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排序方式: 共有3439条查询结果,搜索用时 15 毫秒
21.
João André Cristina Santos Lino Costa 《Journal of Intelligent and Robotic Systems》2016,82(3-4):379-397
Robots must be able to adapt their motor behavior to unexpected situations in order to safely move among humans. A necessary step is to be able to predict failures, which result in behavior abnormalities and may cause irrecoverable damage to the robot and its surroundings, i.e. humans. In this paper we build a predictive model of sensor traces that enables early failure detection by means of a skill memory. Specifically, we propose an architecture based on a biped locomotion solution with improved robustness due to sensory feedback, and extend the concept of Associative Skill Memories (ASM) to periodic movements by introducing several mechanisms into the training workflow, such as linear interpolation and regression into a Dynamical Motion Primitive (DMP) system such that representation becomes time invariant and easily parameterizable. The failure detection mechanism applies statistical tests to determine the optimal operating conditions. Both training and failure testing were conducted on a DARwIn-OP inside a simulation environment to assess and validate the failure detection system proposed. Results show that the system performance in terms of the compromise between sensitivity and specificity is similar with and without the proposed mechanism, while achieving a significant data size reduction due to the periodic approach taken. 相似文献
22.
In the study of data exchange one usually assumes an open-world semantics, making it possible to extend instances of target schemas. An alternative closed-world semantics only moves ‘as much data as needed’ from the source to the target to satisfy constraints of a schema mapping. It avoids some of the problems exhibited by the open-world semantics, but limits the expressivity of schema mappings. Here we propose a mixed approach: one can designate different attributes of target schemas as open or closed, to combine the additional expressivity of the open-world semantics with the better behavior of query answering in closed worlds. We define such schema mappings, and show that they cover a large space of data exchange solutions with two extremes being the known open and closed-world semantics. We investigate the problems of query answering and schema mapping composition, and prove two trichotomy theorems, classifying their complexity based on the number of open attributes. We find conditions under which schema mappings compose, extending known results to a wide range of closed-world mappings. We also provide results for restricted classes of queries and mappings guaranteeing lower complexity. 相似文献
23.
24.
Fernández-Miyakawa ME Dorr R Fernández LE Uzal FA Ibarra C 《Computer methods and programs in biomedicine》2007,85(2):95-100
This paper describes the development of a simple system for measurement of net water movement through biological membrane barriers. The system is based on the detection of a water meniscus inside a polyethylene tube, which reflects the water movement inside one hemichamber of a modified Ussing chamber containing a membrane barrier. The detection device consists of a commercial computer-controlled flat bed scanner and specifically developed software. This system allows one to perform a relatively high number of individual experiments per physical unit. It is a flexible and affordable device, which allows comparatively more information per unit to be obtained than previously described methods. 相似文献
25.
26.
Cristina Pignotti 《Systems & Control Letters》2012,61(1):92-97
In this paper, we consider the wave equation with internal distributed time delay and local damping in a bounded and smooth domain Ω⊂Rn. When the local damping acts on a neighborhood of a suitable part of the boundary of Ω, we show that an exponential stability result holds if the coefficient of the delay term is sufficiently small. 相似文献
27.
Lorella Fatone Marco Giacinti Francesca Mariani Maria Cristina Recchioni Francesco Zirilli 《The Journal of supercomputing》2012,62(3):1480-1501
This paper shows two examples of how the analysis of option pricing problems can lead to computational methods efficiently implemented in parallel. These computational methods outperform ??general purpose?? methods (i.e., for example, Monte Carlo, finite differences methods). The GPU implementation of two numerical algorithms to price two specific derivatives (continuous barrier options and realized variance options) is presented. These algorithms are implemented in CUDA subroutines ready to run on Graphics Processing Units (GPUs) and their performance is studied. The realization of these subroutines is motivated by the extensive use of the derivatives considered in the financial markets to hedge or to take risk and by the interest of financial institutions in the use of state of the art hardware and software to speed up the decision process. The performance of these algorithms is measured using the (CPU/GPU) speed up factor, that is using the ratio between the (wall clock) times required to execute the code on a CPU and on a GPU. The choice of the reference CPU and GPU used to evaluate the speed up factors presented is stated. The outstanding performance of the algorithms developed is due to the mathematical properties of the pricing formulae used and to the ad hoc software implementation. In the case of realized variance options when the computation is done in single precision the comparisons between CPU and GPU execution times gives speed up factors of the order of a few hundreds. For barrier options, the corresponding speed up factors are of about fifteen, twenty. The CUDA subroutines to price barrier options and realized variance options can be downloaded from the website http://www.econ.univpm.it/recchioni/finance/w13. A?more general reference to the work in mathematical finance of some of the authors and of their coauthors is the website http://www.econ.univpm.it/recchioni/finance/. 相似文献
28.
A survey of QoS architectures 总被引:14,自引:0,他引:14
Over the past several years there has been a considerable amount of research within the field of quality-of-service (QoS)
support for distributed multimedia systems. To date, most of the work has been within the context of individual architectural
layers such as the distributed system platform, operating system, transport subsystem and network layers. Much less progress
has been made in addressing the issue of overall end-to-end support for multimedia communications. In recognition of this,
a number of research teams have proposed the development of QoS architectures which incorporate QoS-configurable interfaces
and QoS driven control and management mechanisms across all architectural layers. This paper examines the state-of-the-art
in the development of QoS architectures. The approach taken is to present QoS terminology and a generalized QoS framework
for understanding and discussing QoS in the context of distributed multimedia systems. Following this, we evaluate a number
of QoS architectures that have emerged in the literature. 相似文献
29.
A Peer-to-Peer Approach to Web Service Discovery 总被引:9,自引:0,他引:9
Web Services are emerging as a dominant paradigm for constructing and composing distributed business applications and enabling enterprise-wide interoperability. A critical factor to the overall utility of Web Services is a scalable, flexible and robust discovery mechanism. This paper presents a Peer-to-Peer (P2P) indexing system and associated P2P storage that supports large-scale, decentralized, real-time search capabilities. The presented system supports complex queries containing partial keywords and wildcards. Furthermore, it guarantees that all existing data elements matching a query will be found with bounded costs in terms of number of messages and number of nodes involved. The key innovation is a dimension reducing indexing scheme that effectively maps the multidimensional information space to physical peers. The design and an experimental evaluation of the system are presented. 相似文献
30.
Gibson Cristina B.; Porath Christine L.; Benson George S.; Lawler Edward E. III 《Canadian Metallurgical Quarterly》2007,92(6):1467
Previous research on organizational practices is replete with contradictory evidence regarding their effects. Here, the authors argue that these contradictory findings may have occurred because researchers have often examined complex practice combinations and have failed to investigate a broad variety of firm-level outcomes. Thus, past research may obscure important differential effects of specific practices on specific firm-level outcomes. Extending this research, the authors develop hypotheses about the effects of practices that (a) enable information sharing, (b) set boundaries, and (c) enable teams on 3 different firm-level outcomes: financial performance, customer service, and quality. Relationships are tested in a sample of observations from over 200 Fortune 1000 firms. Results indicate that information-sharing practices were positively related to financial performance 1 year following implementation of the practices, boundary-setting practices were positively related to firm-level customer service, and team-enabling practices were related to firm-level quality. No single set of practices predicted all 3 firm-level outcomes, indicating practice-specific effects. These findings help resolve the theoretical tension in the literature regarding the effects of organizational practices and offer guidance as to how to best target practices to increase specific work-related outcomes. Implications for theory, research, and practice are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献