a real-time path planning approach without the computation of cspace obstacles

An important concept proposed in the early stage of robot path planning field is the shrinking of the robot to a point and meanwhile expanding of the obstacles in the workspace as a set of new obstacles. The resulting grown obstacles are called the Configuration Space (Cspace) obstacles. The find-path problem is then transformed into that of finding a collision free path for a point robot among the Cspace obstacles. However, the research experiences obtained so far have shown that the calculation of the Cspace obstacles is very hard work when the following situations occur: 1. both the robot and obstacles are not polygons and 2. the robot is allowed to rotate. This situation is even worse when the robot and obstacles are three dimensional (3D) objects with various shapes. Obviously a direct path planning approach without the calculation of the Cspace obstacles is strongly needed. This paper presents such a new real-time robot path planning approach which, to the best of our knowledge, is the first one in the robotic community. The fundamental ideas are the utilization of inequality and optimization technique. Simulation results have been presented to show its merits.

Quantum computation using artificial molecules

Two kinds of quantum computation systems using artificial molecules: quantum computer and quantum analog computer are described. The artificial molecule consists of two or three coupled quantum dots stacked along z direction and one single electron, In quantum computer, one-qubit and two-qubit gates are constructed by one molecule and two molecules, respectively. The coupling between two qubits in a quantum gate can be controlled by thin film electrodes. We also constructed a quantum analog computer by designing a three-dot molecule network and mapping a graph 3-colorability problem onto the network. The ground-state configuration of the single electrons in the network corresponds to one of the problem solutions, We numerically study the operations of the two kinds of the quantum computers and demonstrate that they quantum gates can perform the quantum computation and solve complex problems.

Analog computation using quantum-dot cell network

A novel analog-computation system using a quantum-dot cell network is proposed to solve complex problems. Analog computation is a promising method for solving a mathematical problem by using a physical system analogous to the problem. We designed a novel quantum-dot cell consisting of three-stacked. quantum dots and constructed a cell network utilizing the nearest-neighbor interactions between the cells. We then mapped a graph 3-colorability problem onto the network so that the single-electron configuration of the network in the ground state corresponded to one of the solutions. We calculated the ground state of the cell network and found solutions to the problems. The results demonstrate that analog computation is a promising approach for solving complex problems.

Parallel Fully-Implicit Computation of Magnetohydrodynamics Acceleration Experiments

A three-dimensional MHD solver is described in the paper. The solver simulates reacting flows with nonequilibrium between translational-rotational, vibrational and electron translational modes. The conservation equations are discretized with implicit time marching and the second-order modified Steger-Warming scheme, and the resulted linear system is solved iteratively with Newton-Krylov-Schwarz method that is implemented by PETS,: package. The results of convergence tests arc plotted, which show good scalability and convergence around twice faster when compared with the DPLR method. Then five test runs are conducted simulating the experiments done at the NASA Ames MHD channel, and the calculated pressures, temperatures, electrical conductivity, back EMF, load factors and flow accelerations are shown to agree with the experimental data. Our computation shows that the electrical conductivity distribution is not uniform in the powered section of the MHD channel, and that it is important to include Joule heating in order to calculate the correct conductivity and the MHD acceleration.

incremental learning of triadic plsa for collaborative filtering

Beijing University of Technology (BJUT); Beijing Municipal Lab of Brain Informatics; Chinese Society of Radiology; National Natural Science Foundation of China (NSFC); State Administration of Foreign Experts Affairs

Incremental pairwise discriminant analysis based visual tracking

The distinguishment between the object appearance and the background is the useful cues available for visual tracking in which the discriminant analysis is widely applied However due to the diversity of the background observation there are not adequate negative samples from the background which usually lead the discriminant method to tracking failure Thus a natural solution is to construct an object-background pair constrained by the spatial structure which could not only reduce the neg-sample number but also make full use of the background information surrounding the object However this Idea is threatened by the variant of both the object appearance and the spatial-constrained background observation especially when the background shifts as the moving of the object Thus an Incremental pairwise discriminant subspace is constructed in this paper to delineate the variant of the distinguishment In order to maintain the correct the ability of correctly describing the subspace we enforce two novel constraints for the optimal adaptation (1) pairwise data discriminant constraint and (2) subspace smoothness The experimental results demonstrate that the proposed approach can alleviate adaptation drift and achieve better visual tracking results for a large variety of nonstationary scenes (C) 2010 Elsevier B V All rights reserved

Code for chemical environment and computation of molecular similarity

A new code for chemical environment and an empirical mathematical pattern Sa(m) on computation of molecular similarity were suggested. Seven molecules which referred to as the probe compounds and the nearest neighbors of each probe structure were determined by the methods of Sa(m) and Tanimoto, The results show an intuitive notion of chemical similarity.