A computer vision assisted system for autonomous forklift vehicles in real factory environment

Industry 4.0 is an important trend in factory automation nowadays. Among the Automated-Storage-and-Retrieval-System (ASRS) is one of the most important issues for industry. It is widely used in a variety of industries for a variety of storage applications in factories and warehouses. However, the cost of constructing an ASRS is so high that most small/medium enterprises cannot afford it. A forklift system is a cheaper alternative to a complicated ASRS. In this work, a new pallet detection method that uses an Adaptive Structure Feature (ASF) and Direction Weighted Overlapping (DWO) ratio to allow forklifts to pick up a pallet is proposed, using a monocular vision system on the forklift. Combining the ASF and DWO ratio for pallet detection, the proposed method removes most of the non-stationary (dynamic) background and significantly increases the processing efficiency. A Haar like-based Adaboost scheme uses an AS for pallets algorithm to detect pallets. It detects the pallet in a dark environment. Finally, by calculating the DWO ratio between the detected pallets and tracking records, it avoids erroneous candidates during object tracking. Therefore, this work improves the pallet detection to solve the problem with an effective design. As results show that the hybrid algorithms that are proposed in this work increase the average pallet detection rate by 95 %.     

A multistage heuristic for storage and retrieval problems in a warehouse with random storage

The warehouse is one of the essential components of logistics and supply chains. The efficiency of the whole chain is affected by the performance of warehouse operations and, more particularly, the storage and retrieval of goods. This paper considers a storage and retrieval problem in a real warehouse with random storage and different types of forklifts, depending on the locations they can access. The problem deals with selecting locations to store/retrieve a predefined set of pallets, assigning an adequately skilled forklift to each operation and determining the order in which each forklift will perform its operations so that the total employed time is minimized. The problem is solved heuristically by decomposing it into three subproblems, each one handling one of the three key decisions of the problem, and taking into account congestion considerations. The paper also studies two modifications of the problem, adding secondary objective functions. Computational results compare the effectiveness of the proposed algorithms for the different problems in a stochastic environment via simulation.     

Electromagnetic modular Smart Surface architecture and control in a microfactory context

This paper presents an electromagnetic conveyance system called electromagnetic modular Smart Surface (emSS) permitting to move pallets on a planar surface in a microfactory context. The proposed surface concept allows flexibility in reconfiguring the system layout along with product routing. The possibilities of accurate positioning of the moving pallet and controlling multiple pallets on the surface make the emSS suitable for reconfigurable and flexible manufacturing systems. However, the emSS control needs to be robust and scalable to adapt the changes in manufacturing systems. A framework is therefore defined to monitor and control the emSS by simulation or in-line. It allows to define product routing on the emSS by satisfying numerous requirements such as reduction in energy consumption, collision avoidance, etc., and to minimize the human interventions by changing product routing when emSS component failures occur. A first experiment realized on an emSS prototype, allowed to compare two paths strategies regarding cost function linked to energy consumption and velocities. Two other studies exploit the emSS modeling in terms of pallet path generation and simulation of collision avoidance.     

工作流管理原型系统的设计与实现

对工作流管理原型系统的实现方式进行研究是具有现实意义的工作。工作流在规范企业业务流程的同时还可以完成业务流程的重组，从而更适应于当今企业管理信息系统的要求和特点。本文所设计的工作流管理系统虽然只是一个原型系统，但这种原型系统不仅可以简化开发过程的复杂性，而且还可以突出整个系统所必须的主要部分。实现后的原型系统，可以方便地进行扩展，将更多复杂的引擎功能加入到系统中，实现该工作流管理系统的逐步完善并将工作流技术引入到企业管理信息系统的开发中去。     

Improving accessibility of mobile devices with EasyWrite

This paper describes the development process of EasyWrite, a text-entry method for mobile devices that allows people with hand coordination problems to use small computer devices such as smartphones, tablet PCs, or other touchscreen machines. This text-entry method aims at improving typing accuracy and reducing frustration of people affected by this motor disability when using small devices. EasyWrite was developed following an iterative and user-centred process. Starting from requirements elicited from observing potential users with mild and moderate motor disabilities and information provided by a literature review, a low-fidelity prototype was built and evaluated. This early prototype was refined throughout several design and evaluation iterations. Its current state is a functional prototype that works on Android phones. The functional prototype usability was evaluated through user tests. The result of this process is a small virtual keyboard for mobile devices that has less and bigger keys as compared to other onscreen keyboards. The concept of EasyWrite is largely based on the notion of scanning group systems, but it allows users to navigate directly through groups and subgroups of characters by tapping on directional keys in order to find the desired character rather than waiting for a visual cursor to advance through the options, one at a time, at a specific time rate. Though at its current stage the method proposed by EasyWrite shows some limitations, it appears to be appropriate for users with moderate motor disabilities. For this group of people, user test results indicate that EasyWrite could be a more adequate text-entry method than the one provided by standard keyboards, both physical and onscreen, commonly found in mobile devices.     

