection algorithm is customized to improve both accuracy and efficiency. The precision and recall of the sample set were 87.7% and 98%, respectively. The average time cost on image processing and analysis for a steel ball was 47 ms, and the total time cost was less than 200 ms plus the cost of image acquisition and balls' movement. The system can sort 18 000 balls per hour with a spatial resolution higher than 0.01 mm.
基金Project(60873081) supported by the National Natural Science Foundation of ChinaProject(NCET-10-0787) supported by the Program for New Century Excellent Talents in University, ChinaProject(11JJ1012) supported by the Natural Science Foundation of Hunan Province, China
文摘To quickly find documents with high similarity in existing documentation sets, fingerprint group merging retrieval algorithm is proposed to address both sides of the problem:a given similarity threshold could not be too low and fewer fingerprints could lead to low accuracy. It can be proved that the efficiency of similarity retrieval is improved by fingerprint group merging retrieval algorithm with lower similarity threshold. Experiments with the lower similarity threshold r=0.7 and high fingerprint bits k=400 demonstrate that the CPU time-consuming cost decreases from 1 921 s to 273 s. Theoretical analysis and experimental results verify the effectiveness of this method.
基金This paper was supported by the Natural Science Foundation of China under Grants No. 61170053, No. 61100205 the Nat- ural Science Foundation of Beijing under Grant No. 4112027 the Natural Science Foundation of Hebei under Grant No. F2009000929. The authors would like to thank the anony- mous reviewers for their helpful comments from which the preparation for this version of the paper has benefited.
文摘To improve the performance and robustness in service discovery, a self-organizing mechanism for service alliances of Service Providers (SPs) is proposed in this paper. According to the similarity of service content, an SP publishes its services in a partition of SPs to construct connections between highly similar SPs. These SPs constitute a self-organized distributed environment. A self-organizing protocol is designed to ensure the correctness of the construction of the alliances. The protocol consists of four stages - initiating stage, developing stage, developed stage and degradation stage. The experimental results demonstrate that this protocol ensures the self-property. The visualization of alliance developing stages illustrates that sub-alliances are sp lit in balance and self-connected. Compared with the Random Walker algorithm, the time cost and the number of forwarded messages in alliance-based mechanism is lower in service discovery. On three typical topologies (Grid, Random-Graph, Power-Law), the success rate of service discovery is much higher, which shows that self-organized alliances are helpful to enhance the discovery performance.
基金funded by the Thai Research Fund (Contract No.MRG5280215)the Royal Golden Jubilee Ph.D. Program (Grant No.PHD/0134/2551)
文摘Semi-solid metal processing is being developed in die casting applications to give several cost benefits. To efficiently apply this emerging technology, it is important to understand the evolution of microstructure in semi-solid slurries for the control of the theological behavior in semi-solid state. An experimental apparatus was developed which can capture the grain structure at different times at early stages to understand how the semi-solid structure evolves. In this technique, semi-solid slurry was produced by injecting fine gas bubbles into the melt through a graphite diffuser during solidification. Then, a copper quenching mold was used to draw some semi-solid slurry into a thin channel. The semi-solid slurry was then rapidly frozen in the channel giving the microstructure of the slurry at the desired time. Samples of semi-solid 356 aluminum alloy were taken at different gas injection times of 1, 5, 10, 15, 20, 30, 35, 40, and 45 s. Analysis of the microstructure suggests that the fragmentation by remelting mechanism should be responsible for the formation of globular structure in this rheocasting process.
