Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

一种新的直扩超宽带系统快速同步方案

本文提出了一种新的基于能量窗的直扩超宽带系统码片同步方法，通过设计具有重复特性的码来提高能量窗的信噪比，从向可以较为准确地获得码片同步，并将窗口中的信息作为接收端本地信号与接收信号进行匹配接收，这样可以存未知接收信号相位的情况下有效地接收多径能量，提高接收信噪比。在完成码片同步之后再进一步进行PN码的相位同步，这里以线性搜索为例分析得到超宽带信号总的平均同步时间，并与现有的超宽带同步方案进行了比较，新方案将信号捕获分成两部分完成，大大降低了超宽带信号捕获时间。     

Comparative Study of Different Adaptive Window Protocols

We study an Adaptive Window Protocol (AWP) with general increase and decrease profiles in the presence of window dependent random losses. We derive a steady-state Kolmogorov equation, and then obtain its solution in analytic form for particular TCP versions proposed for high speed networks, such as Scalable TCP and HighSpeed TCP. We also relate window evolution under an AWP to workload process in queueing systems; this observation gives us a way to compare various AWP protocols.     

Reciprocating sliding wear behavior of laser-clad small amplitude Mo2Ni3Si/NiSi metal silicide composite coatings

Mo₂Ni₃Si/NiSi metal silicide composite coatings with a fine microstructure consisting of Mo₂Ni₃Si primary dendrites and the interdendritic Mo₂Ni₃Si/NiSi eutectics were fabricated on austenitic stainless steel AISI 321 by laser cladding process. Small amplitude reciprocating sliding wear resistance of the coatings is evaluated as functions of normal load and slip amplitude and the wear mechanisms were discussed based on worn surface morphology observations. Results showed that the Mo₂Ni₃Si/NiSi coatings have excellent small amplitude reciprocating sliding wear resistance.     

Relationship between the dynamic softening transition and wet sliding friction of elastomer compounds

For properly chosen elastomer compounds, thermorheological characterization is combined with an examination of the variation of the wet sliding friction with temperature. A conceptual argument leads to the assumption that the wet sliding friction should maximize at the energy dissipation peak associated with the dynamic softening transition at a characteristic frequency determined by the sliding speed and the effective smallest surface asperity scale. The dynamic softening transition is characterized with the peak in tan δ/G′ⁿ, where tan δ is the loss tangent, G′ is the elastic modulus, and n is a constant between 0 and 1. The William–Landel–Ferry transform is uncritically applied for extrapolating the position of the peak in tan δ/G′ⁿ at high frequencies. Even based on the criterion of tan δ, the results obtained on a concrete surface indicate that the effective smallest asperity scale is of order of 100 μm. © 2004 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys 42: 2467–2478, 2004     

基于径向基函数神经网络的Lorenz混沌系统滑模控制

针对受参数不确定和外扰影响的混沌Lorenz系统，提出一种基于径向基函数（RBF）神经网 络的滑模控制方法.基于被控系统在不稳定平衡点处状态误差的可控规范形，设计滑模切换 面并将其作为神经网络的唯一输入.单入单出形式的RBF控制器隐层只需7个径向基函数，网 络的权值则依滑模趋近条件在线确定.仿真表明该控制器对系统参数突变和外部干扰具有鲁棒性，同时抑制了抖振. 关键词： 混沌控制 滑模 径向基函数神经网络 Lorenz系统     

测量输入光窗台阶指标的指示表的选择

阐述了对近贴聚焦型微通道板像增强管中输入光窗台阶高度和平整度指标进行测量时，所用指示仪表的选择依据，并详细分析了指示表在检定过程中的误差来源，进一步计算出其合成标准不确定度和扩展不确定度，从而选定可用于测试的指标表。     

Compact directed acyclic word graphs for a sliding window

Suffix trees are a well-known and widely-studied data structure highly useful for string matching. The suffix tree of a string w can be constructed in O(n) time and space, where n denotes the length of w. Larsson achieved an efficient algorithm to maintain suffix trees for a sliding window. It contributes to prediction by partial matching (PPM) style statistical data compression scheme. Compact directed acyclic word graphs (CDAWGs) are a more space-economical data structure for indexing strings. In this paper we propose a linear-time algorithm to maintain CDAWGs for a sliding window.     