Objective measurement of the start-motion quality of a forklift truck

An objective index is developed for the estimation of ride quality during a forklift truck start. After consultation with test drivers, start-motion quality is defined and three governing parameters selected: engagement shock in the driving direction, vertical vibration, and pitch vibration. Subjective evaluation of the starting motion and objective measurements of vehicle vibration were performed on five forklift trucks with various load capacities. The vibration measured at the driver's seat was changed into a perceptual amount by using the frequency weighting curves and the fourth power dose method suggested in ISO 2631-1 (Mechanical Vibration and Shock-evaluation of Human Exposure to Whole-body Vibration--Part 1: General Requirements. International Organization for Standardization). Regression between the perceptual vibrations, expressed as a vibration dose value, and the subjective rating scores yielded an index equation in the form of Steven's psychophysical power law: psi = 1.912phi(-0.601), where psi is the sensation magnitude of start-motion quality and phi is the stimulus magnitude of the vibration dose value.     

基于java手机的遥感影像协同识别野外作业系统框架设计与实现

本文设计了室内外遥感影像协同识别系统的整体框架。在该框架下,作为移动终端的java手机实时地根据室内影像识别作业的要求,利用手持GPS定位,把样本点的图像、文本等属性信息和矢量信息返回服务器端,进行一体化数据库管理,为室内作业提供辅助,同时,可以作为室内作业成果的验证系统,提供实时信息,提高室内作业精度。本文通过蓝牙技术连接移动终端设备Java手机和手持GPS,以北京地区TM15米融合彩色影像识别为例,设计、实现一个原型试验系统,通过初步试验表明系统稳定实用并较好地提高了遥感影像识别精度与效率。     

虚拟仿真技术在叉车视野优化中的应用研究

良好的视野是驾驶员操作叉车时重要安全因素。针对叉车驾驶员的视野仿真及优化 问题,基于视线盒形图方法,利用人机工程仿真软件Jack,以第5 百分位中国成年人人体尺寸构 建了叉车虚拟驾驶员操作模型及连贯的动态行为视野仿真分析。辨识出叉车设计中侧面视野的可 见范围比较好,前方视野、后方视野及装卸高处货物时存在明显的视野缺陷,提出增加车载可视 系统和护顶架优化等改善建议,并进行了优化设计。最后,对优化结果进行验证,减少了视野死 角的问题,为叉车设计提供了一定的参考。     

SIPmsign: a lightweight mobile signature service based on the Session Initiation Protocol

The development of mobile signatures could increase the spread and adoption of mobile services based on electronic signatures, such as mobile payments, mobile business transactions, and mobile government services. A Mobile Signature Service (MSS) means that a user in any of the scenarios mentioned can attach an electronic signature, anywhere, anytime, as with a handwritten signature with a device that is almost always on him or her. Several solutions have appeared, such as using the European Telecommunications Standard Institute MSS, the Mobile Signature Application Unit, and the Mobile Network Operator‐independent MSS. These solutions present two kinds of drawbacks. On the one hand, some of them require the service to be developed by all mobile network operators, whereas others are not based on efficient communications. In this paper, we present a new MSS named SIPmsign that solves these problems. Our proposal is based on the Session Initiation Protocol and defines how to exchange the information in a secure and more efficient way than previously. Thanks to Session Initiation Protocol, we provide the adoption of our proposal as a MSS for the new generation of mobile communications. In this paper, we also present the prototype we have developed as a proof of its feasibility as well as an evaluation of the performance of our solution. Copyright © 2012 John Wiley & Sons, Ltd.     

Dynamic omnidirectional vision for mobile robots

Mobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for mobility control. The purpose of this paper is to describe a new algorithm for omnidirectional vision navigation. A prototype omnidirectional vision system and the implementation of the navigation techniques using this modern sensor and an advanced automatic image processor is described. The significance of this work is in the development of a new and novel approach—dynamic omnidirectional vision for mobile robots and autonomous guided vehicles.     

基于移动计算的开放式教学系统的设计与实现

结合移动计算及流媒体技术在远程教学中的应用，设计一种基于移动计算的开放式教学系统，利用MPEG-4对视频信号进行编码，使用无线网络进行音频或视频信号传输，并基于Xscale架构的嵌入式系统自主开发设计了用户移动终端，最后实现了一个原型系统。系统具有良好的实时性、交互性和可扩展性。     

Designing a mobile system for lifelong learning on the move

The Life‐long Learning Initiative seeks to fulfil a variety of learning needs for Shanghai citizens. Given the popularity of mobile devices in Shanghai, the ability to provide learning in informal settings through mobile devices is a key objective and challenge of the Initiative. In order to learn how to develop usable learning content for lifelong learners on the move, a set of design principles from both pedagogical and usability concerns was identified. Next, a pilot system, based on the design principles, was developed to implement two prototype lessons. Five subjects were recruited to test each prototype lesson using a heuristic walkthrough method and a focus group meeting. Users' feedback showed that both the practical and the micro principles were valued as a method of integrating learning activity into informal settings in their daily lives. Audio was preferred as well. Technical usability concerns which are consistent with previous web experience were also identified. This research builds new knowledge about design principles for lifelong learning on the move and is a milestone in the development of the future learning resource bank for Shanghai citizens.     

