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New Cooperative Multi-robot Path Planning Algorithm
一种新型协作多机器人路径规划算法

XIAO Guo-bao,YAN Xuan-hui,
肖国宝
,严宣辉

计算机科学 , 2013,
Abstract: 研究了一种在动态环境下的新型协作多机器人路径规划算法。采用集中式与分布式相结合的多机器人系统体系结构,弥补了在分布式环境下的全局性较差和在集中式环境下的实时性较差等不足。在此基础上,通过融合免疫协同进化算法与人工势场法解决全局路径规划与局部路径规划问题,以有效提高机器人的全局协调能力及自适应水平。仿真实验证明了所提算法在动态环境下实现的可行性与有效性。
Path Planning of Mobile Robot in Dynamic Nondeterministic Environments
一种动态不确定环境中机器人路径规划方法

XIAO Guo-Bao,YAN Xuan-Hui,
肖国宝
,严宣辉

计算机系统应用 , 2012,
Abstract: This paper introduces a new path planning in dynamic nondeterministic environments.We combine POMDP and APF into the new path planning which takes full account of the uncertainty of the information in real world.Based on the APF’s advantage of avoiding the expensive computation,it guides the setting of POMDP’s rewards value to improve the efficiency of decision making.The result of the simulation shows that the proposed algorithm has higher search efficiency and can make the robot reach the target faster.
Primary intestinal non-Hodgkin's lymphoma: A clinicopathologic analysis of 81 patients
Guo-Bao Wang,Guo-Liang Xu,Guang-Yu Luo,Hong-Bo Shan
World Journal of Gastroenterology , 2011, DOI: 10.3748/wjg.v17.i41.4625
Abstract: AIM: To analyze the clinicopathologic features and the prognosis of primary intestinal lymphoma. METHODS: Patients were included in the study based on standard diagnostic criteria for primary gastrointestinal lymphoma, and were treated at Sun Yat-sen University Cancer Centre between 1993 and 2008. RESULTS: The study comprised 81 adults. The most common site was the ileocaecal region. Twenty-two point two percent patients had low-grade B-cell lymphoma. Fifty-one point nine percent patients had high-grade B-cell lymphoma and 25.9% patients had T-cell lymphoma. Most patients had localized disease. There were more patients and more early stage diseases in the latter period, and the origin sites changed. The majority of patients received the combined treatment, and about 20% patients only received nonsurgical therapy. The wverall survival and event-free survival rates after 5 years were 71.6% and 60.9% respectively. The multivariate analysis revealed that small intestine and ileocaecal region localization, B-cell phenotype, and normal lactate dehydrogenase were independent prognostic factors for better patient survival. Surgery based treatment did not improve the survival rate. CONCLUSION: Refined stratification of the patients according to the prognostic variables may allow individualized treatment. Conservative treatment may be an optimal therapeutic modality for selected patients.
Primary intestinal non-Hodgkin's lymphoma: A clinicopathologic analysis of 81 patients
Guo-Bao Wang,Guo-Liang Xu,Guang-Yu Luo,Hong-Bo Shan
World Journal of Gastroenterology , 2011, DOI: 10.3748/wjg.v17.i41.4685
Abstract: AIM: To analyze the clinicopathologic features and the prognosis of primary intestinal lymphoma. METHODS: Patients were included in the study based on standard diagnostic criteria for primary gastrointestinal lymphoma, and were treated at Sun Yat-sen University Cancer Centre between 1993 and 2008. RESULTS: The study comprised 81 adults. The most common site was the ileocaecal region. Twenty-two point two percent patients had low-grade B-cell lymphoma. Fifty-one point nine percent patients had high-grade B-cell lymphoma and 25.9% patients had T-cell lymphoma. Most patients had localized disease. There were more patients and more early stage diseases in the latter period, and the origin sites changed. The majority of patients received the combined treatment, and about 20% patients only received nonsurgical therapy. The wverall survival and event-free survival rates after 5 years were 71.6% and 60.9% respectively. The multivariate analysis revealed that small intestine and ileocaecal region localization, B-cell phenotype, and normal lactate dehydrogenase were independent prognostic factors for better patient survival. Surgery based treatment did not improve the survival rate. CONCLUSION: Refined stratification of the patients according to the prognostic variables may allow individualized treatment. Conservative treatment may be an optimal therapeutic modality for selected patients.
Chinese Remainder Theorem-Based Secret Sharing Scheme
基于中国剩余定理的秘密共享组播密钥管理方案

Xi Guo-bao,Chen Hui-fang,Zhao Wen-dao,
席国宝
,陈惠芳,赵问道

电子与信息学报 , 2006,
Abstract: This paper proposes Chinese Remainder Theorem-based Secret Sharing (CRTSS) scheme, a new Multicast Key Management (MKM) scheme, which adopts the Chinese remainder theorem and Shamir’s secret sharing method. With comparing and analyzing GKMP and CRTSS schemes, the results show that CRTSS scheme overcomes high rekeying cost, the defect of conventional centralized flat schemes, improves the performance. It is a new reliable centralized flat MKM scheme.
Determination of Elemenyl Piperidine Salt in Water by Capillary Gas Chromatography
毛细管气相色谱法测定水溶液中榄香烯哌啶盐的含量

