Developing a vision-based auto-recharging system for mobile robots

This article describes a vision-based auto-recharging system that guides a mobile robot moving toward a docking station. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger, a safety detection device, and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a controller, and a camera. The controller of the power detection module is a Holtek chip. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. For image processing, the mobile robot uses a webcam to capture a real-time image. The image signal is transmitted to the controller of the mobile robot via a USB interface. We use an Otsu algorithm to calculate the distance and orientation of the docking station from the mobile robot. In the experiment, the proposed algorithm guided the mobile robot to the docking station.     

基于RFID的磁盘加密系统

文章在跟踪和分析最新磁盘加密技术研究成果的基础上,设计了一种基于RFID的磁盘分区加密系统。该系统由磁盘分区加密软件Partition Crypt与RFID射频卡、USB射频读写端等硬件模块共同组成。软件部分对计算机硬件系统要求低、安装方便、使用简单、加密效果好;硬件部分由单片机与射频模块完成。其中,USB接口采用虚拟USB接口的方法,降低硬件复杂性与成本,具有很高的性价比。经过测试,整个系统功能稳定、性价比高、保密性好,可为广泛使用的基于Windows操作系统的涉密计算机提供加密技术保障,应用前景广阔。     

A formal approach to negotiating agents development

This paper presents a formal and executable approach to capture the behaviour of parties involved in a negotiation. A party is modeled as a negotiating agent composed of a communication module, a control module, a reasoning module, and a knowledge base. The control module is expressed as a statechart, and the reasoning module as a defeasible logic program. A strategy specification therefore consists of a statechart, a set of defeasible rules, and a set of initial facts. Such a specification can be dynamically plugged into an agent shell incorporating a statechart interpreter and a defeasible logic inference engine, in order to yield an agent capable of participating in a given type of negotiations. The choice of statecharts and defeasible logic with respect to other formalisms is justified against a set of desirable criteria, and their suitability is illustrated through concrete examples of bidding and multi-lateral bargaining scenarios.     

An Interactive Designing System with Virtual Sculpting and Virtual Woodcut Printing

In this paper, we propose an interactive designing method and a system based on it to create 3D objects and 2D images. This system consists of two subsystems for virtual sculpting to create a 3D shape and virtual printing to produce a picture with a printing block. In the virtual sculpting subsystem, a user can form solid objects with curved surfaces as if sculpting them. The user operates virtual chisels, and can remove or attach arbitrary shapes of ellipsoids or cubes from or to the workpiece. A 3D object generated by virtual sculpting looks like a real wooden sculpture. If using a board as a workpiece, a user can generate a virtual printing block. In the virtual printing subsystem, a user can synthesize a woodcut printing image from the virtual printing block mentioned above, a virtual paper sheet, and a printing brush. The user can synthesize a realistic woodcut print with a procedure similar to the actual woodcut printing.     

On the equivalence between small-step and big-step abstract machines: a simple application of lightweight fusion

We show how Ohori and Sasano's recent lightweight fusion by fixed-point promotion provides a simple way to prove the equivalence of the two standard styles of specification of abstract machines: (1) in small-step form, as a state-transition function together with a ‘driver loop’, i.e., a function implementing the iteration of this transition function; and (2) in big-step form, as a tail-recursive function that directly maps a given configuration to a final state, if any. The equivalence hinges on our observation that for abstract machines, fusing a small-step specification yields a big-step specification. We illustrate this observation here with a recognizer for Dyck words, the CEK machine, and Krivine's machine with call/cc.The need for such a simple proof is motivated by our current work on small-step abstract machines as obtained by refocusing a function implementing a reduction semantics (a syntactic correspondence), and big-step abstract machines as obtained by CPS-transforming and then defunctionalizing a function implementing a big-step semantics (a functional correspondence).     

