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This paper introduces a new integrated algorithm to achieve the complete coverage path planning (CCPP) task for the mobile robot in a given obstacles-included terrain. The algorithm combines the cellular decomposition approach and the chaotic Standard map together to design the coverage procedure. The cellular decomposition approach decompose the target region into several rectangular feasible sub-regions...
A miniaturized tapered slot antenna is presented in this paper. A Vivaldi antenna with a novel feeding balun is selected as the basic design and resistive loading is used at the end of it to make a compact structure. The proposed antenna is fabricated with the size of 155mm (length)∗120mm (width)∗0.6mm (thickness). The measured results, which are in agreement with the simulated theory by HFSS, show...
This paper investigates the synchronization problem of a complex dynamical network with non-identical nodes and switching topology. Neither an equilibrium for each node nor a synchronization manifold is assumed to exist. We select average state trajectory as the target of synchronization and establish the error dynamical equations. Using single Lyapunov function method and the bounded synchronization...
The paper discusses the modified projective synchronization of two different chaotic systems, considering the conditions of the master-slave systems with uncertain parameters, adopting the Lyapunov stability theory and adaptive control method, a sufficient condition is attainted for the stability of the error dynamic between master and slave system, finally, the numerical simulation is provide to...
In the paper, the problems of chaos control for a class of switched chaotic systems with uncertainty is studied. Based on the adaptive control theory and common Lyapunov function method, a new adaptive controller is constructed, which can guarantee the switched chaotic systems asymptotic stability under arbitrary switchings. The results of simulation are given to show effectiveness of the proposed...
In many applications, data does not take the form of traditional stored relations, but rather arrives in continuous, rapid, time-varying data streams,and data streams are potentially unbounded in size. Focusing on the problem of sampling from landmark windows over data streams, a new concept, which is called stratified sampling ratio function, is presented. Then a multistage stratified sampling algorithm...
The chaotic theory of phase-space reconstruction is applied to the adaptive behavior analysis and construction of the robot due to the complex nonholonomic and non-linear characteristics of WMR (Wheeled Mobile Robot). The WMR and the operating environment as a whole, a set of control rules for the adaptive behavior which can produce local optimal planning path are obtained by QL (Q_Learning). Then...
This paper discusses the random sampling algorithm for landmark windows over weighted streaming data, and presents a new algorithm by improving weighted random sampling (WRS) algorithm with a reservoir. When a new data item vi with weight wi arrives, a random number ui is generated, and a key ki is calculated by wi and ui for the data item. We maintain a candidate sample set by the keys of data items,...
GaN/AlN two-layer films with different thickness are synthesized on Si substrates by pulsed laser deposition (PLD). GaN and AlN single-layer films are also synthesized for comparison. It is found that the turn-on field of the GaN/AlN two-layer films are considerably decreased 2 orders of magnitude than that of single-layer films. The improvement of FE characteristics an attributed to the quantum structure...
In order to solve security problems in web-based information systems in the large-scale distributed environment, we design a comprehensive security policy. We realize the single entry mechanism of multi-system access by using the single-sign-on, create identity authentication mechanism of high-reliability and security based on China's second-generation ID card. We also propose the cross-domain setup...
This paper analyzes the existing deficiencies and shortcomings of access control and digital resource dissemination, proposes a usage control resource dissemination model based on fuzzy logic, resolves the right control problem in the right dissemination of digital resources. In the model, because credibility authorization uses fuzzy integrated control, the right control to Payment-Based Type is better...
This paper analyses the problems that the transaction scheme of existing digital products existed. We propose a relatively perfect transaction scheme. In the scheme, combining digital watermarking and fingerprinting with digital signatures, a relatively less amount of information is embedded in a digital product , so as to reduce phenomena of descending quality, as well as issues of mutual interference,...
A new optimal local path planning method for the mobile robot is introduced. It is achieved through the optimal control rules which are formed automatically based on the Q-Learning (QL) method of the Reinforcement Learning (RL). The rules are executed as the reaction behaviors on the mobile robot at last. The state/action space which construct the rules structure are discretized according to the fuzzy...
A new reactive behavior design algorithm is introduced. It is achieved through deliberative behavior learning. The deliberative behavior is a static local optimal path planning, which is learned by Q-learning (QL) method of the reinforcement learning (RL). Control rules are formed after learning and are acted as a reflection of the implementation. A lookup-Q matrix McircQ which size is 11times192...
A new obstacle avoidance algorithm for the mobile robot is introduced. When the dynamic obstacle is in a nonlinear random movement, a radial basis function neural network (RBFNN) is used to build the prediction model. The next location of the obstacle is predicted based on the three adjacent value of time sequence. Thus the dynamic obstacle avoidance issue is converted into the instantaneous static...
Based on the concept of credibility and a new access control model----usage control (UCON), this paper researched the access control in the dissemination of usage rights for digital information and realized an application system for resource dissemination in the open network environment. In the system, the membership function and fuzzy transform principle in the fuzzy set theory are adopted to calculate...
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