A robust radio map is essential in implementing a fingerprint-based indoor positioning system(IPS).However,the offline site survey to manually construct the radio map is time-consuming and labour-intensive.Various int...A robust radio map is essential in implementing a fingerprint-based indoor positioning system(IPS).However,the offline site survey to manually construct the radio map is time-consuming and labour-intensive.Various interpolation techniques have been proposed to infer the virtual fingerprints to reduce the time and effort required for offline site surveys.This paper presents a novel fingerprint interpolator using a multi-path loss model(MPLM)to create the virtual fingerprints from the collected sample data based on different signal paths from different access points(APs).Based on the historical signal data,the poor signal paths are identified using their standard deviations.The proposed method reduces the positioning errors by smoothing out the wireless signal fluctuations and stabilizing the signals for those poor signal paths.By consideringmultipath signal propagations from different APs,the inherent noise from these signal paths can be alleviated.Firstly,locations of the signal data with standard deviations higher than the threshold are identified.The new fingerprints are then generated at these locations based on the proposed M-PLM interpolation function to replace the old fingerprints.The proposed technique interpolates virtual fingerprints based on good signal paths with more stable signals to improve the positioning performance.Experimental results show that the proposed scheme enhances the positioning accuracy by up to 44%compared to the conventional interpolation techniques such as the Inverse DistanceWeighting,Kriging,and single Path LossModel.As a result,we can overcome the site survey problems for IPS by building an accurate radio map with more reliable signals to improve indoor positioning performance.展开更多
A more relaxed sufficient condition for the convergence of filtered-X LMS (FXLMS) algorithm is presented. It is pointed out that if some positive real condition for secondary path transfer function and its estimates i...A more relaxed sufficient condition for the convergence of filtered-X LMS (FXLMS) algorithm is presented. It is pointed out that if some positive real condition for secondary path transfer function and its estimates is satisfied within all the frequency bands, FXLMS algorithm converges whatever the reference signal is like. But if the above positive real condition is satisfied only within some frequency bands, the convergence of FXLMS algorithm is dependent on the distribution of power spectral density of the reference signal, and the convergence step size is determined by the distribution of some specific correlation matrix eigenvalues.Applying the conclusion above to the Delayed LMS (DLMS) algorithm, it is shown that DLMS algorithm with some error of time delay estimation converges in certain discrete frequency bands, and the width of which are determined only by the 'time-delay estimation error frequency' which is equal to one fourth of the inverse of estimated error of the time delay.展开更多
Performance analysis of filtered-X LMS (FXLMS) algorithm with secondary path modeling error is carried out in both time and frequency domain. It is shown firstly that the effects of secondary path modeling error on th...Performance analysis of filtered-X LMS (FXLMS) algorithm with secondary path modeling error is carried out in both time and frequency domain. It is shown firstly that the effects of secondary path modeling error on the performance of FXLMS algorithm are determined by the distribution of the relative error of secondary path model along with frequency. In case of that the distribution of relative error is uniform the modeling error of secondary path will have no effects on the performance of the algorithm. In addition, a limitation property of FXLMS algorithm is proved, which implies that the negative effects of secondary path modeling error can be compensated by increasing the adaptive filter length. At last, some insights into the 'spillover' phenomenon of FXLMS algorithm are given.展开更多
THE Shangmanggang gold deposit is located at the southwestern corner of Yunnan, China. The deposit occurs along the southwest-trending Shangmanggang Fault. Near the surface, the hanging wall of the fault consists of s...THE Shangmanggang gold deposit is located at the southwestern corner of Yunnan, China. The deposit occurs along the southwest-trending Shangmanggang Fault. Near the surface, the hanging wall of the fault consists of sandstone and mudstone of the Middle Jurassic Mongga Formation (J<sub>2m</sub>), and also severs asthe hanging wall of the gold orebodies. The footwall of the fault is composed of dolomitite locally intercalated with medium-bedded limestone of Lower Permian Sazipo Formation (P<sub>1s</sub>). In the depth, the faultcut into strata of the Sazipo Formation (P<sub>1s</sub>). The deposit is characterized by intense clay alteration,which is similar to the Mercur Gold Deposit, Utah of USA, and by unique hydrothermal pinnacle karsl,展开更多
Prognosis is a key technology to improve reliability,safety and maintainability of products,a lot of researchers have been devoted to this technology.But to improve the predict accuracy of remaining life of products h...Prognosis is a key technology to improve reliability,safety and maintainability of products,a lot of researchers have been devoted to this technology.But to improve the predict accuracy of remaining life of products has been difficult.To predict the lifetime specification of pneumatic cylinders with high reliability and long lifetime and small specimen,this paper put forward the prognosis algorithm based on the path classification and estimation（PACE） model.PACE model is based entirely on failure data instead of failure threshold.Pneumatic cylinders normally characterize with failure mechanism wear and tear.Since the minimum working pressure increases with the number of working cycles,the minimum working pressure is chosen as degradation signal.PACE model is fundamentally composed of two operations：path classification and remaining useful life（RUL） estimation.Path classification is to classify a current degradation path as belonging to one or more of previously collected exemplary degradation paths.RUL estimation is to use the resulting memberships to estimate the remaining useful life.In order for verification and validation of PACE prognostic method,six pneumatic cylinders are tested.The test data is analyzed by PACE prognostics.It is found that the PACE based prognosis method has higher prediction accuracy and smaller variance and PACE model is significantly outperform population based prognostics especially for small specimen condition.PACE model based method solved the problem of prediction accuracy for small specimen pneumatic cylinders＇ prognosis.展开更多