混合关系中的函数依赖及其相关规则

在实际应用中有这样一类关系数据库,其中数据项在某个属性上的取值本身又是一个关系。讨论这种混合关系中的函数依赖及其相应的相关规则具有一定的理论意义和实际应用价值。给出这种混合关系的形式定义、混合关系中4种类型的函数依赖关系以及相应的4种类型的相关规则;并给出混合关系到一般关系的转换,通过这个转换说明了混合关系与普通关系的联系及其差别。给出一个实际应用中的例子,来说明混合关系中的函数依赖和相关规则的形式多样性。     

Biomechanical analyses of paramedics simulating frequently performed strenuous work tasks

Firefighters performing emergency rescue functions are at an elevated risk of musculoskeletal injuries. The objective of the current study was to analyze the biomechanical stresses placed on the body based on simulations of the following strenuous and frequently performed emergency rescue tasks: (1) transferring a patient from a bed to a stretcher using bedsheets, (2) transferring a patient from the ambulance stretcher to a hospital gurney, (3) carrying a victim down a set of stairs and through a landing using a stairchair, (4) carrying a victim down a set of stairs and through a landing using a backboard, and (5) carrying a victim down a straight set of stairs using a stretcher. Postural data were analyzed using the University of Michigan's Three-Dimensional Static Strength Prediction Program and the relative risk of low back disorder (LBD) was quantified using the trunk motion model published by Marras et al. (1993, spine 18, 617-628). Peak compression values and the probabilities from the Marras et al. (1993) model indicated that the most hazardous tasks performed as part of this simulation included pulling a victim from a bed to a stretcher, the initial descent of a set of stairs when using the stretcher, and lifting a victim on a backboard from the floor. Overall, the two models were well correlated in their assessment of the task components modelled (r = 0.78). These data indicate where engineering changes to equipment regularly used by emergency rescue personnel would have the greatest impact in reducing the risk of musculoskeletal injury.     

充电桩计量过程中输出与充电需求不匹配问题分析及处理

针对充电桩现场测试设备的充电需求与实际输出不一致,出现电压、电流不匹配的问题,设计了一套检测方案,构建出包括电流检测模块、电压检测模块和示波器检测模块的检测电路,通过采样电压和电流信号,计算出不同负载下充电桩输出电流和电压值,并设计了包括直流电能采集电路,由双通道AD转换AD7380、可编程增益放大器、可编程增益放大器、增益电阻Rg2和电源变换器、低通滤波器电容CL、低通滤波器电阻RL组成的检测电路,在检测电路中,为了提高检测效率,还设置了校正电路。通过试验,本研究方法分析直观,误差低。     

Automatic Generation of Virtual Woodblocks and Multicolor Woodblock Printing

In this paper, we study a method to synthesize a multicolor virtual woodblock print by using several virtual woodblocks. It consists of two sections: carving and printing, to synthesize a virtual print. In the carving section, virtual woodblocks are generated by a user with supporting of an automatically carving method based on feature extraction of a gray value image. And woodblocks are also generated automatically by using a full-color image as a draft. In the printing section, a "paper sheet", a "printing brush" and "ink" are prepared in addition to the "woodblock" in the virtual space and the user synthesizes a woodblock print interactively. As the printing factors, a color of ink, a moisture value and a grain change the finish of the print. Using several virtual woodblocks and printing to a paper sheet in succession, a printing image of each woodblock is combined based on the printing factors and a multicolor virtual prints is synthesized.     

Attribute reduction based on evidence theory in incomplete decision systems

Attribute reduction is a basic issue in knowledge representation and data mining. This paper deals with attribute reduction in incomplete information systems and incomplete decision systems based on Dempster-Shafer theory of evidence. The concepts of plausibility reduct and belief reduct in incomplete information systems as well as relative plausibility reduct and relative belief reduct in incomplete decision systems are introduced. It is shown that in an incomplete information system an attribute set is a belief reduct if and only if it is a classical reduct and a plausibility consistent set must be a classical consistent set. In a consistent incomplete decision system, the concepts of relative reduct, relative plausibility reduct, and relative belief reduct are all equivalent. In an inconsistent incomplete decision system, an attribute set is a relative plausibility reduct if and only if it is a relative reduct, a plausibility consistent set must be a belief consistent set, and a belief consistent set is not a plausibility consistent set in general.     

