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Adjustable autonomy is an important mechanism in advanced robotic system. With this mechanism, robot can cooperate with operators, and the efficiency of mission is improved. In order to evaluate the advantages of the adjustable autonomy mechanism, a method of evaluating autonomous performance of Unmanned Surface Vehicle (USV) is proposed. This method considers two aspects in navigation task: the effectiveness...
Role-based access control strategy has been widely applied to a variety of access control system. Permission checks are employed in this strategy to improve flexibility and easier management, using dynamic proxy to optimize the process. Facilitating an authority through permission checks helps provide grained transaction management safely. In this study we proposed an authority control method based...
According to the research on failure recovery of AUV software system, a method based on micro-reboot mechanism and Partially Observable Markov Decision Process (POMDP) model for solving failure recovery of AUV is presented. An analytical multi-level model is presented and a micro-reboot mechanism under Fine-grained is learned. Considering self-recovery theory and the applicability of POMDP model,...
According to the uncertainty broadly existed in fault diagnosis of AUV software system, this paper presents a Bayesian Networks diagnosis model with three layers based on CME. On the basis of that, the paper also presents a cutting irrelative node method based on task context according to AUV's specific nature, this method predigests network, reduces the complexity of consequence calculation, and...
A study was conducted to determine the characters of soil structure in different water and soil conservation forests in Keshan County, northwest of Heilongjiang Province, China. The soil bulk density, the ratio of non-capillary porosity and capillary porosity (NCP/CP), and the generalized soil structure index (GSSI) were measured for Fraxinus mandshurica, Larix gmelini, Pinus sylvestris var. mongolica...
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