To solve the problems of some Quality of Service (QoS)-based scheduling algorithms in cloud computing environment, such as slow optimizing speed and imbalance between scheduling cost and user satisfaction, a cloud task scheduling strategy based on clustering and improved SOS (Symbiotic Organisms Search) algorithm was proposed. Firstly, the tasks and resources were clustered by fuzzy clustering and the resources were reordered and placed, and then the tasks were guided and assigned according to the similarity of attributes to reduce the selection range of resources. Secondly, the SOS algorithm was improved according to the cross and rotation learning mechanism to improve the algorithm search ability. Finally, the driving model was constructed by weighted summation to balance the relationship between scheduling cost and system performance. Compared with the improved global genetic algorithm, hybrid particle swarm optimization and genetic algorithm, and discrete SOS algorithm, the proposed algorithm can effectively reduce the evolution generation, reduce the scheduling cost and improve the user's satisfaction. Experimental results show that the proposed algorithm is a feasible and effective task scheduling algorithm.

In order to solve the problem of complexity for laying the ground magnetic, laser reflection point or other devices before industrial mobile robot can come into service, and the inflexibility resulting from the fixed work path, a scheme of industrial mobile robot navigation based on inertial and ultrasonic sensors was proposed. Operator needed to train the robot from one target position moving towards another target position in advance to acquire train path. When the robot worked in non-target area, i.e. the area demanding low location accuracy, it navigated according to the train path based on inertial sensors; When coming into target area, i.e. the area containing target position and demanding high location accuracy, ultrasonic sensors conducted the navigation. The scheme shortened the preparation period, and it was convenient to change work path. The simulation results show that the scheme combining inertial navigation and ultrasonic location is feasible.

The shortened LDPC codes based on the current IEEE802.16e Standard, has plenty of small girth. In order to resolve this problem, this paper presents a new scheme of designing the shortened LDPC codes. In the proposed scheme, the design has modified the sub-parity check matrix under the frame of the IEEE802.16e Standard. The proposed check matrix with the spreading factor (zf=48) is constructed with quasi-cyclic matrix method and finite geometry method. Moreover, parity check points was searched the node degree in the way of synchronous sequential, the proposed sub- parity check matrix has minor girth-6 and no girth-4. The results of simulation in the AWGN channels show that the improved short code with the code rate approaching to 0.5, can fast encode as excellent as the IEEE802.16e protocol contains，moreover, a good BER performance of the proposed code is 1.1dB more than the Shannon limit of this channel.