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In order to improve path tracking performance of Beaver AUV, a new method for path tracking controller design is proposed basing on variable structure control theory and nonlinear dynamics model of Beaver. Switching surface of variable structure controllers is founded with corresponding error and error derivative of surge displacement and yaw angle. Exponential approach law is adopted to derive control algorithm for surge and yaw in the process of path tracking. Chattering phenomenon is restrained due to adaptive neurons which are used for approaching speed adjusting online. Simulation results of sinusoidal path tracking, circular path tracking and planning path tracking show that tracking precision of Beaver AUV is improved more evidently through variable structure control with adaptive approaching speed compared with variable structure control using fixed approaching speed. The method proposed in this article is effective and feasible.

Preserving global and local structures during projection learning is very important for feature extraction, they commonly introduce an extra graph regularization term, If this initial graph construction is of low quality then the resulting projection may also be of low quality. Moreover, conventional projection methods simply use Euclidean distance to measure the similarity of samples, ignoring the dynamic structure information of data. Meanwhile, recent studies have shown that a probabilistically motivated distance measurement (called effective distance) can model the dynamic structure information of data. In this paper, we propose an effective distance based Low-Rank Preserving Projection method (EDLRPP), EDLRPP imposes the effective distance based graph constraint on the reconstruction error of data instead of introducing the extra regularization term to capture the global and local structure of data, which can greatly reduce the complexity of the model. We evaluate our method on datasets in the task of image classification, with results demonstrating the effectiveness of the method.

Low-rank representation (LRR) has recently attracted a great deal of attention due to its pleasing efficacy in exploring low-dimensional subspace structures embedded in data. However, conventional LRR methods simply use Euclidean distance to measure the similarity of samples, ignoring the dynamic structure information of data. Meanwhile, recent studies have shown that a probabilistically motivated distance measurement (called effective distance) can model the dynamic structure information of data. In this paper, we propose an effective distance based LRR (EDLRR)method for representation learning. The proposed EDLRR method can not only represent the dynamic structure of data, but also capture the geometric information in the inherent nonlinear data. Our method mainly uses Effective Distance Computation and Effective Distance based Low-Rank Representation. We evaluate our method on datasets in the task of image classification, with results demonstrating the effectiveness of the method.

The electrical characteristics of Ti/p-SiGe contacts with Ti thicknesses of 3nm and 5nm have been investigated in this paper. TiN was used as a cap layer on Ti. It is observed that as Ti film becomes thinner, Ti/p-SiGe contact resistivity (ρc) increases, but its Schottky barrier height (SBH) decreases, which does not coincide with the regular ρc-SBH dependence. Using TiN/p-SiGe as a control sample, it is concluded that when Ti film is thinned down to nm scale, the contact property is strongly influenced by TiN cap layer.

The scattering mechanisms are investigated for MOSFETs with gate length varying from 1000 nm to 32 nm in this paper. Although the carrier mobility should theoretically be independent on the gate length, using the universal mobility model it is found that as the gate length reduces the Coulombic scattering decreases while the phonon scattering and the surface roughness scattering increase with a decreasing effective mobility. It is revealed that the decreasing effective substrate doping concentration N a related to the reduced threshold voltage V t is the dominant reason. However, the dominant mechanism varies from the Coulombic scattering for the long gate length to the phonon scattering for the short gate length at medium effective field (about 1 MV/cm).

This paper presents un approach for beamforming based on third-order cyclic statistics. The approach has fairly well accuracy. Further, a new scheme joint beamforming and space-time block coding is suggested that multiple antenna arrays transmit at base station and multi-antenna elements receive at mobile terminal. This scheme improves the receiving error performance of mobile terminal and increases the capacity of the entire wireless communication system. The computer simulation validates that the aforementioned scheme is superior and effective.

This paper presents an approach for beamforming based on third-order cyclic statistics. The approach has fairly well accuracy. Further, a new scheme joint beamforming and space-time block coding is suggested that dual antenna arrays transmit at base station and multi-antenna elements receive at mobile terminal. This scheme improves the receiving error performance of mobile terminal and increases the capacity of the entire wireless communication system. The computer simulation validates that the aforementioned scheme is superior and effective.