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Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions Regular Article

Cai-hong Li, Chun Fang, Feng-ying Wang, Bin Xia, Yong Song,lich@sdut.edu.cn

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 11,   Pages 1530-1542 doi: 10.1631/FITEE.1800616

Abstract: We propose a algorithm to plan a complete coverage trajectory for a mobile robot to accomplish specific types of missions based on the Arnold dynamical system. First, we construct a chaotic mobile robot by combining the variable of the Arnold equation and the kinematic equation of the robot. Second, we construct the s including the initial points with a relatively high coverage rate of the constructed mobile robot. Then the trajectory is contracted to the current position of the robot based on the designed strategy, to form a continuous complete coverage trajectory to execute the specific types of missions. Compared with the traditional method, the designed algorithm requires no obstacle avoidance to the boundary of the given workplace, possesses a high coverage rate, and keeps the chaotic characteristics of the produced coverage trajectory relatively unchanged, which enables the robot to accomplish special missions with features of completeness, randomness, or unpredictability.

Keywords： 混沌机器人；Arnold动力学系统；压缩变换；全覆盖遍历路径；候选集    

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Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions Research Article

Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 2,   Pages 231-244 doi: 10.1631/FITEE.2200211

Abstract: We propose a novel for the ; to construct a chaotic robot to accomplish the task. The algorithm can meet the requirements of high randomness and coverage rate to perform specific types of missions. First, we roughly determine the value range of the parameter of the ; to meet the requirement of being a dissipative . Second, we calculate the s to narrow the value range further. Next, we draw the phase planes of the to approximately judge the topological distribution characteristics of its trajectories. Furthermore, we calculate the of the variable for those good ones to judge its random characteristics. Finally, we construct a chaotic robot using variables with the determined parameter values and simulate and test the coverage rate to study the relationship between the coverage rate and the random characteristics of the variables. The above selection strategy gradually narrows the value range of the parameter according to the randomness requirement of the coverage trajectory. Using the proposed strategy, proper variables can be chosen with a larger to construct a chaotic robot with a higher coverage rate. Another chaotic , the Lorenz , is used to verify the feasibility and effectiveness of the designed strategy. The proposed strategy for enhancing the coverage rate of the mobile robot can improve the efficiency of accomplishing CCPP tasks under specific types of missions.

Keywords： Chaotic mobile robot     Lü     system     Complete coverage path planning (CCPP)     Parameter value selection strategy     Lyapunov exponent     Pearson correlation coefficient    

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A chaotic coverage path planner for the mobilerobot based on the Chebyshev map for special missions Article

Cai-hong LI, Yong SONG, Feng-ying WANG, Zhi-qiang WANG, Yi-bin LI

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 9,   Pages 1305-1319 doi: 10.1631/FITEE.1601253

Abstract: We introduce a novel strategy of designing a chaotic coveragepath planner for the mobile robot based on the Chebyshev map for achievingspecial missions. The designed chaotic path planner consists of atwo-dimensional Chebyshev map which is constructed by two one-dimensionalChebyshev maps. The performance of the time sequences which are generatedby the planner is improved by arcsine transformation to enhance thechaotic characteristics and uniform distribution. Then the coveragerate and randomness for achieving the special missions of the robotare enhanced. The chaotic Chebyshev system is mapped into the feasibleregion of the robot workplace by affine transformation. Then a universalalgorithm of coverage path planning is designed for environments withobstacles. Simulation results show that the constructed chaotic pathplanner can avoid detection of the obstacles and the workplace boundaries,and runs safely in the feasible areas. The designed strategy is ableto satisfy the requirements of randomness, coverage, and high efficiencyfor special missions.

