In this paper, a new method for mobile robot map building based on grey system theory is presented, by which interpretation and integration of sonar readings can be solved robustly and efficiently. The conception of &...In this paper, a new method for mobile robot map building based on grey system theory is presented, by which interpretation and integration of sonar readings can be solved robustly and efficiently. The conception of 'grey number is introduced to model and handle the uncertainty of sonar reading. A new data fusion approach based on grey system theory is proposed to construct environment model. Map building experiments are performed both on a platform of simulation and a real mobile robot. Experimental results show that our method is robust and accurate.展开更多
Map building by multi-robot is very important to accomplish autonomous navigation,and one of the basic problems and research hotspots is how to merge the maps into a single one in the field of multi-robot map building...Map building by multi-robot is very important to accomplish autonomous navigation,and one of the basic problems and research hotspots is how to merge the maps into a single one in the field of multi-robot map building.A novel approach is put forward based on adaptive differential evolution to map building for the multi-robot system.The multi-robot mapping-building system adopts the methods of decentralized exploration and concentrated mapping.The adaptive differential evolution algorithm is used to search in the space of possible transformation,and the iterative search is performed with the goal of maximizing overlapping regions.The map is translated and rotated so that the two maps can be overlapped and merged into a single global one successfully.This approach for map building can be realized without any knowledge of their relative positions.Experimental results show that the approach is effective and feasibile.展开更多
Edmonton’s cold climate and strong economic connections to the energy sector have made energy vital to the city’s quality of life.The fossil fuel industry has helped the city’s economy grow and Edmonton boasts one ...Edmonton’s cold climate and strong economic connections to the energy sector have made energy vital to the city’s quality of life.The fossil fuel industry has helped the city’s economy grow and Edmonton boasts one of the lowest unemployment rates in Canada at just over four percent.But Edmonton’s economic prosperity does not shelter it from the realities of global environmental challenges.Just like other jurisdictions,climate change and the possibility of future energy constraints means that Edmonton must reevaluate its sources and use of energy across all sectors,including its buildings.To this end,on June 20,2012,the Edmonton City Council approved the Green Building Plan and Policy,designed to help accelerate the greening of Edmonton’s building stock.The policy outlines the strong role the city of Edmonton can play in supporting a green building sector to improve the environmental,health,and socioeconomic performance of all existing and new commercial,institutional,industrial,mixed-use,multifamily residential,and single-family residential buildings in Edmonton.The policy goes on to provide the mandate for the city to lead and support the delivery of public and industry education campaigns,provide incentives and engage in capacity-building activities,and use its authority in land-use planning and development approvals to help transform the local green building market.The Green Building Plan outlines the high-level approach and details a suite of tools and programs that will help Edmonton achieve its Green Building Policy.The information and recommendations in the plan are the results of collaboration between the city of Edmonton and building industry representatives.Over the course of nearly a year,from the autumn of 2010 to the autumn of 2011,the city of Edmonton coordinated conversations,meetings,and workshops to confirm the case for action,understand market transformation theory and how it could be applied in Edmonton,clarify the role of local government,and research local market conditions in an effort to develop an implementation approach that will make the policy reality.Using a Community Energy and Emissions Mapping and Planning(CEEMAP)tool and assisted by HB Lanarc(now Golder Associates),the city of Edmonton evaluated the energy and emissions implications of program implementation.展开更多
Due to the climate change debate, a lot of research and maps of external climate parameters are availtabte. However, maps of indoor climate performance parameters are still Lacking. This paper presents a methodology f...Due to the climate change debate, a lot of research and maps of external climate parameters are availtabte. However, maps of indoor climate performance parameters are still Lacking. This paper presents a methodology for obtaining maps of performances of similar buitdings that are virtually spread over whole Europe. The produced maps are useful for anaty-zing regional climate influence on building performance indicators such as energy use and indoor climate. This is shown using the Bestest building as a reference benchmark. An important application of the mapping tool is the visualization of potential building measures over the EU. Also the performances of singte building components can be simulated and mapped. It is concluded that the presented method is efficient as it takes less than 15min to simulate and produce the maps on a 2.6GHz/4GB computer. Moreover, the approach is applicable for any type of building.展开更多
Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener...Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.展开更多
A good skylight environment in urban residential areas is an important component of a healthy city,and has always been highly valued.With the rapid development of new-type urbanization,the density of buildings continu...A good skylight environment in urban residential areas is an important component of a healthy city,and has always been highly valued.With the rapid development of new-type urbanization,the density of buildings continues to increase,and megacities have entered the stage of stock transformation.An effective method for evaluating the skylight environment of large-scale urban residential areas is urgently needed.However,there is still a lack of empirical research methods and cases of large-scale residential skylight environment.In this regard,this article takes the megacity Beijing as the research object,and proposes an efficient analysis method of residential skylight environment that integrates multiple real-world data at city scale.In terms of data,it collects and integrates 3D data of urban-scale building space and residential boundary data;in terms of algorithm,Sky View Factor(SVF)is used as the evaluation index of residential skylight environment,and an efficient analysis method of urban-scale skylight environment based on cloud parallel simulation is realized.Through analysis,it is found that:(1)the average SVF value of Beijing residential area is 61%,which means that its skylight quality is in general level;(2)the skylight environment of Beijing residential area is distributed in a circle,and there are 4 types of skylight environment quality residential areas;(3)The skylight environment of Beijing residential area is relatively weakly related to the distance from the residential area to the city center and the average height of the residential buildings,and is closely related to the plot volume ratio,the residential building density and the shading from surrounding buildings.The highlight of this study lies in the empirical research on the skylight environment of mega-city residential areas that incorporates multiple real data for the first time,which can promote the study of skylight environment on a city scale and provide a reference for the updating of Beijing’s residential daylight environment.展开更多
基金This project was supported by the National High-Tech Research and Development Plan (2001AA422140) National Science Foundation (69889501, 60105005).
