基于模糊推理水下作业系统运动控制研究

水下作业系统是运动学冗余系统,本文将模糊推理方法融入基于任务优先运动学控制算法,对系统载体与机械手进行协调运动分配,同时对系统多个任务进行优化。通过带有3自由度水下机械手的水下作业系统进行算例仿真研究,说明运动控制算法的有效性。

自治水下机器人机械手系统协调运动研究

简单描述了自治水下机器人搭载的三功能水下电动机械手的设计,鉴于自治水下机器人-机械手系统运动学冗余、内部可能干涉以及载体圆筒式外形等特点,将惩罚调节因子引入系统运动学伪逆矩阵,保证了关节在允许范围内运动,避免载体大幅度姿态变化及载体与机械手之间的干涉,同时采用梯度投影法优化海流作用下的系统推力。仿真表明,该算法在解决系统冗余度的同时,有效地协调多任务下的系统动作。

基于能源消耗最小的自治水下机器人—机械手系统协调运动研究

描述了自治水下机器人搭载的三功能水下电动机械手的设计.鉴于自治水下机器人—机械手系统是运动学冗余的且自带能源,因此将系统阻力优化函数引入逆运动学求解,设计了基于系统能源消耗最小的系统协调运动规划算法.仿真表明,该算法在解决系统冗余度的同时,有效地减小了系统能源消耗.

基于信道估计的RS纠错编码改进算法的设计与实现

提出了一种基于信道估计的RS纠错编码改进算法,该算法可以自适应地根据外界条件和环境对传输信道的干扰变化实时地调节编码系统的数据冗余量。仿真与完整的分析结果证实了该改进算法有效地改善了RS编码算法的传输效率;并且通过实际应用表明:良好的性能,高容错性适应于该通信系统的多种传输信道,具有很强的实用性。

A dichotomic search algorithm for mining and learning in domain-specific logics

Ferr?, S. and King, R. D. (2004) A dichotomic search algorithm for mining and learning in domain-specific logics. Fundamenta Informaticae. IOS Press. To appear

Rough feature selection for intelligent classifiers

Q. Shen. Rough feature selection for intelligent classifiers. LNCS Transactions on Rough Sets, 7:244-255, 2007.

Fuzzy-Rough Attribute Reduction with Application to Web Categorization.

R. Jensen and Q. Shen, 'Fuzzy-Rough Attribute Reduction with Application to Web Categorization,' Fuzzy Sets and Systems, vol. 141, no. 3, pp. 469-485, 2004.

Selecting Informative Features with Fuzzy-Rough Sets and its Application for Complex Systems Monitoring.

Q. Shen and R. Jensen, 'Selecting Informative Features with Fuzzy-Rough Sets and its Application for Complex Systems Monitoring,' Pattern Recognition, vol. 37, no. 7, pp. 1351-1363, 2004.

Webpage Classification with ACO-enhanced Fuzzy-Rough Feature Selection.

R. Jensen and Q. Shen, 'Webpage Classification with ACO-enhanced Fuzzy-Rough Feature Selection,' Proceedings of the Fifth International Conference on Rough Sets and Current Trends in Computing (RSCTC 2006), LNAI 4259, pp. 147-156, 2006.

Performance Evaluation of Two-Shadow Speculative Concurrency Control

Speculative Concurrency Control (SCC) [Best92a] is a new concurrency control approach especially suited for real-time database applications. It relies on the use of redundancy to ensure that serializable schedules are discovered and adopted as early as possible, thus increasing the likelihood of the timely commitment of transactions with strict timing constraints. In [Best92b], SCC-nS, a generic algorithm that characterizes a family of SCC-based algorithms was described, and its correctness established by showing that it only admits serializable histories. In this paper, we evaluate the performance of the Two-Shadow SCC algorithm (SCC-2S), a member of the SCC-nS family, which is notable for its minimal use of redundancy. In particular, we show that SCC-2S (as a representative of SCC-based algorithms) provides significant performance gains over the widely used Optimistic Concurrency Control with Broadcast Commit (OCC-BC), under a variety of operating conditions and workloads.

AIDA-Based Distributed File System

This paper describes a prototype implementation of a Distributed File System (DFS) based on the Adaptive Information Dispersal Algorithm (AIDA). Using AIDA, a file block is encoded and dispersed into smaller blocks stored on a number of DFS nodes distributed over a network. The implementation devises file creation, read, and write operations. In particular, when reading a file, the DFS accepts an optional timing constraint, which it uses to determine the level of redundancy needed for the read operation. The tighter the timing constraint, the more nodes in the DFS are queried for encoded blocks. Write operations update all blocks in all DFS nodes--with future implementations possibly including the use of read and write quorums. This work was conducted under the supervision of Professor Azer Bestavros (best@cs.bu.edu) in the Computer Science Department as part of Mohammad Makarechian's Master's project.