Keywords： Mobile robot     Chebyshev map     Chaotic     Affine transformation     Coverage path planning    

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Mulching Agriculture Using Thin Plastic Film in China

Chen Qien

Strategic Study of CAE 2002, Volume 4, Issue 4,   Pages 12-15

Abstract:

This article reviews studies and applications of mulching agriculture using thin plastic film in China. Plastic film mulching makes great effects on traditional mulching techniques of China. Over past 20 years with application of thin plastic film, some great changes have taken place in agricultural production of China, such as expanding suitable cultivated regions, regulating cropping distribution, increasing cropping index and promoting agricultural development in arid, semi-arid and salinized soil regions. Main mechanisms of yield increasing by plastic film mulching are： raising soil temperature, protecting soil water from evaporation, steadying soil environment, improving light and energy utilization efficiencies and promoting crop roots development. Problems and prospects of mulching agriculture using thin plastic film are reviewed at the end of the erticle.

Keywords： plastic film mulching     agricultural technique changes     mechanisms and effects    

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Whole Industrial Chain Standards System of Modern Agriculture: Development Path and Countermeasures

Chu Qiao,Yan Yanhua,Zhai Mingpu,Liu Wen,Xi Xingjun,Zhang Wenhuan,Meng Lingling

Strategic Study of CAE 2021, Volume 23, Issue 3,   Pages 8-15 doi: 10.15302/J-SSCAE-2021.03.010

Abstract:

The whole industrial chain standards system of modern agriculture is a new standards system that is guided by market demand and integrates all production factors and the entire production process of agriculture; it is developed against the background of agricultural supply-side reforms in China and has become a cornerstone for the rural revitalization strategy and the high-quality development of China’s agriculture. In this article, we first summarize the demand for the whole industrial chain standards system and analyze the opportunities and challenges faced by China in the construction of this standards system. Subsequently, we explore the connotation and guidelines of the standards system and propose a three-tier framework for this system. Furthermore, a development path and countermeasures are proposed. Specifically, the construction of the whole industrial chain standards system should focus on five aspects: formulation and revision of key standards, cultivation of standardization personnel, innovation of the agricultural standardization service mode, internationalization of industry standards, and establishment of industry associations’standards. Moreover, to construct the whole industrial chain standards system, China should establish a coordinated working mechanism, strengthen demonstrations, conduct effect evaluation of the standardization, and improve its supervision system.

Keywords： modern agriculture     whole industrial chain     standards system     standardization service    

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Green Development of Agricultural Whole Industry Chain: Pathway and Countermeasures

Zhu Qichao, Li Yajuan, Shen Jianbo, Xu Jiuliang, Hou Yong, Tong Bingxin, Xu Wen, Zhang Fusuo

Strategic Study of CAE 2022, Volume 24, Issue 1,   Pages 73-82 doi: 10.15302/J-SSCAE-2022.01.009

Abstract:

Green development of the agricultural whole industry chain (AWIC) is vital for enhancing agricultural products’competitiveness and increasing added value of the industry; it is also inevitable for improving resource utilization efficiency and ensuring sustainable economic growth. In this study, we define the concept of AWIC green development and analyze its characteristics based on existing theories of AWIC and agriculture green development. We analyze the AWIC development status, major challenges, and feasible pathways in China. Our study shows that critical dilemmas regarding the AWIC green transformation include insufficient systematic design, short industrial chain, difficulty in participation of small- and medium-sized entities, low resource utilization efficiency, lack of value-added effect, and lack of ecological synergy. The AWIC green transformation and policy support are essential in elevating values for the whole industry chain. The major pathways for AWIC green development include internal circulation integration, horizontal expansion, vertical element integration, and cross-industrial integration. We suggest that China should strengthen top-level design, boost innovation, expand ecological advantages, improve supervision services of the whole industry, and explore benefit coupling mechanisms. These measures can complete the industrial layout, optimize the product value transformation system, and promote the AWIC green development.

