Safe and effective navigation of autonomous robots in hazardous environments

The development of autonomous mobile machines to perform useful tasks in real work environments is currently being impeded by concerns over effectiveness, commercial viability and, above all, safety. This paper introduces a case study of a robotic excavator to explore a series of issues around system development, navigation in unstructured environments, autonomous decision making and changing the behaviour of autonomous machines to suit the prevailing demands of users. The adoption of the Real-Time Control Systems (RCS) architecture (Albus, 1991) is proposed as a universal framework for the development of intelligent systems. In addition it is explained how the use of Partially Observable Markov Decision Processes (POMDP) (Kaelbling et al., 1998) can form the basis of decision making in the face of uncertainty and how the technique can be effectively incorporated into the RCS architecture. Particular emphasis is placed on ensuring that the resulting behaviour is both task effective and adequately safe, and it is recognised that these two objectives may be in opposition and that the desired relative balance between them may change. The concept of an autonomous system having “values” is introduced through the use of utility theory. Limited simulation results of experiments are reported which demonstrate that these techniques can create intelligent systems capable of modifying their behaviour to exhibit either ‘safety conscious’ or ‘task achieving’ personalities.     

基于关键节点和多播节点的多播路由算法

在视频会议等多播应用中，降低多播树网络费用非常重要。本文提出了基于关键节点和目的节点的多播路由KDDMC算法。由于在算法中优先考虑采用关键节点，实现更多链路的共享，从而降低网络费用。在随机网络上的仿真结果表明，KDDMC算法的多播树网络费用优于SPH算法。同时证明了KDDMC算法的复杂度为O(n^3)，且利用所提出的路由表算法易于分布式实现。     

线性分组码的神经网络译码

介绍了神经网络与线性分组码之间的关系，并在文献[1]的基础上证明了软判决译码与求解能量函数最大值之间的等价性，然后以(7，4，3)汉明码为例介绍了神经网络在循环码硬判决、软判决译码中的应用。     

An intelligent decision theoretic approach to producibility optimization in conceptual design

Product optimization involves selecting design, manufacturing, and support attributes that can produce the best system. Producibility or manufacturability is the term often used to describe the relative ease of manufacturing a product. In complex systems, productibility optimization is a very difficult process, particularly when the values of many attributes are restricted by constraints. One challenge is to develop more universal producibility metrics for the conceptual design phase when design information is limited and drawings are nondimensional. This paper develops a new method for producibility optimization in conceptual design based on a combination of both decision theoretic and expert system techniques. Decision theoretic techniques provide the means to model the design for producibility problem in a manner that can deal with risk, uncertainty, and user (or corporate) preferences, and can effectively integrate diverse factors to provide a measure of the overall worth of a design. The particular decision theoretic approach employed is based on multi-attribute utility theory. An illustrative example of the methodology is applied to the conceptual design of a structural composite part.     

用模糊综合评判法评估钢制储罐的寿命

针对影响钢制储罐寿命的因素具有复杂性、非确定性以及时变性的特点,提出了用动态二级模糊综合评判的方法对其寿命进行评估,建立了评估的数学模型和评估流程。在对某石油库油罐的寿命分析中,考虑到保留所有评判因素的影响,采用了乘、加型模糊算子,并用层次分析法来确定评价指标权重。计算结果表明,该方法能够解决储罐寿命评估中的一些复杂因素的处理问题,具有一定的实际工程意义。     

减少氮、磷流失的多目标控制排水模型

运用多目标决策技术,减少农田排水氮、磷输出,保持适宜作物生长的土壤含水量,探讨地表控制排水的控制时间。通过田间试验和SPSS回归模拟,应用均值土壤一维垂直入渗Philip公式计算累计入渗量,研究田间尺度降雨排水中氮、磷浓度的变化规律,拟合控制排水氮、磷浓度对数函数模拟方程。建立减少氮、磷流失和排涝、除渍的多目标控制排水模型,提出求解模型的非劣解和均衡解的方法。     

一种增强型冲突分解算法

冲突分解算法是一种能有效改善无线信道多址接入协议的方式。本文对传统的冲突分解算法——树形冲突分解算法和先到先服务冲突分解算法进行了深入研究和仿真，探讨了这两种算法的优点和不足之处，提出了一种增强型的冲突分解算法（Enhanced Splitting Algorithm，ESA）。该算法继承了树形冲突分解算法和先到先服务算法的优点，不仅考虑了碰撞分组产生的时间，还考虑了分组的产生间隔，从而有效地提高了冲突分解算法的性能。仿真结果显示ESA算法是一种可行的算法。     

一种基于树形结构显示关联数据的设计

论述了在程序设计过程中 ,使用树形控件、SQL 语句、临时表等多种手段 ,达到多个关联数据库的数据由一个可视化树形结构控件显示的方法和技巧     

浅谈黄土高原重点水土流失区的林业生态工程建设

黄土高原重点水土流失区林业生态工程建设的现状可以用“三低”（造林成活率低、保存率低、林木生长率低）来概括，人工林具有矮化，纤细，低产，烯疏4个特征，自然条件，适地适树、苗木质量、造林技术、抚育管护等5个方面的问题是造成“三低”的主要原因，适地适树适法是现阶段防治中造林“三低”的主要技术途径，其核心是“林水平衡”合理布局，适地适树，重视经济树种、抗旱造林以及加强病、虫、鼠、免、牛、羊、危害防治，是搞好区内林业生态建设的主要技术措施。