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Data fusion for target tracking in wireless sensor networks using quantized innovations and Kalman filtering

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Science China(Information Sciences) 2012年第3期55卷 530-544页

作者： XU Jian1,2., LI JianXun1,2.& XU Sheng3 1department of automation, Science and Technology on Avionics Integration Laboratory, {2., shanghai 2.02.0, China 2.0} of automation, System Control and Information Processing, Ministry of Education of China, {2., shanghai 2.02.0, China 3School of Mechanical Engineering, {2., shanghai 2.02.0, China 1. department of automation Science and Technology on Avionics Integration Laboratory Shanghai Jiao Tong University Shanghai 200240 China2. Department of Automation System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China3. School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

A novel networked data-fusion method is developed for the target tracking in wireless sensor networks (WSNs). Specifically, this paper investigates data fusion scheme under the communication constraint between the fusion center and each sensor. Such a message constraint is motivated by the bandwidth limitation of the communication links, fusion center, and by the limited power budget of local sensors. In the proposed scheme, each sensor collects one noise-corrupted sample, performs a quantizing operation, and transmits quantized message to the fusion center. Then the fusion center combines the received quantized messages to produce a final estimate. The novel data-fusion method is based on the quantized measurement innovations and decentralized Kalman filtering (DKF) with feedback. For the proposed algorithm, the performance analysis of the estimation precision is provided. Finally, Monte Carlo simulations show the effectiveness of the proposed scheme.

关键词： data fusion target tracking limited bandwidth quantized innovation Kalman filtering

Arm/trunk motion generation for humanoid robot

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Science China(Information Sciences) 2010年第8期53卷 1603-1612页

作者： XING DengPeng & SU JianBo department of automation, {2., shanghai 2.02.0, China 1. department of automation Shanghai Jiao Tong University Shanghai 200240 China

This paper develops two motion generation methods for the upper body of humanoid robots based on compensating for the yaw moment of whole body during motion. These upper body motions can effectively solve the stability problem of feet spin for robot walk. We analyze the ground reactive torque, separate the yaw moment as the compensating object and discuss the effect of arms swinging on whole body locomotion. By taking the ZMP as the reference point, trunk spin motion and arms swinging motion are generated to improve the biped motion stability, based on compensating for the yaw moment. The methods are further compared from the energy consumption point of view. Simulated experimental results validate the performance and the feasibility of the proposed methods.

关键词： humanoid robot motion generation yaw moment arms swinging compensation motion

Different-Periodic Travelling Wave Solutions for Nonlinear Equations

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Communications in Theoretical Physics 2004年第4期41卷 481-486页

作者： YE Li-Jun~1 LIN Ji~(1,2.1 department of Physics,Zhejiang Normal university,Jinhua 32.004,China2.Physics department,shanghai jiao tong university,shanghai 2.0030,China Physics department Shanghai Jiao Tong University Shanghai 200030 China

Using Jacobi elliptic function linear superposition approach for the(1+1)-dimensional Caudrey-Dodd-Gibbon-Sawada-Kotera(CDGSK)equation and the(2.1)-dimensional Nizhnik-Novikov-Veselov(NNV)equation,many new periodic travelling wave solutions with different periods and velocities are obtained based on the knownperiodic *** procedure is crucially dependent on a sequence of cyclic identities involving Jacobi ellipticfunctions sn(ξ,m),cn(ξ,m),and dn(ξ,m).

关键词： linear superposition nonlinear equation travelling wave solution

ON THE DOMAIN DECOMPOSITION METHOD FOR MORLEYELEMENT-FROM WEAK OVERLAP TO NONOVERLAP

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Journal of Computational Mathematics 1999年第6期17卷 615-628页

作者： Jian-guo Huang(department of Applied Mathematics, shanghai jiao tong university, {2.,China) shanghai jiao {2. Univ Dept Math Appl Shanghai 200240 Peoples R China

In this paper, following our original ideas[9], we first consider a weakly overlapping additive Schwarz preconditioner according to the framework of [2. for Morley element and show that its condition number is quasi-optimal; we then analyze in detail the structure of this preconditioner, and after proper choices of the inexact solvers, we obtain a quasi-optimal nonoverlapping domain decomposition preconditioner in the last. Compared with [12., [13], it seems that according to this paper's procedure we can make out more thoroughly the relationship between overlapping and nonoverlapping domain decomposition methods for nonconforming plate elements, and certainly, we have also proposed another formal and simple strategy to construct nonoverlapping domain decomposition preconditioners for nonconforming plate elements.

