New coordination scheme for multi-robot systems based on state space models

A new coordination scheme for multi-robot systems is proposed.A state space model of the multi robot system is defined and constructed in which the system's initial and goal states are included along with the task definition and the system's internal and external constraints.Task accomplishment is considered a transition of the system state in its state space(SS)under the system's constraints.Therefore,if there exists a connectable path within reachable area of the SS from the initial state to the goal state,the task is realizable.The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS.Moreover,if there is no connectable path,which means the task cannot be performed successfully,the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system's SS.This might be done via adjusting the system's configuration and/or task constraints.Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.     

Grey systems for intelligent sensors and information processing

In a measurement system, new representation methods are necessary to maintain the uncertainty and to supply more powerful ability for reasoning and transformation between numerical system and symbolic system. A grey measurement system is discussed from the point of view of intelligent sensors and incomplete information processing compared with a numerical and symbolized measurement system. The methods of grey representation and information processing are proposed for data collection and reasoning. As a case study, multi-ultrasonic sensor systems are demonstrated to verify the effectiveness of the proposed methods.     

Analysis for MIMO correlated frequency-selective channel in the presence of interference

The space time spreading, superimposed training sequences, and space-time coding are used to present a multiple input and multiple output （MIMO） systems model, and a closed-form of average error probability upper bound expression for MIMO correlated frequency-selective channel in the presence of interference （co-channel interference and jamming signals） is derived. Moreover, the correlation at both ends of the wireless link that can be incorporated equivalently into correlation at the transmit end is also derived, which is significant to analyze space-time link algorithm of MIMO systems.     

New model for load-sharing k-out-of-n: G system with different components

On the basis of capacity flow model, a new model is developed for a load-sharing k-out-of-n： G system consisting of different components, to describe the increase of the same component＇s failure rates under different loads. All components have exponential life distributions and are nonrepairable in the system. Reliability of load- sharing 2-out- of-3： G system is calculated and some special cases for the system are discussed. The calculation and discussions show that the model is right and practical.     

Distributed intrusion detection for mobile ad hoc networks

Mobile ad hoc networking （MANET） has become an exciting and important technology in recent years, because of the rapid proliferation of wireless devices. Mobile ad hoc networks is highly vulnerable to attacks due to the open medium, dynamically changing network topology, cooperative algorithms, and lack of centralized monitoring and management point. The traditional way of protecting networks with firewalls and encryption software is no longer sufficient and effective for those features. A distributed intrusion detection approach based on timed automata is given. A cluster-based detection scheme is presented, where periodically a node is elected as the monitor node for a cluster. These monitor nodes can not only make local intrusion detection decisions, but also cooperatively take part in global intrusion detection. And then the timed automata is constructed by the way of manually abstracting the correct behaviours of the node according to the routing protocol of dynamic source routing （DSR）. The monitor nodes can verify the behaviour of every nodes by timed automata, and validly detect real-time attacks without signatures of intrusion or trained data. Compared with the architecture where each node is its own IDS agent, the approach is much more efficient while maintaining the same level of effectiveness. Finally, the intrusion detection method is evaluated through simulation experiments.     

Volterra series based predistortion for broadband RF poweramplifiers with memory effects

RF power amplifiers （PAs） are usually considered as memoryless devices in most existing predistortion techniques. However, in broadband communication systems, such as WCDMA, the PA memory effects are significant, and memoryless predistortion cannot linearize the PAs effectively. After analyzing the PA memory effects, a novel predistortion method based on the simplified Volterra series is proposed to linearize broadband RF PAs with memory effects. The indirect learning architecture is adopted to design the predistortion scheme and the reeursive least squares algorithm with forgetting factor is applied to identify the parameters of the predistorter. Simulation results show that the proposed predistortion method can compensate the nonlinear distortion and memory effects of broadband RF PAs effectively.     

Energy-efficient and security-optimized AES hardware design for ubiquitous computing

Ubiquitous computing must incorporate a certain level of security. For the severely resource constrained applications, the energy-efficient and small size cryptography algorithm implementation is a critical problem. Hardware implementations of the advanced encryption standard （AES） for authentication and encryption are presented. An energy consumption variable is derived to evaluate low-power design strategies for battery-powered devices. It proves that compact AES architectures fail to optimize the AES hardware energy, whereas reducing invalid switching activities and implementing power-optimized sub-modules are the reasonable methods. Implementations of different substitution box （S-Boxes） structures are presented with 0.25μm 1.8 V CMOS （complementary metal oxide semiconductor） standard cell library. The comparisons and trade-offs among area, security, and power are explored. The experimental results show that Galois field composite S-Boxes have smaller size and highest security but consume considerably more power, whereas decoder-switch-encoder S-Boxes have the best power characteristics with disadvantages in terms of size and security. The combination of these two type S-Boxes instead of homogeneous S-Boxes in AES circuit will lead to optimal schemes. The technique of latch-dividing data path is analyzed, and the quantitative simulation results demonstrate that this approach diminishes the glitches effectively at a very low hardware cost.     

