Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is concerned.To take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of UAVs.Based on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole problem.Meanwhile,in view of the impact of wind on UAVs' paths,the notion of virtual target is proposed.The application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental equation.Then,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of waypoints.Finally,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational experiments.Numerical results exhibit that the proposed algorithm can produce high quality solutions to the problem.

Neighborhood Union of Essential Sets and Hamiltonicity of Claw-Free Graphs

Let G be a graph, an independent set Y in G is called an essential independent set (or essential set for simplicity), if there is {y 1,y 2} Y such that dist (y 1,y 2)=2. In this paper, we will use the technique of the vertex insertion on l connected ( l=k or k+1,k≥2 ) claw free graphs to provide a unified proof for G to be hamiltonian or 1 hamiltonian, the sufficient conditions are expressed by the inequality concerning ∑ki=0N(Y i) and n(Y) for each essential set Y={y 0,y 1,...,y k} of G , where Y i={y i,y i-1 ,...,y i-(b-1) }Y for i∈{0,1,...,k} (the subscriptions of y j ’s will be taken modulo k+1 ), b ( 0【b【k+1 ) is an integer, and n(Y)={v∈V(G): dist (v,Y)≤2 }.

Inheritance Pattern of Microsatellite Loci and Their Use for Kinship Analysis in the Japanese Scallop Patinopecten yessoensis

The inheritance mode of seven microsatellite markers was investigated in Patinopecten yessoensis larvae from four con-trolled crosses,and the feasibility of using these markers for kinship estimation was also examined. All the seven microsatellite loci were compatible with Mendelian inheritance. Neither sex-linked barriers to transmission nor major barriers to fertilization between gametes from the parents were evident. Two of the seven loci showed the presence of null alleles in two families,suggesting the need to conduct comprehensive species-specific inheritance studies for microsatellite loci used in population genetic studies. However,even if the null allele heterozygotes were considered as homozygotes in the calculation of genetic distance,offspring from four families were all unambiguously discriminated in the neighbor-joining dendrogram. This result indicates that the microsatellite markers used may be capable of discriminating between related and unrelated scallop larvae in the absence of pedigree information,and of investigating the effective number of parents contributing to the hatchery population of the Japanese scallop.

Identification and recognition of intangible capital

In this article, intangible capital has been identified efficiently from three dimensions of excess earnings, contracts and assets specificity. On the basis of identification, we confirm intangible capital as the core level, the close level and the loose level with the ＂colorful mode＂ of accounting recognition. The core level includes land tenure right capital, franchise right capital, intellectual property right capital and operation capacity capital. The close level includes brand capital and relationship capital. The loose level includes moral capital and basic structure capital.

Cost Effective Scheme for OLT in Next Generation Passive Optical Access Network Based on Noise Free Optical Multi Carrier

We propos e a cos t-effective multi-carrier generation technique which minimizes the passive optical access network(PON) costs. In this study replacement of laser array with multi-carrier source at optical line terminal(OLT) side in PON is addressed. With 25-GHz frequency spacing, the generated optical multi-carriers exhibit good tone to noise ratio(TNR) i. e. above 20 d B, and least amplitude difference i. e. 1.5d B. At the OLT, multi-carriers signal based multiplexed differential phase shift keying(DPSK) data from all the channels each having 10 Gbps for downlink is transmitted through 25 km single mode fiber. While the transmitted information is retrieved at optical network unit(ONU), part of the downlink signal is re-modulated using intensity modulated(IM) on-off keying(OOK) for upstream transmission at 10-Gbps. Simulation results are in good agreement with the theoretical analysis, showing error free transmission in downlink and uplink with 10 Gbps symmetric data rate at each channel. The receivedpower, both for uplink and downlink transmission, is adequate for all channels at BER of 10-9 with minimum power penalties. Power budget is calculated for different splitting ratios showing excellent system margins for any unseen losses. The proposed setup provides a cost-effective way minimizing transmission losses, and providing greater system's margin in PON architecture.

A segment version transcoding for client-centric wireless mobile media streaming

An object segment similarity function is taken into account from the continuous media frames to measure the individual streaming profit of certain segment versions of a media object.Therefore,a new segment version-based transcoding(SVT)mechanism is derived for a quality of service(QoS)of client-centric media streaming in wireless mobile networks.The derived function utilizes the fuzzy similarity of certain segment versions of an object.This mechanism provides the effectiveness of reduction of the stream startup latency among segment versions,and the average access of each version.Thus,the proposed segment version transcoding mechanism reduces packet loss which in turn increases streaming performance and throughput.The performance of the partitioned segment versions is simulated and some segment versions are completed.The simulation results show that the proposed mechanism outperforms the other mechanisms in average cache hit ratio and in average startup latency ratio.

