Experimental test of a robust formation controller for marine unmanned surface vessels

Experiments with two formation controllers for marine unmanned surface vessels are reported. The formation controllers are designed using the nonlinear robust model-based sliding mode approach. The marine vehicles can operate in arbitrary formation configurations by using two leader-follower control schemes. For the design of these controller schemes 3 degrees of freedom (DOFs) of surge, sway, and yaw are assumed in the planar motion of the marine surface vessels. Each vessel only has two actuators; therefore, the vessels are underactuated and the lack of a kinematic constraint puts them into the holonomic system category. In this work, the position of a control point on the vessel is controlled, and the orientation dynamics is not directly controlled. Therefore, there is a potential for an oscillatory yaw motion to occur. It is shown that the orientation dynamics, as the internal dynamics of this underactuated system, is stable, i.e., the follower vehicle does not oscillate about its control point during the formation maneuvers. The proposed formation controller relies only on the state information obtained from the immediate neighbors of the vessel and the vessel itself. The effectiveness and robustness of formation control laws in the presence of parameter uncertainty and environmental disturbances are demonstrated by using both simulations and field experiments. The experiments were performed in a natural environment on a lake using a small test boat, and show robust performance to parameter uncertainty and disturbance. This paper reports the first experimental verification of the above mentioned approach, whose unique features are the use of a control point, the zero-dynamic stability analysis, the use of leader-follower method and a nonlinear robust control approach.     

Usability principles and best practices for the user interface design of complex 3D architectural design and engineering tools

This study proposes usability principles for the user interfaces (UI) design of complex 3D parametric architectural design and engineering tools. Numerous usability principles have been developed for generic desktop or web applications. The authors tried to apply existing usability principles as guidelines for evaluating complex 3D design and engineering applications. However, the principles were too generic and high-level to be useful as design or evaluation guidelines. The authors, all with more than 10 or 30 years of experience with various CAD systems, selected and reviewed 10 state-of-the-art 3D parametric design and engineering applications and captured what they thought were best practices, as screenshots and videos. The collected best practices were reviewed through a series of discussion sessions. During the discussion sessions, UI design principles underlying the collected best practices were characterized in the line of existing UI principles. Based on the best practices and the derived common UI principles, a new set of refined and detailed UI principles were proposed for improving and evaluating 3D parametric engineering design tools in the future.     

Complexity results on labeled shortest path problems from wireless routing metrics

Metrics to assess the cost of paths through networks are critical to ensuring the efficiency of network routing. This is particularly true in multi-radio multi-hop wireless networks. Effective metrics for these networks must measure the cost of a wireless path based not only on traditional measures such as throughput, but also on the distribution of wireless channels used. In this paper, we argue that routing metrics over such networks may be viewed as a class of existing shortest path problems, the formal language constrained path problems.On this basis, we describe labeled path problems corresponding to two multi-radio wireless routing metrics: Weighted Cumulative Expected Transmission Time (WCETT), developed by Draves et al., and Metric for Interference and Channel-switch (MIC), developed by Yang et al. For the first, we give a concise proof that calculating shortest WCETT paths is strongly NP-Complete for a variety of graph classes. We also show that the existing heuristic given by Draves et al. is an approximator. For the second, we show that calculating loop-free (simple) shortest MIC paths is NP-Complete, and additionally show that the optimization version of the problem is NPO PB-Complete. This result implies that shortest simple MIC paths are only poorly approximable in the worst case.Furthermore, we demonstrate how the polynomial-time algorithm for shortest MIC paths is derivable from an existing language constrained shortest path algorithm. We use this as a basis to exhibit the general utility of viewing multi-channel wireless routing metrics as labeled graph problems, and discuss how a class of related polynomial-time computable metrics are derivable from this algorithm.     

NX CMM数控测量编程产品

一、行业趋势与要求 零件测量检验仍然是质量保证过程中的一个重要要素.在过去几年中,与测量相关的技术在硬件和软件上都发生了很大变化,测量探头与扫描装置采集数据的速度快了很多.但是如果遇到几何图形复杂的零件,要想在单一装置上实现高效测量,则需要多轴探测路径编程.     

Deriving industrial logistics hub reference models for manufacturing based economies

Global enterprises require extended logistics operations that integrate channel intermediaries into the network. The method for deriving integrated models for logistics hubs that improve the efficiency of manufacturers’ global operations is the focus of this paper. Under government sponsorship, six industrial logistics hubs were implemented by leading manufacturing sectors across Taiwan over a five year period from 2004 until 2008. Each industry sector had unique industry characteristics, business strategies, and logistics models. Therefore, this paper describes how generalized and quick to implement integrated logistics hubs are developed by studying the successful reference models and systems used by six independent industrial sectors. The research results provide a field tested method for deriving integrated logistics hub models in different manufacturing economies with notes that provide sufficient methodological detail for repeating the construction of logistics hubs in other manufacturing economies.     