TCP Optimization through FEC, ARQ and Transmission Power Tradeoffs

TCP performance degrades when end-to-end connections extend over wireless connections-links which are characterized by high bit error rate and intermittent connectivity. Such link characteristics can significantly degrade TCP performance as the TCP sender assumes wireless losses to be congestion losses resulting in unnecessary congestion control actions. Link errors can be reduced by increasing transmission power, code redundancy (FEC) or number of retransmissions (ARQ). But increasing power costs resources, increasing code redundancy reduces available channel bandwidth and increasing persistency increases end-to-end delay. The paper proposes a TCP optimization through proper tuning of power management, FEC and ARQ in wireless environments (WLAN and WWAN). In particular, we conduct analytical and numerical analysis taking into "wireless-aware" TCP) performance under different settings. Our results show that increasing power, redundancy and/or retransmission levels always improves TCP performance by reducing link-layer losses. However, such improvements are often associated with cost and arbitrary improvement cannot be realized without paying a lot in return. It is therefore important to consider some kind of net utility function that should be optimized, thus maximizing throughput at the least possible cost.

TCP Boston: A Fragmentation-tolerant TCP Protocol for ATM Networks

The popularity of TCP/IP coupled with the premise of high speed communication using Asynchronous Transfer Mode (ATM) technology have prompted the network research community to propose a number of techniques to adapt TCP/IP to ATM network environments. ATM offers Available Bit Rate (ABR) and Unspecified Bit Rate (UBR) services for best-effort traffic, such as conventional file transfer. However, recent studies have shown that TCP/IP, when implemented using ABR or UBR, leads to serious performance degradations, especially when the utilization of network resources (such as switch buffers) is high. Proposed techniques-switch-level enhancements, for example-that attempt to patch up TCP/IP over ATMs have had limited success in alleviating this problem. The major reason for TCP/IP's poor performance over ATMs has been consistently attributed to packet fragmentation, which is the result of ATM's 53-byte cell-oriented switching architecture. In this paper, we present a new transport protocol, TCP Boston, that turns ATM's 53-byte cell-oriented switching architecture into an advantage for TCP/IP. At the core of TCP Boston is the Adaptive Information Dispersal Algorithm (AIDA), an efficient encoding technique that allows for dynamic redundancy control. AIDA makes TCP/IP's performance less sensitive to cell losses, thus ensuring a graceful degradation of TCP/IP's performance when faced with congested resources. In this paper, we introduce AIDA and overview the main features of TCP Boston. We present detailed simulation results that show the superiority of our protocol when compared to other adaptations of TCP/IP over ATMs. In particular, we show that TCP Boston improves TCP/IP's performance over ATMs for both network-centric metrics (e.g., effective throughput) and application-centric metrics (e.g., response time).

Adaptive Reliable Multicast

An increasing number of applications, such as distributed interactive simulation, live auctions, distributed games and collaborative systems, require the network to provide a reliable multicast service. This service enables one sender to reliably transmit data to multiple receivers. Reliability is traditionally achieved by having receivers send negative acknowledgments (NACKs) to request from the sender the retransmission of lost (or missing) data packets. However, this Automatic Repeat reQuest (ARQ) approach results in the well-known NACK implosion problem at the sender. Many reliable multicast protocols have been recently proposed to reduce NACK implosion. But, the message overhead due to NACK requests remains significant. Another approach, based on Forward Error Correction (FEC), requires the sender to encode additional redundant information so that a receiver can independently recover from losses. However, due to the lack of feedback from receivers, it is impossible for the sender to determine how much redundancy is needed. In this paper, we propose a new reliable multicast protocol, called ARM for Adaptive Reliable Multicast. Our protocol integrates ARQ and FEC techniques. The objectives of ARM are (1) reduce the message overhead due to NACK requests, (2) reduce the amount of data transmission, and (3) reduce the time it takes for all receivers to receive the data intact (without loss). During data transmission, the sender periodically informs the receivers of the number of packets that are yet to be transmitted. Based on this information, each receiver predicts whether this amount is enough to recover its losses. Only if it is not enough, that the receiver requests the sender to encode additional redundant packets. Using ns simulations, we show the superiority of our hybrid ARQ-FEC protocol over the well-known Scalable Reliable Multicast (SRM) protocol.

A Self-Organizing Neural Model for Motor Equivalent Phoneme Production

This paper describes a model of speech production called DIVA that highlights issues of self-organization and motor equivalent production of phonological units. The model uses a circular reaction strategy to learn two mappings between three levels of representation. Data on the plasticity of phonemic perceptual boundaries motivates a learned mapping between phoneme representations and vocal tract variables. A second mapping between vocal tract variables and articulator movements is also learned. To achieve the flexible control made possible by the redundancy of this mapping, desired directions in vocal tract configuration space are mapped into articulator velocity commands. Because each vocal tract direction cell learns to activate several articulator velocities during babbling, the model provides a natural account of the formation of coordinative structures. Model simulations show automatic compensation for unexpected constraints despite no previous experience or learning under these constraints.