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基于栅格地图的移动机器人完全遍历算法——矩形分解法 被引量:22
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作者 田春颖 刘瑜 +1 位作者 冯申坤 朱世强 《机械工程学报》 EI CAS CSCD 北大核心 2004年第10期56-61,共6页
提出移动机器人的一种新的完全遍历算法:矩形分解算法。首先通过机器人环境学习建立栅格地图,对环境中的障碍物实行矩形化建模。而后应用矩形化模型中的关键点将环境分解成为矩形块,最后在这个分块环境的拓扑图中寻找到一条Hamilton路径... 提出移动机器人的一种新的完全遍历算法:矩形分解算法。首先通过机器人环境学习建立栅格地图,对环境中的障碍物实行矩形化建模。而后应用矩形化模型中的关键点将环境分解成为矩形块,最后在这个分块环境的拓扑图中寻找到一条Hamilton路径,机器人沿此路径即可实现对环境的完全遍历。为处理复杂的局部情况,又提出基于模板的局部环境处理算法。矩形算法的优点在于机器人可以实现完全自主的复杂环境遍历,并且可以处理未知障碍,从而使算法适合于任意非结构化的工作环境。 展开更多
关键词 矩形分解算法 Hamilton路径 完全遍历 栅格地图 移动机器人
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E-矩形周期半群及E-矩形分解 被引量:1
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作者 管延勇 《曲阜师范大学学报(自然科学版)》 CAS 1991年第2期110-110,112,共2页
本文定义并讨论了比文献〔1〕中的E—矩形性拟正则半群更广的一类半群,即E—矩形周期半群,并给出了幂等元集是带的周期半群能E—矩形分解的条件。定义若周期半群S的幂等元集是带且是矩形带,则称S是E—矩形周期半群。设S是周期半群,记S_... 本文定义并讨论了比文献〔1〕中的E—矩形性拟正则半群更广的一类半群,即E—矩形周期半群,并给出了幂等元集是带的周期半群能E—矩形分解的条件。定义若周期半群S的幂等元集是带且是矩形带,则称S是E—矩形周期半群。设S是周期半群,记S_m={α∈S|α的指数是1},则S_m Regs(S的正则元集)。定理1 若S是E—矩形周期半群,则RegS=S_m且它是S的子半群。定理2 若s是E—矩形周期半群,则α∈S,或者J_a={a}或者α∈S_m。命题1 设S是E—矩形周期半群,则S的格林关系分类图表如下: 展开更多
关键词 周期半群 E-矩形分解 矩形
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多边形的矩形分解问题及其算法
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作者 焦虹 洪先龙 《计算机工程与应用》 CSCD 北大核心 1995年第5期46-48,共3页
本文研究了多边形的矩形分解问题,提出了一个将多边形分解为矩形的新的算法,它可以应用于VLSICAD中的PG数据生成。文中叙述了算法的详细步骤,并用一实例表现了算法思想。
关键词 多边形 矩形分解 算法 VLSI CAD
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基于矩形区域分解重组算法的吸尘路径规划 被引量:2
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作者 邸业飞 张崎 《现代电子技术》 2011年第7期147-149,共3页
提出吸尘器机器人的一种新的遍历清扫算法,即矩形区域分解重组算法,该算法适应于复杂的未知环境。首先通过机器人沿房间边缘进行环境学习并建立栅格地图,对环境地图进行矩形区域分解并设置各区域起始点;进而根据区域特点及起始点位置进... 提出吸尘器机器人的一种新的遍历清扫算法,即矩形区域分解重组算法,该算法适应于复杂的未知环境。首先通过机器人沿房间边缘进行环境学习并建立栅格地图,对环境地图进行矩形区域分解并设置各区域起始点;进而根据区域特点及起始点位置进行清扫区域的重组;然后按照规划的清扫顺序逐个完成重组后所有区域的清扫。最后,通过仿真模拟验证了该算法的有效性。 展开更多
关键词 智能吸尘器 清扫模式 路径规划 矩形区域分解
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在未知环境下完全遍历算法——等单元分解法 被引量:2
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作者 刘奎 张赤斌 易红 《系统仿真技术》 2005年第3期136-140,共5页
本文提出移动机器人的一种新的遍历算法:等单元分解算法,该算法适应于复杂的未知环境。首先,对环境栅格建模,每个栅格中心即为代表该栅格的特征点(基点);并对环境矩形建模。接着建立一条能遍历所有基点的路径,每搜索到某一基点就遍历对... 本文提出移动机器人的一种新的遍历算法:等单元分解算法,该算法适应于复杂的未知环境。首先,对环境栅格建模,每个栅格中心即为代表该栅格的特征点(基点);并对环境矩形建模。接着建立一条能遍历所有基点的路径,每搜索到某一基点就遍历对应的矩形区域,最终完成环境遍历。最后,通过仿真证明该算法的有效性。 展开更多
关键词 等单元分解 矩形分解 完全遍历 基点 路径规划
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机器人全覆盖最优路径规划的改进遗传算法 被引量:15
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作者 刘松 李志蜀 李奇 《计算机工程与应用》 CSCD 北大核心 2009年第31期245-248,共4页
全区域覆盖是一种特殊的路径规划,要求遍历环境中所有的可达区域。目前已经提的许多算法,如模板算法、分块算法等,都只能保证覆盖所有的区域,对于寻找全局最优解却无能为力。提出了一种基于遗传算法的全区域覆盖算法,结合分块算法和模... 全区域覆盖是一种特殊的路径规划,要求遍历环境中所有的可达区域。目前已经提的许多算法,如模板算法、分块算法等,都只能保证覆盖所有的区域,对于寻找全局最优解却无能为力。提出了一种基于遗传算法的全区域覆盖算法,结合分块算法和模板算法的优点。先采用矩形分解法将环境划分成若干个相邻的子模块,并为每一个子模块选用相应的模板,从而生成覆盖路径,然后采用遗传算法找出最优的路径。算法在虚拟环境中进行了实验,实验结果证明了其可行性和有效性。 展开更多
关键词 全区域覆盖路径规划 遗传算法 矩形分解 模板算法
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Matrix dimensionality reduction for mining typical user profiles 被引量:2
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作者 陆建江 徐宝文 +1 位作者 黄刚石 张亚非 《Journal of Southeast University(English Edition)》 EI CAS 2003年第3期231-235,共5页
Recently clustering techniques have been used to automatically discover typical user profiles. In general, it is a challenging problem to design effective similarity measure between the session vectors which are usual... Recently clustering techniques have been used to automatically discover typical user profiles. In general, it is a challenging problem to design effective similarity measure between the session vectors which are usually high-dimensional and sparse. Two approaches for mining typical user profiles, based on matrix dimensionality reduction, are presented. In these approaches, non-negative matrix factorization is applied to reduce dimensionality of the session-URL matrix, and the projecting vectors of the user-session vectors are clustered into typical user-session profiles using the spherical k -means algorithm. The results show that two algorithms are successful in mining many typical user profiles in the user sessions. 展开更多