关键词： Morley element domain decomposition weak overlap

THE SCHWARZ CHAOTIC RELAXATION METHOD WITH INEXACT SOLVERS ON THE SUBDOMAINS

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Journal of Computational Mathematics 1999年第2期17卷 125-132页

作者： Jian-guo Huang(department of Applied Mathematics, shanghai jiao tong university,{2., China) 上海交通大学应用数学系上海

In this paper, a S-CR method with inexact solvers on the subdomains is presented, and then its convergence property is proved under very general conditions. This result is important because it guarantees the effective... 详细信息

关键词： S-CR method chaotic algorithm inexact solvers

A note on the 2.connectivity in one-dimensional ad hoc networks

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Science China(Information Sciences) 2011年第1期54卷 123-128页

作者： SHANG YiLun department of Mathematics,shanghai jiao tong university, {2.,China 1. department of Mathematics Shanghai Jiao Tong University Shanghai 200240 China

2.connectivity is the basic graph theoretical metric for fault tolerance to node failures,and it is an extremely desirable property in network *** a one-dimensional finite ad hoc network formed by n nodes uniformly and independently distributed in a closed interval[0,z](z∈R+),we give a closed form expression for the probability that a connected one-dimensional finite ad hoc network becomes disconnected after removing a *** also sketch a procedure of finding the exact formula for 2.connectivity in a one-dimensional ad hoc network.

关键词： ad hoc network one-dimensional network 2.connectivity

MODELLING OF P/M FORMING PROCESSES BY FEM

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中国有色金属学会会刊：英文版 1995年第3期5卷 66-70页

作者： Wei, Yuanping Ruan, Xueyu(department of Plasticity Technology,shanghai jiao tong university, {2. 2.0030) shanghai jiao {2. Univ Shanghai China

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关键词： modelling P/M forming FEM yield criteria constitutive

Computational model for perception of objects and motions

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Science China(Life Sciences) 2008年第6期51卷 526-536页

作者： YANG WenLu1,2. ZHANG LiQing1 & MA LiBo1 1 department of Computer Science and Engineering, shanghai jiao tong university, {2., China 2.department of Electronic Engineering, shanghai Maritime university, shanghai 2.0135, China 1. department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China 2. department of Electronic Engineering Shanghai Maritime University Shanghai 200135 China

Perception of objects and motions in the visual scene is one of the basic problems in the visual system. There exist 'What' and 'Where' pathways in the superior visual cortex, starting from the simple cells in the primary visual cortex. The former is able to perceive objects such as forms, color, and texture, and the latter perceives 'where', for example, velocity and direction of spatial movement of objects. This paper explores brain-like computational architectures of visual information processing. We propose a visual perceptual model and computational mechanism for training the perceptual model. The compu- tational model is a three-layer network. The first layer is the input layer which is used to receive the stimuli from natural environments. The second layer is designed for representing the internal neural information. The connections between the first layer and the second layer, called the receptive fields of neurons, are self-adaptively learned based on principle of sparse neural representation. To this end, we introduce Kullback-Leibler divergence as the measure of independence between neural responses and derive the learning algorithm based on minimizing the cost function. The proposed algorithm is applied to train the basis functions, namely receptive fields, which are localized, oriented, and bandpassed. The resultant receptive fields of neurons in the second layer have the characteristics resembling that of simple cells in the primary visual cortex. Based on these basis functions, we further construct the third layer for perception of what and where in the superior visual cortex. The proposed model is able to perceive objects and their motions with a high accuracy and strong robustness against additive noise. Computer simulation results in the final section show the feasibility of the proposed perceptual model and high efficiency of the learning algorithm.

关键词： visual perception visual cortex computational model receptive fields simple cells complex cells

CALCULATION OF ADDED MASS OF A VEHICLE RUNNING WITH CAVITY

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Journal of Hydrodynamics 2010年第3期22卷 312-318页

作者： LI Jie LU Chuan-jing HUANG Xuan department of Engineering Mechanics Shanghai Jiao Tong University Shanghai 200240 China department of Engineering Mechanics Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai 200030 China

A numerical method is developed to obtain the added mass coefficients of a vehicle running with cavity in numerical simulation for the multiphase flow of the vehicle which is imposed an added vibration and analyzing its hydrodynamic loads. The method is verified through the cases of non-cavitating sphere and ellipsoid. The changing rule of the added mass of a sphere during water exit is gained. Then the influence of cavitation on the added mass of a cylinder is studied. The results show that λ 11, λ2., λ2., λ66 all decrease as the cavitation number reduces and the length of the attached cavity increases. There is almost a linear relationship between the cavity length and λ2. .The base cavity has great influence on λ11 its contribution decreases more than 60%, when the cavitation number changes from 0.6 to 0.2.

关键词： added mass cavity carrying forced vibration method