Linear generalized synchronization of chaotic systems with uncertain parameters

A more general form of projective synchronization, so called linear generalized synchronization （LGS） is proposed, which includes the generalized projective synchronization （GPS） and the hybrid projective synchronization （HPS） as its special cases, Based on the adaptive technique and Lyapunov stability theory, a general method for achieving the LGS between two chaotic or hyperehaotic systems with uncertain parameters in any scaling matrix is presented. Some numerical simulations are provided to show the effectiveness and feasibility of the proposed synchronization method.     

Robust reliable guaranteed cost control for nonlinear singular stochastic systems with time delay

To study the design problem of robust reliable guaranteed cost controller for nonlinear singular stochastic systems, the Takagi-Sugeno （T-S） fuzzy model is used to represent a nonlinear singular stochastic system with norm-bounded parameter uncertainties and time delay. Based on the linear matrix inequality （LMI） techniques and stability theory of stochastic differential equations, a stochastic Lyapunov function method is adopted to design a state feedback fuzzy controller. The resulting closed-loop fuzzy system is robustly reliable stochastically stable, and the corresponding quadratic cost function is guaranteed to be no more than a certain upper bound for all admissible uncertainties, as well as different actuator fault cases. A sufficient condition of existence and design method of robust reliable guaranteed cost controller is presented. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed method.     

Novel load balancing DHT scheme for the heterogeneous system

The capacities of the nodes in the peer-to-peer system are strongly heterogeneous, hence one can benefit from distributing the load, based on the capacity of the nodes. At first a model is discussed to evaluate the load balancing of the heterogeneous system, and then a novel load balancing scheme is proposed based on the concept of logical servers and the randomized binary tree, and theoretical guarantees are given. Finally, the feasibility of the scheme using extensive simulations is proven.     

Super-resolution processing of passive millimeter-wave images based on adaptive projected Landweber algorithm

Passive millimeter wave （PMMW） images inherently have the problem of poor resolution owing to limited aperture dimension. Thus, efficient post-processing is necessary to achieve resolution improvement. An adaptive projected Landweber （APL） super-resolution algorithm using a spectral correction procedure, which attempts to combine the strong points of all of the projected Landweber （PL） iteration and the adaptive relaxation parameter adjustment and the spectral correction method, is proposed. In the algorithm, the PL iterations are implemented as the main image restoration scheme and a spectral correction method is included in which the calculated spectrum within the passband is replaced by the known low frequency component. Then, the algorithm updates the relaxation parameter adaptively at each iteration. A qualitative evaluation of this algorithm is performed with simulated data as well as actual radiometer image captured by 91.5 GHz mechanically scanned radiometer. From experiments, it is found that the super-resolution algorithm obtains better results and enhances the resolution and has lower mean square error （MSE）. These constraints and adaptive character and spectral correction procedures speed up the convergence of the Landweber algorithm and reduce the ringing effects that are caused by regularizing the image restoration problem.     

Trajectory linearization control of an aerospace vehicle based on RBF neural network

An enhanced trajectory linearization control （TLC） structure based on radial basis function neural network （RBFNN） and its application on an aerospace vehicle （ASV） flight control system are presensted. The influence of unknown disturbances and uncertainties is reduced by RBFNN thanks to its approaching ability, and a robustifying itera is used to overcome the approximate error of RBFNN. The parameters adaptive adjusting laws are designed on the Lyapunov theory. The uniform ultimate boundedness of all signals of the composite closed-loop system is proved based on Lyapunov theory. Finally, the flight control system of an ASV is designed based on the proposed method. Simulation results demonstrate the effectiveness and robustness of the designed approach.     