关键词 Web usage mining non-negative matrix factorization spherical k-means algorithm
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Robot coverage algorithm under rectangular decomposition environment
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作者 张赤斌 颜肖龙 《Journal of Southeast University(English Edition)》 EI CAS 2008年第2期188-191,共4页
The environment modeling algorithm named rectangular decomposition, which is composed of cellular nodes and interleaving networks, is proposed. The principle of environment modeling is to divide the environment into i... The environment modeling algorithm named rectangular decomposition, which is composed of cellular nodes and interleaving networks, is proposed. The principle of environment modeling is to divide the environment into individual square sub-areas. Each sub-area is orientated by the central point of the sub-areas called a node. The rectangular map based on the square map can enlarge the square area side size to increase the coverage efficiency in the case of there being an adjacent obstacle. Based on this algorithm, a new coverage algorithm, which includes global path planning and local path planning, is introduced. In the global path planning, uncovered subspaces are found by using a special rule. A one-dimensional array P, which is used to obtain the searching priority of node in every direction, is defined as the search rule. The array P includes the condition of coverage towards the adjacent cells, the condition of connectivity and the priorities defined by the user in all eight directions. In the local path planning, every sub-area is covered by using template models according to the shape of the environment. The simulation experiments show that the coverage algorithm is simple, efficient and adapted for complex two- dimensional environments. 展开更多
关键词 path planning complete coverage algorithm rectangular decomposition
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Error Analysis on Corrector Formula for Rectangular Rule 被引量:1
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作者 XIAO Ze-chang DU Yue-peng 《Chinese Quarterly Journal of Mathematics》 CSCD 北大核心 2008年第2期270-275,共6页
This paper presents truncation errors among Corrector Formula for left Rectangular rule and Corrector Formula for middle Rectangular rule respectively. It also displays an analysis on convergence order of compound cor... This paper presents truncation errors among Corrector Formula for left Rectangular rule and Corrector Formula for middle Rectangular rule respectively. It also displays an analysis on convergence order of compound corrector formulas for rectangular rule. Examples of numerical calculation have validated theoretical analysis. 展开更多
关键词 numerical integration algebraic accuracy corrector formula truncation error convergence order
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一种过程系统信号的频域分析方法
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作者 任娟娟 王越超 《数字技术与应用》 2017年第11期43-44,共2页
本文提出了一种过程信号频域预处理方法,通过采样、零阶保持、零阶保持补偿、矩形脉冲分解和阶跃信号结尾等5个步骤,将一个非周期且终值稳定值不为零的原信号转化为有限数量的矩形脉冲信号和1个结尾阶跃信号。解决了非周期过程信号频域... 本文提出了一种过程信号频域预处理方法,通过采样、零阶保持、零阶保持补偿、矩形脉冲分解和阶跃信号结尾等5个步骤,将一个非周期且终值稳定值不为零的原信号转化为有限数量的矩形脉冲信号和1个结尾阶跃信号。解决了非周期过程信号频域处理的预处理问题。然后提出了一种非周期信号的拉氏变换方法,通过原始信号频域拉氏变换、复频域表达和频域恢复的方法,实现了将非周期信号转换为拉氏变换后的线性叠加。理论推导、仿真实验和实际应用结果表明了该方法能够为过程系统频域分析提供了一种较为准确和有效的手段。 展开更多
关键词 频域特性分析 傅里叶变换 拉普拉斯变换 矩形脉冲分解 非周期过程信号
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High efficient parallel numerical surface wave model based on an irregular quasi-rectangular domain decomposition scheme 被引量:3
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作者 ZHAO Wei SONG ZhenYa +1 位作者 QIAO FangLi YIN XunQiang 《Science China Earth Sciences》 SCIE EI CAS 2014年第8期1869-1878,共10页