Keywords： agricultural whole industry chain     green development     industrial integration     environment friendly     value enhancement    

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The Path for Green Development and Utilization of Energy in China

Li Quansheng,Zhang Kai

Strategic Study of CAE 2021, Volume 23, Issue 1,   Pages 101-111 doi: 10.15302/J-SSCAE-2021.01.012

Abstract:

The green development and utilization of energy is an important component for the new energy security strategy and the ecological civilization in China. To promote energy production and consumption revolution, this study first summarizes the development status and challenges of China’s energy sector, and elaborates the concept and principles of energy green development and utilization. Subsequently, an energy green development evaluation model and an energy utilization system evaluation index model are established to evaluate the economic and environmental benefits of the energy green development and utilization approach; development goals are then predicted for 2030 and 2050 using these two models. The energy green development and utilization can be implemented from two aspects. In terms of energy distribution, China should focus on the clean and efficient development and utilization of fossil energy, the large-scale development and utilization of clean energy, and the intelligentization of energy systems, particularly emphasizing green coal engineering, oil stabilization and gas enhancement, and energy intensification and conservation. In terms of scientific and technological innovation, China should promote breakthroughs for the safe, efficient, and clean utilization of coal; develop key technologies for deep-seated and unconventional oil and gas exploration and development; and advance scientific and technological innovation for large-scale development and utilization of clean energy. To build a clean, low-carbon, safe, and efficient energy system, suggestions are proposed in terms of energy management system innovation, energy price marketization, performance evaluation, and technology innovation system.

Keywords： energy     green development and utilization     energy green development evaluation model     green coal engineering     energy intelligence    

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A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots Research Article

Guan-qiang GAO, Bin XIN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1,   Pages 18-31 doi: 10.1631/FITEE.1800551

Abstract:

The multi-robot coverage motion planning (MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the “auction-based spanning tree coverage (A-STC)” algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes’ relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.

Keywords： Coverage motion planning     Multi-robot system     Auction algorithm     Spanning tree coverage algorithm    

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The Path Dependence of Chinese Corporate Governance——Theoretical and Positive Analysis

Bing Hongyan

Strategic Study of CAE 2004, Volume 6, Issue 2,   Pages 82-87

Abstract:

Building on reviewing the theories of path dependence, this paper analyses the two sources of the path dependence of corporate governance, i. e. Structure-driven path dependence and rule-driven path dependence,and reveals the effect of the path dependence in corporate governance. At last, this paper analyses the developing process of Chinese corporate governance, and points out three kinds of path dependence influencing Chinese corporate governance.

Keywords： Chinese corporate governance     path dependence     structure-driven path dependence     rule-driven path dependence    

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Fundamental Problems and Development Paths for Reclamation of Waste Waterproof Membranes

Xiao Jianzhuang , Yu Caihua , Xiao Xuwen , Ding Tao , Zhang Yong

Strategic Study of CAE 2023, Volume 25, Issue 5,   Pages 210-221 doi: 10.15302/J-SSCAE-2023.07.029

Abstract:
The reclamation of construction solid wastes is crucial for the high-quality development of the construction industry and it is urgent to further improve the utilization rate of the construction solid wastes to achieve the carbon peaking and carbon neutralization goals. Waste waterproof materials are an important component of the construction solid wastes; however, research on the utilization of these materials is almost blank in China. As calculated in this study, the total output of waterproof materials in China was 2.983 × 1010 m2 during 2005‒2021 and that of waterproof membranes was 1.89 × 1010 m2, indicating that waterproof membranes are the main body for waterproof material recycling. In response to the national green and low-carbon development situation, a utilization path for “reducing, reusing, and recycling” (3R) the waterproof membranes is proposed as well as a high-performance waterproof membrane research and development concept that combines waterproof membrane “genome”, multi-scale/multi-scenario analysis, and machine learning prediction. A waterproof membrane reuse mode with system disassembly as the core is clarified as well as a recycling strategy with classification, gradation, and deconstruction as the core. Moreover, the in-depth research and innovative application of fully recycled waterproof membranes and additive manufacturing technology should be promoted. The transformation of recycled waterproof membranes to products and the engineering application of these products are major challenges to be addressed in the future, which requires joint efforts of the management departments, academia, and industry.