GONG Guo-liang,CHENG Guo-bao,HU Jie-han,DAI Jian-ying,
宫国梁
,程国宝,胡皆汉,戴建英

色谱 , 2000,
Abstract: beta-Elemene and its derivatives were hopeful new antitumor drugs. A method for determination of elemenyl piperidine salt in water has been developed with capillary gas chromatography. The samples were neutralized by sodium carbonate and extracted by n-heptane. n-Octadecane was used as the internal standard. The linear range was from 10 g/L to 100 g/L, with a correlation coefficient of 0.9998. The average recovery of the method was 99.96% and the RSD was 0.46% (n = 5). The coefficient of variation was less than 2%. The method is simple, rapid, accurate and can be applied to the determination of the nitrogen-containing compounds of beta-elemene.
Multiple Features Extraction and Integrated SVM Using Gabor Wavelet Transformation and Fisherfaces with Application to Facial Expression Recognition
基于Gabor、Fisher脸多特征提取及集成SVM的人脸表情识别*

HUANG Yong-ming,ZHANG Guo-bao,DONG Fei,DA Fei-peng,
黄永明
,章国宝,董飞,达飞鹏

计算机应用研究 , 2011,
Abstract: Based on the static gray image expression database, a recognition algorithm is given by using multiple facial expression features to construct multi-classifier. Aiming to improving speed of extracting features, features of expression that are extracted by local Gabor wavelet transformation on the selected facial landmark are used to constructing facial elastic templates. Geometric features and Fisherfaces features are extracted on the facial effective area extracted by elastic templates. Primary integrated SVM should be constructed by combining with Geometric features; Secondary integrated SVM should be constructed by combining with Fisherfaces features. Compared with the single features, the experimental results showed that recognition rate and robustness are improved by experiments based on JAFFE and Cohn-Kanade.
Analysis of delay performance of multichannel SW-ARQ based on M/G/1 model with vacation
多信道SW-ARQ系统基于带休假的M/G/1排队模型时延性能分析*

LI Suo-ping,ZHOU Yong-qiang,TENG Guo-bao,LI Jun,
黎锁平
,周永强,滕国宝,李骏

计算机应用研究 , 2011,
Abstract: 在考虑分组长度、信道传输质量的影响下,运用带休假的M/G/1排队模型分析SW-ARQ系统的时延性能指标。分别获得了单信道SW-ARQ系统和多信道SW-ARQ系统分组平均等待时延和系统平均时延解析表达式,并将两种系统的时延性能指标分别进行分析比较。分析结果表明:当分组长度较大时,采用多信道SW-ARQ可以获得较小的系统平均时延,提高系统的传输可靠性。最后通过数值模拟比较分析了单信道SW-ARQ系统和多信道SW-ARQ系统下分组长度、传输正确率以及到达率对系统平均时延的影响。
Road image filtering algorithm based on improved pseudo-median filter
基于改进伪中值滤波器的道路图像滤波算法*

XU Guo-bao,YIN Yi-xin,XIE Shi-yi,
徐国保
,尹怡欣,谢仕义

计算机应用研究 , 2011,
Abstract: To address the shortcomings of the existing cellular neural network (CNN)-based filters, such as: slow convergence, poor stability, and relatively vague filtered images, an improved pseudo-median filter was designed, based on difference-controlled CNN. Four improved measures, including changing the value space, introducing random perturbation, expanding the median filter window, and using the Mask method, are proposed and tested in this work. The experimental results demonstrated that the new algorithm can better filter out random pulse noise of various intensities, reserve the image details, and has the good real-time.
Delay Analysis for GBN-ARQ Protocol over Infrared Communication Systems
红外线通信系统中的GBN-ARQ协议时延性能研究

LI Suo-ping,TENG Guo-bao,ZHOU Yong-qiang,MA Cheng-ye,
黎锁平
,滕国宝,周永强,马成业

计算机科学 , 2011,
Abstract: Because of the specific property of half-duplex over the IrDA links, Go-Back-N Automatic Repeat request protocol(GBN-ARQ) is different from GBN-ARQ over duplex links. In this paper, the GBN-ARQ protocol over half-duplex links was proposed, and the factors which affect the transmission system were expressed with proper parameters according the property of half-duplex links. I}hen, the general expression of average packet delay was obtained through analyzing the component of average packet delay by using queuing theory, which contains average packet waiting delay and packet service delay. At last, the influence of packet error rate, windows length and data packet length on system delay was analyzed by numerical simulation.
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