文摘In this paper, a new method for mobile robot map building based on grey system theory is presented, by which interpretation and integration of sonar readings can be solved robustly and efficiently. The conception of 'grey number is introduced to model and handle the uncertainty of sonar reading. A new data fusion approach based on grey system theory is proposed to construct environment model. Map building experiments are performed both on a platform of simulation and a real mobile robot. Experimental results show that our method is robust and accurate.
基金Supported by the National Natural Science Foundation of China(No.90820302,60805027)the Provincial Natural Science Foundation of Hunan(No.12JJ3064)+1 种基金the Construct Program of the Key Discipline in Hunan Province(No.201176)the Planned Science and Technology Project of Hunan Province(No.2011SK3135,2012FJ3059)
文摘Map building by multi-robot is very important to accomplish autonomous navigation,and one of the basic problems and research hotspots is how to merge the maps into a single one in the field of multi-robot map building.A novel approach is put forward based on adaptive differential evolution to map building for the multi-robot system.The multi-robot mapping-building system adopts the methods of decentralized exploration and concentrated mapping.The adaptive differential evolution algorithm is used to search in the space of possible transformation,and the iterative search is performed with the goal of maximizing overlapping regions.The map is translated and rotated so that the two maps can be overlapped and merged into a single global one successfully.This approach for map building can be realized without any knowledge of their relative positions.Experimental results show that the approach is effective and feasibile.
文摘Edmonton’s cold climate and strong economic connections to the energy sector have made energy vital to the city’s quality of life.The fossil fuel industry has helped the city’s economy grow and Edmonton boasts one of the lowest unemployment rates in Canada at just over four percent.But Edmonton’s economic prosperity does not shelter it from the realities of global environmental challenges.Just like other jurisdictions,climate change and the possibility of future energy constraints means that Edmonton must reevaluate its sources and use of energy across all sectors,including its buildings.To this end,on June 20,2012,the Edmonton City Council approved the Green Building Plan and Policy,designed to help accelerate the greening of Edmonton’s building stock.The policy outlines the strong role the city of Edmonton can play in supporting a green building sector to improve the environmental,health,and socioeconomic performance of all existing and new commercial,institutional,industrial,mixed-use,multifamily residential,and single-family residential buildings in Edmonton.The policy goes on to provide the mandate for the city to lead and support the delivery of public and industry education campaigns,provide incentives and engage in capacity-building activities,and use its authority in land-use planning and development approvals to help transform the local green building market.The Green Building Plan outlines the high-level approach and details a suite of tools and programs that will help Edmonton achieve its Green Building Policy.The information and recommendations in the plan are the results of collaboration between the city of Edmonton and building industry representatives.Over the course of nearly a year,from the autumn of 2010 to the autumn of 2011,the city of Edmonton coordinated conversations,meetings,and workshops to confirm the case for action,understand market transformation theory and how it could be applied in Edmonton,clarify the role of local government,and research local market conditions in an effort to develop an implementation approach that will make the policy reality.Using a Community Energy and Emissions Mapping and Planning(CEEMAP)tool and assisted by HB Lanarc(now Golder Associates),the city of Edmonton evaluated the energy and emissions implications of program implementation.
文摘Due to the climate change debate, a lot of research and maps of external climate parameters are availtabte. However, maps of indoor climate performance parameters are still Lacking. This paper presents a methodology for obtaining maps of performances of similar buitdings that are virtually spread over whole Europe. The produced maps are useful for anaty-zing regional climate influence on building performance indicators such as energy use and indoor climate. This is shown using the Bestest building as a reference benchmark. An important application of the mapping tool is the visualization of potential building measures over the EU. Also the performances of singte building components can be simulated and mapped. It is concluded that the presented method is efficient as it takes less than 15min to simulate and produce the maps on a 2.6GHz/4GB computer. Moreover, the approach is applicable for any type of building.
基金supported by the National Basic Research Program of China (Grant No. 2013CB035501)
文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.
基金This research is supported by Outstanding Youth Program of the National Natural Science Foundation of China(No.51825802)General Program of the National Natural Science Foundation of China(No.51578302).
文摘A good skylight environment in urban residential areas is an important component of a healthy city,and has always been highly valued.With the rapid development of new-type urbanization,the density of buildings continues to increase,and megacities have entered the stage of stock transformation.An effective method for evaluating the skylight environment of large-scale urban residential areas is urgently needed.However,there is still a lack of empirical research methods and cases of large-scale residential skylight environment.In this regard,this article takes the megacity Beijing as the research object,and proposes an efficient analysis method of residential skylight environment that integrates multiple real-world data at city scale.In terms of data,it collects and integrates 3D data of urban-scale building space and residential boundary data;in terms of algorithm,Sky View Factor(SVF)is used as the evaluation index of residential skylight environment,and an efficient analysis method of urban-scale skylight environment based on cloud parallel simulation is realized.Through analysis,it is found that:(1)the average SVF value of Beijing residential area is 61%,which means that its skylight quality is in general level;(2)the skylight environment of Beijing residential area is distributed in a circle,and there are 4 types of skylight environment quality residential areas;(3)The skylight environment of Beijing residential area is relatively weakly related to the distance from the residential area to the city center and the average height of the residential buildings,and is closely related to the plot volume ratio,the residential building density and the shading from surrounding buildings.The highlight of this study lies in the empirical research on the skylight environment of mega-city residential areas that incorporates multiple real data for the first time,which can promote the study of skylight environment on a city scale and provide a reference for the updating of Beijing’s residential daylight environment.