A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive contr...A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.展开更多
A numerical method was used in order to establish the constitutive relationship of sands under different stress paths, Firstly, based on the numerical method modeling the constitutive law of sands, the elastoplastic c...A numerical method was used in order to establish the constitutive relationship of sands under different stress paths, Firstly, based on the numerical method modeling the constitutive law of sands, the elastoplastic constitutive relationship of sand was established for three paths： the constant proportion of principle stress path, the conventional triaxial compression （CTC） path, and the p=constant （TC） path. The yield lines of plastic volumetric strain and plastic generalized shear strain were given. Through visualization, the three dimensional surface of the stress-strain relationship in the whole stress field （p, q） obtained under the three paths was plotted. Also, by comparing the stress-strain surfaces and yield locus of the three stress paths, the differences were found to be obvious, which demonstrates that the influence of the stress paths on constitutive law was not neglected. The numerical modeling method overcame the difficulty of finding an analytical expression for plastic potential. The results simulated the experimental data with an accuracy of 90% on average, so the constitutive model established in this paper provides an effective constitutive equation for this kind of engineering, reflecting the effect of practical stress paths that occur in sands.展开更多
An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing t...An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.展开更多
In the context of the new urbanization,the characteristic town,as a new hotspot to developing rapidly to explore the industry,humanities,community integration town model,a urbanization and high-tech industry developme...In the context of the new urbanization,the characteristic town,as a new hotspot to developing rapidly to explore the industry,humanities,community integration town model,a urbanization and high-tech industry development booster,by the government and developers attention.At the same time,the green development model applies to the characteristic town of industrial upgrading and transformation,guiding the future characteristic town of green economic industry development direction.This paper studies the green development model of the characteristic town,and puts forward the implementation of the green industry through the greening industry structure,promoting green consumption and optimizing the green management.展开更多
When there are bigger obstacles in the indoor environment such as elevator, the radio waves basically can not penetrate it. The contribution of received signal strength by transmission and reflection will be greatly r...When there are bigger obstacles in the indoor environment such as elevator, the radio waves basically can not penetrate it. The contribution of received signal strength by transmission and reflection will be greatly reduced, and most of the time, the radio waves will reach the user by bypass diffraction. Therefore, the traditional path loss model is no longer applicable, and the improved model should be proposed. In this paper, we firstly proposed an indoor radio propagation model based on dominant path in which the received signal strength has nothing to do with the direct distance between user and access point, but is related to the length of dominant path. Then on the basis of dominant path model, the NLOS influence is considered in order to further improve the accuracy of dominant path model. Experimental results demonstrated that the proposed dominant path model can improve the accuracy of traditional path loss model remarkably.展开更多
A bi-objective optimization problem for flapping airfoils is solved to maximize the time-averaged thrust coefficient and the propulsive efficiency. Design variables include the plunging amplitude, the pitching amplitu...A bi-objective optimization problem for flapping airfoils is solved to maximize the time-averaged thrust coefficient and the propulsive efficiency. Design variables include the plunging amplitude, the pitching amplitude and the phase shift angle. A well defined Kriging model is used to substitute the time-consuming high fidelity model, and a multi-objective genetic algorithm is employed as the search algorithm. The optimization results show that the propulsive efficiency can be improved by reducing the plunging amplitude and the phase shift angle in a proper way. The results of global sensitivity analysis using the Sobol’s method show that both of the time-averaged thrust coefficient and the propulsive efficiency are most sensitive to the plunging amplitude, and second most sensitive to the pitching amplitude. It is also observed that the phase shift angle has an un-negligible influence on the propulsive efficiency, and has little effect on the time-averaged thrust coefficient.展开更多
Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to...Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.展开更多