Keywords： waste waterproof membrane     resource utilization     reduce     reuse     recycle     fully recycled waterproof membrane    

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Ergodic secrecy capacity ofMRC/SC in single-inputmultiple-output wiretap systems with imperfect channel state information Article

Hui ZHAO, You-yu TAN, Gao-feng PAN, Yun-fei CHEN

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 4,   Pages 578-590 doi: 10.1631/FITEE.1500430

Abstract: This paper investigates the secrecy performance of maximal ratio combining (MRC) and selection combining (SC) with imperfect channel state information (CSI) in the physical layer. In a single-input multipleoutput (SIMO) wiretap channel, a source transmits confidential messages to the destination equipped with antennas using the MRC/SC scheme to process the received multiple signals. An eavesdropper equipped with antennas also adopts the MRC/SC scheme to promote successful eavesdropping. We derive the exact and asymptotic closed-form expressions for the ergodic secrecy capacity (ESC) in two cases: (1) MRC with weighting errors, and (2) SC with outdated CSI. Moreover, two important indicators, namely high signal-to-noise ratio (SNR) slope and high SNR power offset, which govern ESC at the high SNR region, are derived. Finally, simulations are conducted to validate the accuracy of our proposed analytical models. Results indicate that ESC rises with the increase of the number of antennas and the received SNR at the destination, and fades with the increase of those at the eavesdropper. Another finding is that the high SNR slope is constant, while the high SNR power offset is correlated with the number of antennas at both the destination and the eavesdropper.

Keywords： Ergodic secrecy capacity (ESC)     Maximal ratio combining (MRC)     Weighting errors     Physical layer security     Selection combining (SC)     Single-input multiple-output (SIMO)    

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The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Strategic Study of CAE 2003, Volume 5, Issue 5,   Pages 70-75

Abstract:

An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size information. Furthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final important result of optimal path for mobile robot to avoid an obstacle. Simple as the results are, they have been shown by simulations te be effective and convenient in implementation. A good application prospect of the result can thus be expected.

Keywords： mobile robot     ultrasonic sensor     obstacle avoidance     path planning     optimal path    

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Analysis of a Peaked Carbon Emission Pathway in China Toward Carbon Neutrality

Project Team on the Strategy and Pathway for Peaking Carbon Emissions and Carbon Neutrality

Engineering 2021, Volume 7, Issue 12,   Pages 1673-1677 doi: 10.1016/j.eng.2021.10.003

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Coverage performance of the multilayer UAV-terrestrial HetNet with CoMP transmission scheme Research Article

Weihao WANG, Yifan JIANG, Zesong FEI, Jing GUO,weihaowang@bit.edu.cn,jiangyifan@bit.edu.cn,feizesong@bit.edu.cn,jingguo@bit.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 1,   Pages 61-72 doi: 10.1631/FITEE.2100310

Abstract: To support the ubiquitous connectivity requirement of sixth generation communication, s (UAVs) play a key role as a major part of the future communication networks. One major issue in UAV communications is the interference resulting from spectrum sharing and line-of-sight links. Recently, the application of the technology has been proposed to reduce the interference in the UAV-terrestrial heterogeneous network (HetNet). In this paper, we consider a three-dimensional (3D) multilayer UAV-terrestrial HetNet, where the aerial base stations (ABSs) are deployed at multiple different altitudes. Using stochastic geometry, we develop a tractable mathematical framework to characterize the aggregate interference and evaluate the coverage probability of this HetNet. Our numerical results show that the implementation of the CoMP scheme can effectively reduce the interference in the network, especially when the density of base stations is relatively large. Furthermore, the system parameters of the ABSs deployed at higher altitudes dominantly influence the of the considered 3D HetNet.

