An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

关键词：机器人；任务规划；不确定性；游戏理论

查看摘要 索取原文[12页]

In the picking robot binocular vision systems research, the camera calibration is often an indispensable step and these basements to locate the target of the object and rebuild the three-dimensional construction based on the robot stereo vision for the follow-up study. So, searching for a high accuracy and simple camera calibration algorithm is of great significance and necessary. However, For most of these camera calibration algorithms, it is necessary to establish a reference object, namely the target, in front of the camera at present, but posing the target is very not convenient or almost impossible in some cases. Therefore, a picking robot online calibration algorithm based on the vision scene was proposed by studying the work environment characteristics of the picking robot binocular vision system and the invariant projective geometry. The experimental results showed that this algorithm's calibration accuracy and precision good meets to the requirement of the robot binocular vision system camera calibration in the complex environment.

关键词：机器人；摄像机标定；立体视觉；图像分割；hough变换

查看摘要 索取原文[4页]

In the current monitoring system, for the monitoring sites (such as storage, home, radioactive places and other harmful places), no dead ends and comprehensive monitoring is completed by installing a large number of fixed cameras and hiring many security persons to achieve, a lot of cameras installed are complicated; expensive and wasting a lot of manpower and material resources. Meanwhile, the fixed camera monitoring is just rigid; no early warning functions and requiring the security persons to be on duty all the time. At the same time, the records of on-site monitoring need to be large capacity storage medium. Therefore, to solve the problems of above in practical, we design an intelligent network monitoring system which is a set of non-dead mobile monitoring; automatic warning; automatic voice alerting; automatic storage of suspicious scene. By fixing the cameras; wireless routers; GPRS module; voice module and power management modules, with the Altera DE2 board to build a wheeled robot. The wheeled robot realizes the real-time monitoring of unmanned sites and solves the issues of complex installing and adverse monitoring to a large extent.

关键词：机器人 FPGA DE2 监控

查看摘要 索取原文[5页]

This paper describes the optimization of an Integrator control block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction respectively. The integrator block is call Weighted Fussy Inference System (WFIS), and assigns weights to the responses on each behavior block, to combine them into a single response

关键词：机器人；优化；导航；积分器

查看摘要 索取原文[11页]

This paper describes the application of the optimization algorithm based on particle swarms known by its acronym as PSO, used to adjust the parameters of membership functions of a fuzzy logic controller (FLC) to find the optimal intelligent control for a wheeled autonomous mobile robot. Results of several simulations show that the PSO is able to optimize the type-1 and type 2 FLCs for this specific application.

关键词：机器人；控制器；PSO；自主移动

查看摘要 索取原文[8页]

行业价值，即在社会平均的劳动生产率条件下，一个行业在国民经济中所处的地位，所提供的产品或服务在社会生活中的效用，以及对整个社会的贡献。通信行业是国民经济的基础产业，提供基于通信网络基础上的产品或服务，发挥着其他行业不可替代的作用。但是目前，通信运营商的生存基础，如授权经营、频率许可、号码分配、漫游收费和监管等正在面临着新的挑战。

关键词：通信行业；行业价值；价值重塑

查看摘要 索取原文[8页]

The increased use of Wireless Sensor Networks(WSN) for geolocation has led to an increased reliance on this technology. Jamming , protecting jamming , and detecting jamming in a WSN are areas of study that have greatly increased in interest. This research uses simulations and data collected from hardware experiments to test the effects of jamming on a WSN. Hardware jamming was tested using a Universal Software Radio Peripheral(USRP) Version 2 to assess the effects of jamming on a cooperative network of Java Sun SPOTs. The research combines simulations and data collected from the hardware experiments to see the effects of jamming on cooperative and noncooperative geolocation.

关键词：多传感器；位置查找；无线电干扰；无线电信号；无线计算机网络；计算机模拟，定向天线；对数周期天线；全向天线；无线电接收器，无线电发射机；信号处理

查看摘要 索取原文[89页]

The Dempster-Shafer Theory, a generalization of the Bayesian theory, is based on the idea of belief and as such can handle ignorance. When all of the required information is available, many data fusion methods provide a solid approach. Yet, most do not have a good way of dealing with ignorance. In the absence of information, these methods must then make assumptions about the sensor data. However, the real data may not fit well within the assumed model. Consequently, the results are often unsatisfactory and inconsistent. The Dempster-Shafer Theory is not hindered by incomplete models or by the lack of prior information. Evidence is assigned based solely on what is known, and nothing is assumed. Hence, it can provide a fast and accurate means for multi-sensor fusion with ignorance. In this research, we apply the Dempster-Shafer Theory in target tracking and in gait analysis. We also discuss the Dempster-Shafer framework for fusing data from a Global Positioning System(GPS) and an Inertial Measurement Unit(IMU) sensor unit for precise local navigation. Within this application,we present solutions where GPS outages occur.

关键词：数据融合；不确定性；多传感器；随机过程

查看摘要 索取原文[117页]

It is well known that a tree model does not always admit a finite-state machine (FSM) representation with the same (minimal) number of parameters. Therefore, known characterizations of type classes for FSMs do not apply, in general, to tree models. In this paper, the type class of a sequence with respect to a given context tree T is studied. An exact formula is derived for the size of the class, extending Whittle's formula for type classes with respect to FSMs. The derivation is more intricate than in the FSM case, since some basic properties of FSM types do not hold in general for tree types. The derivation also yields an efficient enumeration of the tree type class. A formula for the number of type classes with respect to $T$ is also derived. The formula is asymptotically tight up to a multiplicative constant and also extends the corresponding result for FSMs. The asymptotic behavior of the number of type classes, and of the size of a class, are expressed in terms of the so- called minimal canonical extension of T, a tree that is generally larger than T but smaller than its FSM closure.

关键词：上下文树；类型的方法；枚举；马尔可夫链；数据压缩

查看摘要 索取原文[35页]

Provenance, a meta-data describing the derivation history of data, is crucial for the uptake of cloud computing to enhance reliability, credibility, accountability, transparency, and confidentiality of digital objects in a cloud. In this paper, we survey current mechanisms that support provenance for cloud computing, we classify provenance according to its granularities encapsulating the various sets of provenance data for different use cases, and we summarize the challenges and requirements for collecting provenance in a cloud, based on which we show the gap between current approaches to requirements. Additionally, we propose our approach, DataPROVE, that aims to effectively and efficiently satisfy those challenges and requirements in cloud provenance, and to provide a provenance supplemented cloud for better integrity and safety of customers' data.

关键词：云计算；数据来源；问责制的透明度

查看摘要 索取原文[8页]