In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the PO...In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.展开更多
This paper proposes modifications to the tradional Ceiling Bounce Model and uses it to characterize diffuse indoor optical wireless channel by analyzing the effect of transceiver position on signal propagation propert...This paper proposes modifications to the tradional Ceiling Bounce Model and uses it to characterize diffuse indoor optical wireless channel by analyzing the effect of transceiver position on signal propagation properties. The modified approach uses a combination of the tradional ceiling bounce method and a statistical approach. The effects of different transmitter-receiver separations and height of the ceiling on path loss and delay spread are studied in detail.展开更多
Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot o...Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.展开更多
The object of this study is to propose a statistical model for predicting the Expected Path Length (expected number of steps the attacker will take, starting from the initial state to compromise the security goal—EPL...The object of this study is to propose a statistical model for predicting the Expected Path Length (expected number of steps the attacker will take, starting from the initial state to compromise the security goal—EPL) in a cyber-attack. The model we developed is based on utilizing vulnerability information along with having host centric attack graph. Utilizing the developed model, one can identify the interaction among the vulnerabilities and individual variables (risk factors) that drive the Expected Path Length. Gaining a better understanding of the relationship between vulnerabilities and their interactions can provide security administrators a better view and an understanding of their security status. In addition, we have also ranked the attributable variables and their contribution in estimating the subject length. Thus, one can utilize the ranking process to take precautions and actions to minimize Expected Path Length.展开更多
The process and path of retrometamorphism of coesite have great significance to our understanding of the P-T tracks of the exhumation of ultrahigh-pressure metamorphic rocks. Most of the coesites in the eclogite from ...The process and path of retrometamorphism of coesite have great significance to our understanding of the P-T tracks of the exhumation of ultrahigh-pressure metamorphic rocks. Most of the coesites in the eclogite from Shima, Anhui Province, the Dabie Mountains, China, are found degraded to quartz partly or wholly, with ruptures occurring in the shells, outside which include the coesite and quartz. According to the microscopic observation, the sample of coesite inclusion is composed of garnet, quartz and coesite, based on which we have built a three-shelled composite sphere model to compute the transition of coesite. Based on the crystal growth formulas and pressure conditions of the ruptures in the garnet, we have calculated the radius of the quartz sphere, which depends on temperature, and eventually drawn the different retrometamorphic paths for different retrometamorphism rates.展开更多
基金funded by the Ministry of Higher EducationMalaysia under the Fundamental Research Grant Scheme(FRGS)with grant number FRGS/1/2019/ICT02/MMU/02/1.
文摘A robust radio map is essential in implementing a fingerprint-based indoor positioning system(IPS).However,the offline site survey to manually construct the radio map is time-consuming and labour-intensive.Various interpolation techniques have been proposed to infer the virtual fingerprints to reduce the time and effort required for offline site surveys.This paper presents a novel fingerprint interpolator using a multi-path loss model(MPLM)to create the virtual fingerprints from the collected sample data based on different signal paths from different access points(APs).Based on the historical signal data,the poor signal paths are identified using their standard deviations.The proposed method reduces the positioning errors by smoothing out the wireless signal fluctuations and stabilizing the signals for those poor signal paths.By consideringmultipath signal propagations from different APs,the inherent noise from these signal paths can be alleviated.Firstly,locations of the signal data with standard deviations higher than the threshold are identified.The new fingerprints are then generated at these locations based on the proposed M-PLM interpolation function to replace the old fingerprints.The proposed technique interpolates virtual fingerprints based on good signal paths with more stable signals to improve the positioning performance.Experimental results show that the proposed scheme enhances the positioning accuracy by up to 44%compared to the conventional interpolation techniques such as the Inverse DistanceWeighting,Kriging,and single Path LossModel.As a result,we can overcome the site survey problems for IPS by building an accurate radio map with more reliable signals to improve indoor positioning performance.
文摘A more relaxed sufficient condition for the convergence of filtered-X LMS (FXLMS) algorithm is presented. It is pointed out that if some positive real condition for secondary path transfer function and its estimates is satisfied within all the frequency bands, FXLMS algorithm converges whatever the reference signal is like. But if the above positive real condition is satisfied only within some frequency bands, the convergence of FXLMS algorithm is dependent on the distribution of power spectral density of the reference signal, and the convergence step size is determined by the distribution of some specific correlation matrix eigenvalues.Applying the conclusion above to the Delayed LMS (DLMS) algorithm, it is shown that DLMS algorithm with some error of time delay estimation converges in certain discrete frequency bands, and the width of which are determined only by the 'time-delay estimation error frequency' which is equal to one fourth of the inverse of estimated error of the time delay.
