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In order to solve the multiple waypoints path planning problem in smart home environment, we adapt the optimal sampling-based algorithm (RRT*) [1] to deal with multiple waypoints navigation, namely Multi-RRT*. Our method constructs multiple trees from multiple waypoints, and these trees use simple extension and connection strategy. When all trees are merged to a single tree, an traversal path will be found. Along this path, mobile robot can visit all the waypoints one by one. We evaluate this method on a designed path planning benchmark scenario and compare with the basic and bias RRT*. Finally, we apply the proposed algorithm on Turtlebot2 with Robot Operate System (ROS) in smart home experimental environment. Simulation and experimental results demonstrate that our algorithm can converge quickly and has good performance in dealing with multiple waypoints path planning problem.

The H9N2 avian influenza virus circulates worldwide, predominantly in poultry. Its increasing infectivity and adaptation in poultry and mammals have enhanced the possibility of human infection. However, H9N2 human cases are difficult to detect due to their mild clinical symptoms. Serological study is valuable for risk assessment. A total of 15,700 serum samples were collected from occupationally exposed populations in 22 provinces of China and tested using hemagglutination inhibition (HI) and microneutralization (MN) assays. The sera positive rate of A/Guangzhou/333/99 (G9) was significantly higher than that of A/quail/Hong Kong/G1/97 (G1) (p

Special physical character and strictly limited resources in tags make RFID systems being confronted with many security problems, mobile reader brings higher design requirements for RFID protocols. In this paper, a lightweight RFID authentication protocol for mobile reader is proposed, this protocol only requires O(1) work to identify and authenticate a tag in the server and is suitable for the low-cost RFID systems. The security and performance of the proposed protocol are analyzed as well.

Former Camp Sibert was a large-scale chemical warfare materials (CWM) training site in the United States from late 1942 through early 1945. In addition to chemical training, several types and calibers of conventional weapons were also fired there. At the end of World War II, this formerly used defense site (FUDS) was closed. CWM, unexploded ordnance (UXO), and munitions and explosives of concern (MEC) are safety hazards that may constitute an imminent and substantial danger to the public and the environment. Since 1997, Parsons, awarded by the U.S. Army Corps of Engineers, has conducted numerous phased engineering evaluation/cost analysis (EE/CA), remedial investigation/feasibility study (RI/FS), and removal action (RA) on the CWM and conventional MEC sites inside former Camp Sibert. This paper discusses how we utilized innovative GIS techniques during these environmental investigations to collect, store, process, analyze, and visualize the large amount of the projects data. They have been proven to be useful, efficient, reliable, and cost-effective.

In this paper, we indicate that scene boundaries sometimes are indistinct so that computer cannot output explicit results. To solve such problem, we propose that video scenes should be divided into two kinds: cut segmentation and indistinct segmentation and a tolerable value should be given before comparing performance of different algorithms according to different applications. In order to divide two kinds of scenes, we introduce a Fuz function to assess ambiguous degree of scene boundary. This paper also present a novel two-pass approach of scene segmentation which is based on constructing temporal graph and Instance learning algorithm. In pass-one, the method first constructs shot temporal directed graph and splits graph into sub-graphs, some sub-graphs are identified as training examples (TEs) by analyzing their density and the nearest neighbor classifier is generated to label shot as-1, 0 or 1. In pass-two, a sequence segmentation algorithm is applied to detect scene boundaries on label sequence. Experiments are presented with promising results on several movies and TV plays.

Analyzing the air conditioning system parameters which need to adjust when the fan-coil unit running in dry condition and pointing out that the air heat exchanger’s importance for the fresh air handling unit. A kind of fresh air handling unit with total heat exchanger and sensible heat exchanger was put forward. In this paper, making partition for the air conditioning system which fan-coil unit running in dry condition, and operation strategies in each partition are given. The partition and operation strategies provide the basis for real-time adjustment of air-conditioning system.