Using a multi-robot system in military operations poses many control problems. Thus, the ability to formulate clear and unambiguous commands for the robots is extremely desirable. To ensure that the operator expresses clearly what needs to be done, we use Battle Management Language (BML) to command multi- robot systems. BML was developed by the military research community to express short, unambiguous orders readable by both humans and machines. BML allows the operator to command the multi-robot system using a single controller on a mobile device (e.g., a tablet). We use BML reports to send information from the robots to the BML-Graphical User Interface (GUI). Position information, operational status, task status, and information about detected units are directly transformed into BML reports. The robots also report binary data such as images, video, or lidar data. These data cannot be translated into BML because BML is limited to textual messages. Instead, the data are converted into another XML format. After conversion, they are sent to the GUI and can be stored in a central database so that other (superordinate) C2 systems can make use of it. This article presents an overview of the BML communication architecture, the BML language and the commands that can be given to robots using BML, and the BML reports system.

关键词：指挥和控制系统；多智能体系统；机器人

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A new method of speech enhancement is proposed based on morphological filter and wavelet transform.The system begins by first conducting morphological filtering,then distinguishing the unvoiced,voiced and noise using TEO in the wavelet domain.It then executes wavelet transform using different threshold on multiscale,and at the same time to improve the threshold function.Experimental results showed that the method not only suppressed noise effectively but also reduced the loss of the unvoiced.It also not only enhanced SNR,but also improved voice clarity and comfort.The merits it espouses makes it an effective speech enhancement algorithm.

关键词：语音增强；形态学滤波；小波变换；TEO；电子信息

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The TDOA localization algorithm for wireless sensor networks can help us measure the time differences of an unknown node to more anchor nodes,which establish nonlinear equation of the differential distance between unknown node and anchor node.Newton iteration is the crucial method for nonlinear equation numerical solutions,so using the Newton iterative method can better achieve nonlinear optimization in TDOA location.The simulation results indicate that the algorithm can meet the requirement of localization and possesses the preferable localization precision.

关键词：无线传感器网络;牛顿迭代法;非线性;到达时间差

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This paper introduces several PID control algorithms and their discretization expression.Compare the performance of positional PID algorithm with incremental PID algorithm,integration separate PID algorithm,incomplete differential PID algorithm and PID algorithm with dead zone.The experiment results show that different digital PID control algorithm could achieve different using.

关键词：位置式PID；增量式PID；整合独立PID；不完全微分PID；电子信息

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In this chapter, low-density parity-check (LDPC) codes, a class of powerful iteratively decodable error correcting codes, are introduced. The chapter first reviews some basic concepts and results in information theory such as Shannon's channel capacity and channel coding theorem. It then overviews the Flash memory channel model. Finally, it addresses LDPC codes describing both their structure and efficient implementation, and their decoding algorithms. Simulation results are also provided.

关键词：低密度奇偶校验码；迭代解码；仿真；电子信息

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Contextual awareness refers to having autonomous robots reason about their capabilities and limitation and improve on those limitations through the help of others. This project explored three areas of contextual awareness detecting when anomalous behaviors occur, reacting to situations where plans are failing, and learning new plans through human demonstration. Each of these areas is important in achieving robust, reliable robot autonomy. The work on detecting anomalous behavior focused on finding subtle anomalies that could not be detected from single events; the work on reacting to failing plans focused on deciding when to switch between risk-neutral and risk-seeking policies, for domains in which the goal is to achieve above a certain threshold of reward; and the work on learning new plans focused on complex manipulator trajectories, where multiple human examples are combined so as to smooth out noise in the examples without losing important details. The first and third areas were demonstrated using actual robots; the second area was demonstrated using a video game simulator.

关键词：人工智能；机器人技术；机器人；自动操作

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The literature on intelligent systems was reviewed in relation to the following: efficient human supervision of multiple robots; appropriate human trust in the automated systems; maintenance of human operator s situation awareness; individual differences in human-agent (H-A) interaction; and retention of human decision authority. A number of approaches, from flexible automation to autonomous agents, were reviewed and their advantages and disadvantages were discussed. Also discussed were two key human performance issues (trust and situation awareness) related to H-A teaming for multi-robot control and some promising user interface design solutions to address these issues. Some key individual differences factors (operator spatial ability, attentional control ability, and gaming experience) were identified that may impact H-A teaming in the context of robotics control.

关键词：人类，机器人；自动化；保留（一般）；人类与机器人互动

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Ocean wave have a magnetic field disturbance,caused by the motional induction of sea water moving in the steady main field of Earth.Mass experiment indicates ocean wave-generated magnetic field disturbance can be a major limitation on the performance of airborne magnetic anomaly detection.To check the character of such disturbance observed above sea-surface,a harmonic ocean wave-generated magnetic field disturbance mathematical model based on Weaver's monochromatic wave-generated magnetic field model and ocean wave directional spectrum is proposed.Algorithm is presented for real-time simulation of ocean wave-generated magnetic field disturbance corresponding to the proposed mathematical model.Numerical simulations of ocean wave-generated magnetic field disturbance are sampled above sea-surface by a stationary magnetometer and an airborne magnetometer moving steadily along a rectilinear path.Spectrum analysis of the samples is performed.Simulations results indicate that the proposed harmonic ocean wave magnetic field disturbance mathematical model can well-simulate the real sea conditions.Numerical simulations also reveal that there is a Doppler frequency shift with the increase of magnetometer flight speed.Moreover,energy of the magnetic field disturbance is more dispersed and frequency band is wider with the increase of magnetometer flight speed.

关键词：磁场干扰；方向谱；磁异常探测；功率谱密度

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Aspect-Oriented Software Architecture (AOA) is a high-level abstraction and integration blueprint of aspectual component-based software.A semantic model of aspectual component-based software is proposed to provide behavior description and semantic foundation for the consistency verification of software architecture dynamic evolution.By using the semantic model of Pi-calculus,a set of the consistency verification methods of dynamic evolution from multiple aspects are introduced.Finally,a case study shows the effect of these methods.

关键词：软件体系结构；动态演化;行为一致性；电子信息

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关键词：地图界面;信息采集;递归聚类;信息可视化

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