文摘Performance analysis of filtered-X LMS (FXLMS) algorithm with secondary path modeling error is carried out in both time and frequency domain. It is shown firstly that the effects of secondary path modeling error on the performance of FXLMS algorithm are determined by the distribution of the relative error of secondary path model along with frequency. In case of that the distribution of relative error is uniform the modeling error of secondary path will have no effects on the performance of the algorithm. In addition, a limitation property of FXLMS algorithm is proved, which implies that the negative effects of secondary path modeling error can be compensated by increasing the adaptive filter length. At last, some insights into the 'spillover' phenomenon of FXLMS algorithm are given.
文摘THE Shangmanggang gold deposit is located at the southwestern corner of Yunnan, China. The deposit occurs along the southwest-trending Shangmanggang Fault. Near the surface, the hanging wall of the fault consists of sandstone and mudstone of the Middle Jurassic Mongga Formation (J<sub>2m</sub>), and also severs asthe hanging wall of the gold orebodies. The footwall of the fault is composed of dolomitite locally intercalated with medium-bedded limestone of Lower Permian Sazipo Formation (P<sub>1s</sub>). In the depth, the faultcut into strata of the Sazipo Formation (P<sub>1s</sub>). The deposit is characterized by intense clay alteration,which is similar to the Mercur Gold Deposit, Utah of USA, and by unique hydrothermal pinnacle karsl,
基金supported by the Laboratory of Aviation Safety Technical Analysis and Appraisal of China Academy of Civil Aviation Science and Technology(Grant No. 2009-02)
文摘Prognosis is a key technology to improve reliability,safety and maintainability of products,a lot of researchers have been devoted to this technology.But to improve the predict accuracy of remaining life of products has been difficult.To predict the lifetime specification of pneumatic cylinders with high reliability and long lifetime and small specimen,this paper put forward the prognosis algorithm based on the path classification and estimation（PACE） model.PACE model is based entirely on failure data instead of failure threshold.Pneumatic cylinders normally characterize with failure mechanism wear and tear.Since the minimum working pressure increases with the number of working cycles,the minimum working pressure is chosen as degradation signal.PACE model is fundamentally composed of two operations：path classification and remaining useful life（RUL） estimation.Path classification is to classify a current degradation path as belonging to one or more of previously collected exemplary degradation paths.RUL estimation is to use the resulting memberships to estimate the remaining useful life.In order for verification and validation of PACE prognostic method,six pneumatic cylinders are tested.The test data is analyzed by PACE prognostics.It is found that the PACE based prognosis method has higher prediction accuracy and smaller variance and PACE model is significantly outperform population based prognostics especially for small specimen condition.PACE model based method solved the problem of prediction accuracy for small specimen pneumatic cylinders＇ prognosis.
基金supported by the National Natural Science Foundation of China(No.50779033)the National High Technology Research and Development Program(863 Program)of China(No.2007AA11Z250)
文摘A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.
文摘A numerical method was used in order to establish the constitutive relationship of sands under different stress paths, Firstly, based on the numerical method modeling the constitutive law of sands, the elastoplastic constitutive relationship of sand was established for three paths： the constant proportion of principle stress path, the conventional triaxial compression （CTC） path, and the p=constant （TC） path. The yield lines of plastic volumetric strain and plastic generalized shear strain were given. Through visualization, the three dimensional surface of the stress-strain relationship in the whole stress field （p, q） obtained under the three paths was plotted. Also, by comparing the stress-strain surfaces and yield locus of the three stress paths, the differences were found to be obvious, which demonstrates that the influence of the stress paths on constitutive law was not neglected. The numerical modeling method overcame the difficulty of finding an analytical expression for plastic potential. The results simulated the experimental data with an accuracy of 90% on average, so the constitutive model established in this paper provides an effective constitutive equation for this kind of engineering, reflecting the effect of practical stress paths that occur in sands.
基金Project (60234030) supported by the National Natural Science Foundation of China
文摘An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.
基金supported by the Project for Master Degree Candidate at Guizhou University of Finance and Economics(Grant No.2017YAN128)
文摘In the context of the new urbanization,the characteristic town,as a new hotspot to developing rapidly to explore the industry,humanities,community integration town model,a urbanization and high-tech industry development booster,by the government and developers attention.At the same time,the green development model applies to the characteristic town of industrial upgrading and transformation,guiding the future characteristic town of green economic industry development direction.This paper studies the green development model of the characteristic town,and puts forward the implementation of the green industry through the greening industry structure,promoting green consumption and optimizing the green management.