UTES （Underground Thermal Energy Storage）---Applications and Market Development in Sweden

The market for shallow geothermal solutions has been continuously growing in Sweden and is recognized as a cost effective and environmental sound way for space heating. In later years, UTES （underground thermal energy storage） systems have become fTequently installed for combined heating and cooling of commercial and institutional buildings. After 20 years, operational experiences of these systems are proved to be energy efficient, technically safe and profitable. In this paper, the current statistics of UTES applications are given as well as market trends and technical development. The goal is to encourage designers and installers in other counties to use this promising technology.

Parameter fitting of constitutive model and FEM analysis of solder joint thermal cycle reliability for lead-free solder Sn-3.5Ag

The experimental tests of tensile for lead-flee solder Sn-3.5Ag were performed for the general work temperatures range from 11 to 90 ℃ and strain rate range from 5 × 10^-5 to 2 × 10^-2s^-1, and its stress--strain curves were compared to those of solder Sn-37Pb. The parameters in Anand model for solder Sn-3.5Ag were fitted based on experimental data and nonlinear fitting method, and its validity was checked by means of experimental data. Furthermore, the Anand model was used in the FEM analysis to evaluate solder joint thermal cycle reliability. The results show that solder Sn-3.5Ag has a better creep resistance than solder Sn-37Pb. The maximum stress is located at the upper right comer of the outmost solder joint from the symmetric center, and thermal fatigue life is predicted to be 3.796 × 10^4 cycles under the calculated conditions.

One-Branch Zero-IF Wireless Receiver Topology with Multiphase Local Oscillator

This paper proposes a one-branch zero-IF receiver topology, which samples the I and Q signals of the modulated RF carrier with one signal path by means of a multiphase local oscillator. The suggested one-branch re- ceiver works without matching problem, and it is also capable of cancelling out the flicker noise and DC-offset when the local oscillator is configured to the four-phase mode. The one-branch receiver saves much area and power com- pared with the traditional two-branch ones. All of the advantages above make the one-branch receiver topology a promising architectural candidate for low-power and low-cost RF CMOS receiver designs. Keywords： RF CMOS; zero-IF; flicker noise; image rejection; low-power; IQ matching

Landslide Monitoring Using Low Cost GNSS Equipment - Experiences from Two Alpine Testing Sites

Simple GNSS navigation receivers, developed for the mass market, can be used for positioning with sub centimeter accuracy in a wireless sensor network if the read-out of the carrier phase data is possible and all data is permanently broadcast to a central computer for near real time processing of the respective base lines. Experiences gained in two research projects related to landslide monitoring are depicted in terms of quality and reliability of the results by the developed approach. As far as possible a modular system set up with commercial off-the-shelf components, e.g., standard WLAN fur commtmication, solar batteries with solar panels for autarkic power supply and in cooperation of existing proofed program tools is chosen. The challenge of the still ongoing development is to have a flexible and robust GNSS based sensor network available - concerned not only for landslide monitoring in future.

UTILITY OPTIMIZATION SCHEDULING FOR MULTI-POINT VIDEO SURVEILLANCE IN UBIQUITOUS NETWORK

Resource allocation is an important problem in ubiquitous network. Most of the existing resource allocation methods considering only wireless networks are not suitable for the ubiquitous network environment, and they will harm the interest of individual users with instable resource requirements. This paper considers the multi-point video surveillance scenarios in a complex network environment with both wired and wireless networks. We introduce the utility estimated by the total costs of an individual network user. The problem is studied through mathematical modeling and we propose an improved problem-specific branch-and-cut algorithm to solve it. The algorithm follows the divide-and-conquer principle and fully considers the duality feature of network selection. The experiment is conducted by simulation through C and Lingo. And it shows that compared with a centralized random allocation scheme and a cost greed allocation scheme, the proposed scheme has better per- formance of reducing the total costs by 13.0% and 30.6% respectively for the user.

Step change approaches in coal technology and fugitive emissions research

Multi-factor productivity(MFP) in underground coal mining has been on the decline for the last decade.The mining industry requires a viable and sustainable approach to overcome the current downtrend. This is only possible by concurrently focussing on productivity improvement and operating costs reduction,delivered through both incremental and step change technology development. Four technologies are presented in this paper: fibre optic borehole sensing has been demonstrated to reveal detailed information about gas flow influx, water level and borehole blockage events occurring along the length of a surfaceto-inseam lateral. Fibre optic gas sensing has also been investigated, and this technology promises a remote, intrinsically safe, distributed solution. Recent developments in continuous water jet drilling technology have demonstrated a step change increase in drilling rates and flexibility for coal seam degassing,applicable in both surface-to-inseam and underground in-seam applications. The application of water jet technology to the cable bolt drilling problem offers potential to address a serious health and safety and productivity issue in the roadway development process.