Identity-based authentication protocol for grid

Current grid authentication frameworks are achieved by applying the standard SSL authentication protocol (SAP). The authentication process is very complicated, and therefore, the grid user is in a heavily loaded point both in computation and in communication. Based on identity-based architecture for grid (IBAG) and corresponding encryption and signature schemes, an identity-based authentication protocol for grid is proposed. Being certificate-free, the authentication protocol aligns well with the demands of grid computing. Through simulation testing, it is seen that the authentication protocol is more lightweight and efficient than SAP, especially the more lightweight user side. This contributes to the larger grid scalability.     

Singularly perturbed bifurcation subsystem and its application in power systems

The singularly perturbed bifurcation subsystem is described, and the test conditions of subsystem persistence are deduced. By use of fast and slow reduced subsystem model, the result does not require performing nonlinear transformation. Moreover, it is shown and proved that the persistence of the periodic orbits for Hopf bifurcation in the reduced model through center manifold. Van der Pol oscillator circuit is given to illustrate the persistence of bifurcation subsystems with the full dynamic system.     

Periodic performance of the chaotic spreadspectrum sequence on finite precision

It is well known that the periodic performance of spread spectrum sequence heavily affects the correlative and secure characteristics of communication systems. The chaotic binary sequence is paid more and more attention since it is one kind of applicable spread spectrum sequences. However, there are unavoidable short cyclic problems for chaotic binary sequences in finite precision. The chaotic binary sequence generating methods are studied first. Then the short cyclic behavior of the chaotic sequences is analyzed in detail, which are generated by quantification approaches with finite word-length. At the same time, a chaotic similar function is defined for presenting the cyclic characteristics of the sequences. Based on these efforts, an improved method with scrambling control for generating chaotic binary sequences is proposed. To quantitatively describe the improvement of periodic performance of the sequences, an orthogonal estimator is also defined. Some simulating results are provided. From the theoretical deduction and the experimental results, it is concluded that the proposed method can effectively increase the period and raise the complexity of the chaotic sequences to some extent.     

Delay-dependent decentralized H∞ filtering for uncertain interconnected systems

This article considers delay dependent decentralized H∞ filtering for a class of uncertain interconnected systems, where the uncertainties are assumed to be time varying and satisfy the norm-bounded conditions. First, combining the Lyapunov-Krasovskii functional approach and the delay integral inequality of matrices, a sufficient condition of the existence of the robust decentralized H∞ filter is derived, which makes the error systems asymptotically stable and satisfies the H∞ norm of the transfer function from noise input to error output less than the specified up-bound on the basis of the form of uncertainties. Then, the above sufficient condition is transformed to a system of easily solvable LMIs via a series of equivalent transformation. Finally, the numerical simulation shows the efficiency of the main results.     

Robust location algorithm for NLOS environments

One of the main problems facing accurate location in wireless communication systems is non-line-of- sight （NLOS） propagation. Traditional location algorithms are based on classical techniques under minimizing a least-squares objective function and it loses optimality when the NLOS error distribution deviates from Gaussian distribution. An effective location algorithm based on a robust objective function is proposed to mitigate NLOS errors. The proposed method does not require the prior knowledge of the NLOS error distribution and can give a closed-form solution. A comparison is performed in different NLOS environments between the proposed algorithm and two additional ones （LS method and Chan＇s method with an NLOS correction）. The proposed algorithm clearly outperforms the other two.     

Algorithms for degree-constrained Euclidean Steiner minimal tree

A new problem of degree-constrained Euclidean Steiner minimal tree is discussed, which is quite useful in several fields. Although it is slightly different from the traditional degree-constrained minimal spanning tree, it is also NP-hard. Two intelligent algorithms are proposed in an attempt to solve this difficult problem. Series of numerical examples are tested, which demonstrate that the algorithms also work well in practice.     

Robust stability analysis for a cruise missile

A global controller design methodology for a flight stage of the cruise missile is proposed. This methodology is based on the method of least squares, To prove robust stability in the full airspace with parameter disturbances, the concepts of convex polytopic models and quadratic stability are introduced, The effect of aerodynamic parameters on system performance is analyzed. The designed controller is applied to track the overloading signal of the cruise segment of the cruise missile, avoiding system disturbance owing to controller switching, Simulation results demonstrate the validity of the proposed method.     

Deconvolution techniques for characterizing indoor UWB wireless channel

A deconvolution algorithm is proposed to account for the distortions of impulse shape introduced by propagation process. By finding the best correlation of the received waveform with the multiple templates, the number of multipath components is reduced as the result of eliminating the ＂phantom paths＂, and the captured energy increases. Moreover, it needs only a single reference measurement in real measurement environment （do not need the anechoic chamber）, which by far simplifies the templates acquiring procedure.