To achieve high parallel efficiency for the global MASNUM surface wave model, the algorithm of an irregular quasirectangular domain decomposition and related serializing of calculating points and data exchanging schem... To achieve high parallel efficiency for the global MASNUM surface wave model, the algorithm of an irregular quasirectangular domain decomposition and related serializing of calculating points and data exchanging schemes are developed and conducted, based on the environment of Message Passing Interface(MPI). The new parallel version of the surface wave model is tested for parallel computing on the platform of the Sunway BlueLight supercomputer in the National Supercomputing Center in Jinan. The testing involves four horizontal resolutions, which are 1°×1°,(1/2)°×(1/2)°,(1/4)°×(1/4)°, and(1/8)°×(1/8)°. These tests are performed without data Input/Output(IO) and the maximum amount of processors used in these tests reaches to 131072. The testing results show that the computing speeds of the model with different resolutions are all increased with the increasing of numbers of processors. When the number of processors is four times that of the base processor number, the parallel efficiencies of all resolutions are greater than 80%. When the number of processors is eight times that of the base processor number, the parallel efficiency of tests with resolutions of 1°×1°,(1/2)°×(1/2)° and(1/4)°×(1/4)° is greater than 80%, and it is 62% for the test with a resolution of(1/8)°×(1/8)° using 131072 processors, which is the nearly all processors of Sunway BlueLight. When the processor's number is 24 times that of the base processor number, the parallel efficiencies for tests with resolutions of 1°×1°,(1/2)°×(1/2)°, and(1/4)°×(1/4)° are 72%, 62%, and 38%, respectively. The speedup and parallel efficiency indicate that the irregular quasi-rectangular domain decomposition and serialization schemes lead to high parallel efficiency and good scalability for a global numerical wave model. 展开更多
关键词 surface wave model irregular quasi-rectangular domain decomposition MPI parallel computing load balancing
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Local and global methods in representations of Hecke algebras 被引量:1
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作者 Jie Du Brian J.Parshall Leonard L.Scott 《Science China Mathematics》 SCIE CSCD 2018年第2期207-226,共20页
This paper aims at developing a "local-global" approach for various types of finite dimensional algebras, especially those related to Hecke algebras. The eventual intention is to apply the methods and applic... This paper aims at developing a "local-global" approach for various types of finite dimensional algebras, especially those related to Hecke algebras. The eventual intention is to apply the methods and applications developed here to the cross-characteristic representation theory of finite groups of Lie type. We first review the notions of quasi-hereditary and stratified algebras over a Noetherian commutative ring. We prove that many global properties of these algebras hold if and only if they hold locally at every prime ideal. When the commutative ring is sufficiently good, it is often sufficient to check just the prime ideals of height at most one. These methods are applied to construct certain generalized q-Schur algebras, proving they are often quasi-hereditary(the "good" prime case) but always stratified. Finally, these results are used to prove a triangular decomposition matrix theorem for the modular representations of Hecke algebras at good primes. In the bad prime case, the generalized q-Schur algebras are at least stratified, and a block triangular analogue of the good prime case is proved, where the blocks correspond to Kazhdan-Lusztig cells. 展开更多
关键词 quasi-hereditary algebra stratified algebra Hecke algebra Schur algebra left cell endomorphism algebra exact category height one prime
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