基于MPEG-4的视频流式传输系统及动态带宽分配方法

提出了一个基于MPEG 4精细可分级编码技术的视频流式传输系统。介绍了系统中主要模块的作用,并重点研究了速率控制模块。速率控制模块采用了适合视频流式传输的动态带宽分配方法。它可以根据实时的网络通道波动状况来动态调整滑动参数,以适应网络波动和高效地利用网络的有限资源。实验结果表明,动态带宽分配方法在动态带宽波动条件下不仅可以使相邻帧间的视频质量更加平滑,而且可以大大提高解码视频图像的总体质量,也就是说可同时改善解码视频的主客观性能。     

Analysis and Optimization of the Energy Efficiency in the 802.11 DCF

This paper introduces an analytical model to investigate the energy efficiency of the IEEE 802.11 distributed coordinated function (DCF). This model not only accounts for the number of contending nodes, the contention window, but also the packet size, and the channel condition. Based on this model, we identify the tradeoff in choosing optimum parameters to optimize the energy efficiency of DCF in the error-prone environment. The effects of contention window and packet size on the energy efficiency are examined and compared for both DCF basic scheme and DCF with four-way handshaking. The maximum energy efficiency can be obtained by combining both the optimal packet size and optimal contention window. To validate our analysis, we have done extensive simulations in ns-2, and simulation results seem to match well with the presented analytical results. The Ohio Board of Regents Doctoral Enhancements Funds and the National Science Foundation under Grant CCR 0113361 have supported this work. Xiaodong Wang received his B.S. degree in communication engineering from Beijing Information Technical Institute of China in 1995, and his M.S. degree in electric engineering from Beijing University of Aeronautics and Astronautics of China in 1998. He joined China Telecom in 1998 where he worked on communication protocols for telecommunication. From June 2000 to July 2002, he worked on GSM base station software development at Bell-labs China, Beijing, China. Currently he is a Ph.D. student in Computer Engineering at University of Cincinnati. His research activities include wireless MAC protocols, energy saving for wireless sensor networks. He is a student member of the IEEE. Jun Yin received the BS degree in automatic control from Dalian Railway Institute of China in 1997, and the MS degree in flight control from Beijing University of Aeronautics and Astronautics of China in 2001. Since 2001 she has been a Ph.D. student in the OBR Research Center for Distributed and Mobile Computing at the University of Cincinnati. Her research interests include performance evaluation of 802.11 MAC protocol, wireless ad hoc networks and sensor networks. She is a student member of the IEEE. Dharma P.Agrawal IEEE Fellow, 1987; ACM Fellow, 1998; AAAS Fellow, 2003 Dr. Agrawal is the Ohio Board of Regents Distinguished Professor of Computer Science and Computer Engineering in the department of Electrical and Computer Engineering and Computer Science, University of Cincinnati, OH. He has been a faculty member at Wayne State University, (1977–1982) and North Carolina State University (1982–1998). He has been a consultant to the General Dynamics Land Systems Division, Battelle, Inc., and the U. S. Army. He has held visiting appointment at AIRMICS, Atlanta, GA, and the AT&T Advanced Communications Laboratory, Whippany, NJ. He has published a number of papers in the areas of Parallel System Architecture, Multi computer Networks, Routing Techniques, Parallelism Detection and Scheduling Techniques, Reliability of Real-Time Distributed Systems, Modeling of C-MOS Circuits, and Computer Arithmetic. His recent research interest includes energy efficient routing, information retrieval, and secured communication in ad hoc and sensor networks, effective handoff handling and multicasting in integrated wireless networks, interference analysis in piconets and routing in scatternet, use of smart directional antennas (multibeam) for enhanced QoS, Scheduling of periodic real-time applications and automatic load balancing in heterogeneous workstation environment. He has four approved patents and three patent filings in the area of wireless cellular networks.