Software development for high-performance, reconfigurable, embedded multimedia systems

Reconfigurable platforms can be very effective for lowering production costs because they allow the reuse of architecture resources across a variety of applications. We show how to program a reduced-instruction-set-computing (RISC) microprocessor with a reconfigurable functional unit, focusing on DSP applications and using the example of a turbodecoder. We have developed a complete design flow, including a methodology and compilation tool chain, to address the instruction set hardware-software codesign problem for a processor with a runtime reconfigurable unit. The flow starts from a system-level specification (usually a software program) of the application and partitions it into software and hardware domains to achieve the best speed, power, and area performance, while satisfying resource constraints imposed by the target platform architecture. We describe a methodology and a set of tools that allow extensive design exploration for hardware-software codesign with the goal of improving the overall utilization of reconfigurable multimedia platforms.     

Coterie join algorithm

Given a set of nodes in a distributed system, a coterie is a collection of subsets of the set of nodes such that any two subsets have a nonempty intersection and are not properly contained in one another. A subset of nodes in a coterie is called a quorum. An algorithm, called the join algorithm, which takes nonempty coteries as input, and returns a new, larger coterie called a composite coterie is introduced. It is proved that a composite coterie is nondominated if and only if the input coteries are nondominated. Using the algorithm, dominated or nondominated coteries may be easily constructed for a large number of nodes. An efficient method for determining whether a given set of nodes contains a quorum of a composite coterie is presented. As an example, tree coteries are generalized using the join algorithm, and it is proved that tree coteries are nondominated. It is shown that the join algorithm may be used to generate read and write quorums which may be used by a replica control protocol     

Track-following control of a dual-stage hard disk drive using a neuro-control system

This paper describes the track-following control of a dual-stage hard disk drive system using neural-networks. A neural-network approach to on-line learning control, and a real-time implementation for a dual-stage hard disk drive, are presented. The use of the dual-stage actuator in hard disk drive systems has become a means of achieving increased servo actuator bandwidth. The dual-stage actuator presented here uses a voice-coil motor (VCM) as a coarse actuator, and a piezoelectric actuator (PZT) as a fine actuator. The control system consists of a series combination of both a plant with a feedback loop and a neural-network with a feedforward loop. The neural-network functions as the reference input filter, and it organizes a new reference signal to the closed-loop circuit. Numerical and experimental results for the track-following control system of the dual-stage hard disk drive show the validity of the proposed neuro-control system.     

Towards Ontology-driven Knowledge Synthesis for Heterogeneous Information Systems

Information integration enables delivery of the right information to the right user in a timely manner giving manufacturers a competitive edge in today’s global manufacturing market. However, as enterprise information is usually aggregated from a variety of heterogeneous information sources, without using an adequate integration framework it is difficult to extract pertinent information and apply current knowledge to assessing production situations and making informed decisions. This paper investigates a method of facilitating knowledge synthesis in a distributed computing environment. A formal model of domain ontology and knowledge base is presented, which aims at providing a vehicle for representing information and knowledge using a common shared semantics in a given application domain. As a result, a common knowledge representation based architecture is proposed, creating a foundation for establishing a systematic approach for ease of knowledge synthesis in a manufacturing environment     

Efficiently instantiating view-objects from remote relational databases

View-objects are complex objects that are instantiated by delivering a query to a database and converting the query result into a nested structure. In relational databases, query results are conventionally retrieved as a single flat relation, which contains duplicate subtuples in its composite tuples. These duplicate subtuples increase the amount of data to be handled and thus degrade performance. In this article, we describe two new methods that retrieve a query result in structures other than a single flat relation. One method retrieves a set of relation fragments, and the other retrieves a single-nested relation. We first describe their algorithms and cost models, and then present the cost comparison results in a client-server architecture with a relational main memory database residing on a server.     