文摘When there are bigger obstacles in the indoor environment such as elevator, the radio waves basically can not penetrate it. The contribution of received signal strength by transmission and reflection will be greatly reduced, and most of the time, the radio waves will reach the user by bypass diffraction. Therefore, the traditional path loss model is no longer applicable, and the improved model should be proposed. In this paper, we firstly proposed an indoor radio propagation model based on dominant path in which the received signal strength has nothing to do with the direct distance between user and access point, but is related to the length of dominant path. Then on the basis of dominant path model, the NLOS influence is considered in order to further improve the accuracy of dominant path model. Experimental results demonstrated that the proposed dominant path model can improve the accuracy of traditional path loss model remarkably.
基金Supported by the National Science Foundation for Post-doctoral Scientists of China (20090460216 )the National Defense Fundamental Research Foundation of China(B222006060)
文摘A bi-objective optimization problem for flapping airfoils is solved to maximize the time-averaged thrust coefficient and the propulsive efficiency. Design variables include the plunging amplitude, the pitching amplitude and the phase shift angle. A well defined Kriging model is used to substitute the time-consuming high fidelity model, and a multi-objective genetic algorithm is employed as the search algorithm. The optimization results show that the propulsive efficiency can be improved by reducing the plunging amplitude and the phase shift angle in a proper way. The results of global sensitivity analysis using the Sobol’s method show that both of the time-averaged thrust coefficient and the propulsive efficiency are most sensitive to the plunging amplitude, and second most sensitive to the pitching amplitude. It is also observed that the phase shift angle has an un-negligible influence on the propulsive efficiency, and has little effect on the time-averaged thrust coefficient.
基金Postdoctoral Fund of Settling Down in Heilongjiang Province(LBH-Q06094)
文摘Based on the working principle of hydro-mechanical split path of tracked vehicle, a operating gear was developed which was controlled by steering wheel and match with transmission case. Then CATIA software was used to build the three-dimensional model and carry out dynamic simulation of the mechanism. The result indicates that the design of the mechanism fulfills the request.
基金supported by the Aeronautical Science Foundation of China(20135153031 20135553035 2017ZC53033)
文摘In order to enhance the capability of tracking targets autonomously of unmanned aerial vehicle (UAV), the partially observable Markov decision process (POMDP) model for UAV path planning is established based on the POMDP framework. The elements of the POMDP model are analyzed and described. The state transfer law in the model can be described by the method of interactive multiple model (IMM) due to the diversity of the target motion law, which is used to switch the motion model to accommodate target maneuvers, and hence improving the tracking accuracy. The simulation results show that the model can achieve efficient planning for the UAV route, and effective tracking for the target. Furthermore, the path planned by this model is more reasonable and efficient than that by using the single state transition law.
文摘This paper proposes modifications to the tradional Ceiling Bounce Model and uses it to characterize diffuse indoor optical wireless channel by analyzing the effect of transceiver position on signal propagation properties. The modified approach uses a combination of the tradional ceiling bounce method and a statistical approach. The effects of different transmitter-receiver separations and height of the ceiling on path loss and delay spread are studied in detail.
文摘Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.
文摘The object of this study is to propose a statistical model for predicting the Expected Path Length (expected number of steps the attacker will take, starting from the initial state to compromise the security goal—EPL) in a cyber-attack. The model we developed is based on utilizing vulnerability information along with having host centric attack graph. Utilizing the developed model, one can identify the interaction among the vulnerabilities and individual variables (risk factors) that drive the Expected Path Length. Gaining a better understanding of the relationship between vulnerabilities and their interactions can provide security administrators a better view and an understanding of their security status. In addition, we have also ranked the attributable variables and their contribution in estimating the subject length. Thus, one can utilize the ranking process to take precautions and actions to minimize Expected Path Length.
基金the National Natural Science Foundation of China grants 40172019 ,40272083 the Natural Science Foundation of HubeiProvince grant 2002AB020.
文摘The process and path of retrometamorphism of coesite have great significance to our understanding of the P-T tracks of the exhumation of ultrahigh-pressure metamorphic rocks. Most of the coesites in the eclogite from Shima, Anhui Province, the Dabie Mountains, China, are found degraded to quartz partly or wholly, with ruptures occurring in the shells, outside which include the coesite and quartz. According to the microscopic observation, the sample of coesite inclusion is composed of garnet, quartz and coesite, based on which we have built a three-shelled composite sphere model to compute the transition of coesite. Based on the crystal growth formulas and pressure conditions of the ruptures in the garnet, we have calculated the radius of the quartz sphere, which depends on temperature, and eventually drawn the different retrometamorphic paths for different retrometamorphism rates.