基于虚拟样机技术的动力换档离合器动力学仿真

该文针对目前自动变速（AT）车辆普遍采用的动力换档离合器,应用大型CAD软件Pro/E和机械系统动力学仿真分析软件ADAMS建立了其虚拟样机模型.并且对离合器在工作过程中的受力状况进行了较详细地描述,得出了其动力学方程.通过对其接合与分离等工况进行动力学分析,最后得到了与实际情况相吻合的仿真结果,并总结出了一套动力换档离合器在ADAMS中设计的简化方法.此外,这个离合器模型还可以作为一个子系统,在今后用于整体动力传动虚拟样机系统的分析与设计.     

基于PDA的GIS系统研究与开发

讨论了Windows CE环境下基于PDA的GIS软件开发原理和方法。简述了其开发基本理论，具体探讨了采用eMbedded VC 开发环境下基于PDA的GIS软件开发具体技术，同时指出了其与基于台式机的GIS软件开发的区别。介绍了笔者在Pocket PC中实现的一个地理信息系统软件。     

Multimodal Interfaces for Cell Phones and Mobile Technology

By modeling users' natural spoken and multimodal communication patterns, more powerful and highly reliable interfaces can be designed that support emerging mobile technology. In this paper, we highlight three different examples of research that is advancing state-of-the-art mobile technology. The first is the development of fusion-based multimodal systems, such as ones that combine speech and pen or touch input, which are substantially improving the robustness and stability of system recognition. The second is modeling of multimodal communication patterns to establish open-microphone engagement techniques that work in challenging multi-person mobile settings. The third is new approaches to adaptive processing, which are able to transparently guide user input to match system processing capabilities. All three research directions are contributing to the design of more reliable, usable, and commercially promising mobile systems of the future.     

基于流动代理技术的Web计算框架及实现

Internet的迅速发展,促使网络日趋复杂,规模不断扩大,作为Internet上应用最广泛的服务之一,传统的Web计算框架开始逐渐不适应这种发展现状。文中提出采用基于流动代理的Web计算框架,使用流动代理取代传统的CGI／API等中间件,从而使Web计算更灵活,更高效。文章论述了流动代理的结构,用于Web计算的系统框架以及原型系统的实现,最终还简单介绍了下一步的工作重点。     

A Method for Extracting and Stating Software Requirements that a User Interface Prototype Contains

User interface and requirements prototyping is a requirements elicitation technique. A user interface and requirements prototype is built during the requirements engineering phase of a software system development. Along with the user interface prototype are produced various documents such as the system requirement specification. When a prototype and other documents exist, they may not describe the same functionality, particularly because there may be behaviour of the prototype, artefacts of prototyping, that may not be intended. The problem is that in later development stages, when there is a prototype and other documents, it is often difficult to reconcile the difference between the prototype and the other documents. This paper presents an approach for avoiding this difficulty. It demonstrates the approach by showing its application to parts of a real software development.     

A requirements-based programming approach to developing a NASA autonomous ground control system

A new requirements-based programming approach to the engineering of computer-based systems offers not only an underlying formalism, but also full formal development from requirements capture through to the automatic generation of provably-correct code. The method, Requirements-to-Design-to-Code (R2D2C), is directly applicable to the development of autonomous systems and systems having autonomic properties. We describe both the R2D2C method and a prototype tool that embodies the method, and illustrate the applicability of the method by describing how the prototype tool could be used in the development of LOGOS, a NASA autonomous ground control system that exhibits autonomic behavior. Finally, we briefly discuss other possible areas of application of the approach.     

An investigation into affective design using sorting technique and Kohonen self-organising map

In this paper, a prototype system that focuses on affective design perspective for iterative product concept development is proposed and described. The prototype system, which emphasises the solicitation of affective attributes from customers, employs a sorting technique, i.e. picture sorts, for acquiring customer's affective requirements and a hierarchical structure for representing designer's formal elements to meet customer's affective requirements in product conceptualisation. As hierarchical structure alone contains qualitative and uncertain inherence, a self-organised algorithm known as Kohonen self-organising map (SOM) neural network is employed to consolidate the relationship between affective requirements from customers and formal elements from designers so as to formulate a customer-oriented product concept. The performance of the prototype system is illustrated by using a case study on the design of a mobile hand phone.