关于一种网格运行时结构的若干注记

进程是传统计算机系统的一个核心概念，自1960年出现以来一直沿用至今，进程的一个主要目的是为主体提供一种运行时结构，在操作系统和处理器硬件支持下，代表主体访问和使用各种资源，与传统的单机和并行机计算平台相比，网格计算机中进程所对应的概念面临新的挑战，包括网格资源繁杂、自主控制的条件下的单一系统映像和资源的共享与协同、与特定操作系统的松耦合、时间和空间的流动性、更高级的交互性，提出一种称为网程(grip)的运行时结构，试图解决上述问题，网程运行在网格操作系统之上，代表网格主体，访问和使用网格资源。     

Using genetic algorithm for lot sizing and scheduling problem with arbitrary job volumes and distinct job due date considerations

This paper considers an integrated lot sizing and scheduling problem for a production–distribution environment with arbitrary job volumes and distinct due dates considerations. In the problem, jobs are firstly batch processed on a batching machine at production stage and then delivered to a pre-specified customer at the subsequent delivery stage by a capacitated vehicle. Each job is associated with a distinct due date and a distinct volume, and has to be delivered to the customer before its due date, i.e. delay is not allowed. The processing time of a batch is a constant independent of the jobs it contains. In production, a constant set-up time as well as a constant set-up cost is required before the first job of this batch is processed. In delivery, a constant delivery time as well as a constant delivery cost is needed for each round-trip delivery between the factory and the customer. Moreover, it is supposed that a job that arrives at the customer before its due date will incur a customer inventory cost. The objective is to find a coordinated lot sizing and scheduling scheme such that the total cost is minimised while guaranteeing a certain customer service level. A mixed integer formulation is proposed for this problem, and then a genetic algorithm is developed to solve it. To evaluate the performance of the proposed genetic algorithm, a lower bound on the objective value is established. Computational experiments show that the proposed genetic algorithm performs well on randomly generated problem instances.     

A Simulation Model of the Price Bargaining Rules in Vertical Relationships

This paper analyzes the dynamics of the price and quantity bargaining betweenfour agents, in a current industrial structure, with a special attention tothe price bargaining. The structure combines a bilateral monopoly in a marketfor inputs, and a duopoly in a final market. After a simplified presentationof a model which proposes equilibrium solutions to the bargaining, we presentthe protocol and the results of an experiment whose objective is twofold. Thefirst one is to test the assumptions of the model. The second one is toidentify behavioral models and bargaining rules for a work of simulation. Theexperimental results do not confirm the solutions of the theoretical model,which predicted a Nash solution for the price bargaining, and used the cournotconjecture in the quantity bargaining. A detailed analysis of the resultsleads to some observations useful to parameterize a simulation model. Thesimulation runs a systematic analysis of the dynamics of the bargaining rulesin this structure.     

A Petri nets semantics for data flow networks

This work presents a truly concurrent operational semantics for nondeterministic data flow networks. We introduce a model, the df-process, which is a notion similar to that of non-sequential process for a Petri net: a df-process is defined as a mapping from an occurrence net K to a data flow net N, such that the places and the transitions of K are mapped onto the channels and the nodes of N. A df-process contains, by means of some labelling of the places, information on the value and the order in which data flow through the channels during a computation. Df-processes for a data flow network are characterized in an abstract way by a set of properties and in general a df-process corresponds to a set of computations of the network. We give a way to build the df-process corresponding to a computation incrementally at each event occurrence: a main result of the paper is that the incremental construction yields exactly the same set of df-processes as abstractly defined. We also show that df-processes are compositional. The model is intended to be used by distributed systems designers: it contains enough information to be a guideline for the designer and to be a base to develop dynamic checking tools. We outline how df-processes can be used in the design phase of a system.Research supported in part by Progetto Coordinato CNR ANATRA     

A form verification system for the conceptual design of complex mechanical systems

This paper presents a summary of research into the development and implementation of a domain-independent, computer-based model for the conceptual design of complex mechanical systems [1]. The creation of such a design model includes the integration of four major concepts: (1) the use of a graphical display for visualizing the conceptual design attributes: (2) the proper representation of the complex data and diverse knowledge reguired to design the system; (3) the integration of quality design methods into the conceptual design: (4) the modeling of the conceptual design process as a mapping between functions and forms. Using the design of an automobile as a case study, a design environment was created which consisted of a distributed problem-solving paradigm and a parametric graphical display. The requirements of the design problem with respect to data representation and design processing were evaluated and a process model was specified. The resulting vehicle design system consists of a tight integration between a blackboard system and a parametric design system. The completed system allows a designer to view graphical representations of the candidate conceptual designs that the blackhoard system generates.