Heavy Metal Release from Some Industrial Wastes: Influence of Organic and Inorganic Acids, Clay Minerals, and Nanoparticles

Knowledge about heavy metal release from industrial solid wastes(ISWs) is crucial for better management of their environmental risks. This study was conducted to investigate the effect of organic and inorganic acids, clay minerals, and nanoparticles(NPs) on the release of heavy metals from sugar factory waste, ceramic factory waste, leather factory waste, and stone cutting waste. The influence of the extractants on heavy metal release from these ISWs was in the following descending order: citric acid > oxalic acid > nitric acid≥ sulfuric acid > Ca Cl2. Addition of clay minerals and NPs as adsorbents decreased heavy metal release, which was significantly lower in NP-treated wastes than in the clay mineral-treated wastes. On the other hand, the presence of organic and inorganic acids increased heavy metal adsorption by NPs and clay minerals. These results suggest that NPs can be applied successfully in waste remediation,and organic and inorganic acids play an important role in the removal of heavy metals from the studied adsorbents.

A local probability exponential inequality for the large deviation of an empirical process indexed by an unbounded class of functions and its application

A local probability exponential inequality for the tail of large deviation of an empirical process over an unbounded class of functions is proposed and studied. A new method of truncating the original probability space and a new symmetrization method are given. Using these methods, the local probability exponential inequalities for the tails of large deviations of empirical processes with non-i.i.d. independent samples over unbounded class of functions are established. Some applications of the inequalities are discussed. As an additional result of this paper, under the conditions of Kolmogorov theorem, the strong convergence results of Kolmogorov on sums of non-i.i.d. independent random variables are extended to the cases of empirical processes indexed by unbounded classes of functions, the local probability exponential inequalities and the laws of the logarithm for the empirical processes are obtained.

Transmitting boundary and radiation conditions at infinity

Relationship between the radiation conditions at infinity and the transmitting boundary for numerical simulation of the near-field wave motion has been studied in this paper. The conclusion is that the transmitting boundary is approximately equivalent to the radiation conditions at infinity for a large class of infinite media. And the errors of the approximation are of the same order of magnitude as those of the finite elements or finite differences in numerical simulation of wave motion. This result provides a sound theoretical basis for the transmitting boundary used in the numerical simulation of the near-field wave motion and gives a complete explanation for the major experiences accumulated in applications of the transmitting boundary to the numerical simulation.

On Poincaré-Type Continuum and Certain of Its Basic Properties

This is an expositive paper reflecting certain viewpoint of intuitionists for the structure of continuum. What we provide is a descriptive theory for Poincaré-type continuum whose first hyperstandard model （PC） was given previously^[3]. Here we construct a new hyperstandard model [PC] instead of （PC）, and present three propositions related to the concept of semi-infinitesimal. Finally, an application of R （non-Cantorian continuum） in Calculus is expounded.Keywords Poincar6＇s intimate bond （IB）; hyperstandard microinterval; semi-infinitesimal; non-punctiform element.

Accuracy characterization and measurement point planning for workpiece localization

This paper addresses the problem of accuracy characterization and measurement point planning for 3-D workpiece localization in the presence of part surface errors and measurement errors. Two frame-invariant functions of the infinitesimal rigid body displacement are defined to quantify the localization accuracy required by manufacturing processes. Then, two kinds of frame-invariant indices are derived to characterize the sensitivities of the accuracy measures to the sampling errors at the measurement points. With a dense set of discrete points on the workpiece datum surfaces pre-defined as candidates for measurement, planning of probing points for accurate recovery of part location is modeled as a combinatorial problem focusing on minimizing the accuracy sensitivity index. Based on an interchange rule, a greedy algorithm is developed to efficiently find a near-optimal solution. It is also shown that if the number of the measurement points is sufficiently large, there is no need to optimize their positions. Example confirms the validity of the presented indices and algorithm. Keywords localization - fixture - accuracy - uncertainty assessment - measurement planning - optimal design - heuristic algorithm

An Range-free Localization Scheme for Large Scale Underwater Wireless Sensor Networks

In this paper, we study an area localization problem in large scale underwater wireless sensor networks （UWSNs）. The limited bandwidth, the severely impaired channel and the cost of underwater equipment all make the underwater localization problem very challenging. Exact localization is very difficult for UWSNs in deep underwater environment. We propose a range free method based on mobile detachable elevator transceiver （DET） and 3D multi-power area localization scheme （3D-MALS） to address the challenging problem. In the proposed scheme, the ideas of 2D multi-power area localization scheme （2D-ALS） and utilizing DET are used to achieve the simplicity, location accuracy, scalability and low cost performances. The DET can rise and get down to broadcast its position. And it is assumed that all the underwater nodes underwater have pressure sensors and know their z coordinates. We evaluate the performances of 2D-ALS and our proposed 3D-MALS schemes under both ideal and non-ideal channel propagation conditions, in terms of localization error and localization ratio. The simulation results show that our proposed scheme is much more efficient than the 2D-ALS.