Students’ performance and satisfaction with Web vs. paper-based practice quizzes and lecture notes

The use of computers to deliver course-related materials is rapidly expanding in most universities. Yet the effects of computer vs. printed delivery modes on students’ performance and motivation are not yet fully known. We compared the impacts of Web vs. paper to deliver practice quizzes that require information search in lecture notes. Hundred and twenty two undergraduate students used either a web site or printed documents to answer 18 mathematics questions during a tutored session. A revised Web site was designed based on ergonomic criteria, to test the hypothesis that improved usability would decrease time spent on the task, the number of pages consulted, and students’ perceived cognitive load. The group working with printed documents had the highest performance. Furthermore, students perceived the paper materials as less effortful to read, and expressed preference for printing lecture notes and questions. However, students appreciated having a Web site available. No differences were found between the two sites. We conclude that Web delivery imposed higher perceived cognitive load due to the need to read lengthy documents. We suggest possible ways to improve Web-based practice materials, such as simultaneous display of questions and lecture notes.     

Piecewise training for structured prediction

A drawback of structured prediction methods is that parameter estimation requires repeated inference, which is intractable for general structures. In this paper, we present an approximate training algorithm called piecewise training (PW) that divides the factors into tractable subgraphs, which we call pieces, that are trained independently. Piecewise training can be interpreted as approximating the exact likelihood using belief propagation, and different ways of making this interpretation yield different insights into the method. We also present an extension to piecewise training, called piecewise pseudolikelihood (PWPL), designed for when variables have large cardinality. On several real-world natural language processing tasks, piecewise training performs superior to Besag’s pseudolikelihood and sometimes comparably to exact maximum likelihood. In addition, PWPL performs similarly to PW and superior to standard pseudolikelihood, but is five to ten times more computationally efficient than batch maximum likelihood training.     

Contact type dependency of texture classification in a whiskered mobile robot

Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous studies, namely, their use of whisker deflection signals obtained under relatively constrained experimental conditions. Here we consider the classification of signals obtained from a whiskered robot required to explore different surface textures from a range of orientations and distances. This procedure resulted in a variety of deflection signals for any given texture. Using a standard Gaussian classifier we show, using both hand-picked features and ones derived from studies of rat vibrissal processing, that a robust rough-smooth discrimination is achievable without any knowledge of how the whisker interacts with the investigated object. On the other hand, finer discriminations appear to require knowledge of the target’s relative position and/or of the manner in which the whisker contact its surface. Electronic Supplementary Material  The online version of this article () contains supplementary material, which is available to authorized users.

Spiral-shaped inertial stem cell device for high-throughput enrichment of iPSC-derived neural stem cells

Stem cell enrichment plays a critical role in both research and clinical applications. The typical method for stem cell enrichment may use invasive processes and takes a long period of time. Spiral-shaped microfluidic devices, which combine lift and Dean drag forces to direct cells of different sizes into separate trajectories, can be used to noninvasively process samples at a rate of milliliters per minute. This paper presents a simple 2-loop spiral-shaped inertial microfluidic devices with the aid of sheath flow to enrich neural stem cells (NSCs), derived from induced pluripotent stem cells. NSCs and spontaneously differentiated non-neural cells were mixed and flowed through the spiral-shaped devices. Samples collected at the outlets were analyzed for purity and recovery. It was found that the device focused the NSCs into a narrow trajectory, which could then be collected in two out of the eight outlets. The device was tested at different flow rates and found that the most highly enriched fractions (2.1×) with NSCs recovery 93% were achieved at the flow rate (3 ml/min). Next, we extended our investigation from 2-loop design to 10-loop design to eliminate the use of sheath flow. NSCs were enriched to 2.5×, but only 38% of the NSCs were recovered from the most enriched fractions. Spiral-shaped microfluidic devices are capable of rapid, label-free enrichment of target stem cells, and have great potential in point-of-care tissue preparation.     

Gradient based hyper-parameter optimisation for well conditioned kriging metamodels

In this work a two step approach to efficiently carrying out hyper parameter optimisation, required for building kriging and gradient enhanced kriging metamodels, is presented. The suggested approach makes use of an initial line search along the hyper-diagonal of the design space in order to find a suitable starting point for a subsequent gradient based optimisation algorithm. During the optimisation an upper bound constraint is imposed on the condition number of the correlation matrix in order to keep it from being ill conditioned. Partial derivatives of both the condensed log likelihood function and the condition number are obtained using the adjoint method, the latter has been derived in this work. The approach is tested on a number of analytical examples and comparisons are made to other optimisation approaches. Finally the approach is used to construct metamodels for a finite element model of an aircraft wing box comprising of 126 thickness design variables and is then compared with a sub-set of the other optimisation approaches.