Keywords： Unmanned aerial vehicle     Poisson point process     Coordinated multipoint (CoMP)     Statistics of interference     Coverage performance    

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流追踪：一种软件定义网络中低开销的时延测量和路径追踪方法 Article

硕 汪,娇 张,韬 黄,江 刘,韵洁 刘,F. Richard YU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 2,   Pages 206-219 doi: 10.1631/FITEE.1601280

Abstract: 此外，traceroute和ping依靠主动发送探测包来探测路径。然而，当负载均衡机制把探测包和所需追踪流的数据包均衡到不同路径时，这些工具将无法探测出流的真实转发路径，更无法测量出真实的路径时延。因此，为了准确的测量链路时延，测量工具必须能够提前找出数据包的真实转发路径。基于此发现，我们提出了一套新的软件定义网络中的流追踪机制“FlowTrace”，利用它来追踪任意流量的转发路径以及测量数据流所经历的链路时延。该工具通过收集交换机的流表来计算流的转发路径。在获得流的真实转发路径后，我们提出了一种新的测量方法来测量不同流的网络时延。最后，实验结果显示我们设计的方法可以准确的找出流的真实转发路径并测量出不同种类流所经历的时延。

Keywords： 软件定义网络；网络检测；路径追踪    

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Title Author Date Type Operation

Complete coverage path planning for an Arnold system based mobile robot to perform specific types of missions

Cai-hong Li, Chun Fang, Feng-ying Wang, Bin Xia, Yong Song,lich@sdut.edu.cn

Journal Article

Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions

Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG

Journal Article

A chaotic coverage path planner for the mobilerobot based on the Chebyshev map for special missions

Cai-hong LI, Yong SONG, Feng-ying WANG, Zhi-qiang WANG, Yi-bin LI

Journal Article

Mulching Agriculture Using Thin Plastic Film in China

Chen Qien

Journal Article

Whole Industrial Chain Standards System of Modern Agriculture: Development Path and Countermeasures

Chu Qiao,Yan Yanhua,Zhai Mingpu,Liu Wen,Xi Xingjun,Zhang Wenhuan,Meng Lingling

Journal Article

Green Development of Agricultural Whole Industry Chain: Pathway and Countermeasures

Zhu Qichao, Li Yajuan, Shen Jianbo, Xu Jiuliang, Hou Yong, Tong Bingxin, Xu Wen, Zhang Fusuo

Journal Article

The Path for Green Development and Utilization of Energy in China

Li Quansheng,Zhang Kai

Journal Article

A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots

Guan-qiang GAO, Bin XIN

Journal Article

The Path Dependence of Chinese Corporate Governance——Theoretical and Positive Analysis

Bing Hongyan

Journal Article

Fundamental Problems and Development Paths for Reclamation of Waste Waterproof Membranes

Xiao Jianzhuang , Yu Caihua , Xiao Xuwen , Ding Tao , Zhang Yong

Journal Article

Ergodic secrecy capacity ofMRC/SC in single-inputmultiple-output wiretap systems with imperfect channel state information

Hui ZHAO, You-yu TAN, Gao-feng PAN, Yun-fei CHEN

Journal Article

The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Journal Article

Analysis of a Peaked Carbon Emission Pathway in China Toward Carbon Neutrality

Project Team on the Strategy and Pathway for Peaking Carbon Emissions and Carbon Neutrality

Journal Article

Coverage performance of the multilayer UAV-terrestrial HetNet with CoMP transmission scheme

Weihao WANG, Yifan JIANG, Zesong FEI, Jing GUO,weihaowang@bit.edu.cn,jiangyifan@bit.edu.cn,feizesong@bit.edu.cn,jingguo@bit.edu.cn

Journal Article

流追踪：一种软件定义网络中低开销的时延测量和路径追踪方法

硕 汪,娇 张,韬 黄,江 刘,韵洁 刘,F. Richard YU

Journal Article