Real-World Robotics: Learning to Plan for Robust Execution

In executing classical plans in the real world, small discrepancies between a planner's internal representations and the real world are unavoidable. These can conspire to cause real-world failures even though the planner is sound and, therefore, proves that a sequence of actions achieves the goal. Permissive planning, a machine learning extension to classical planning, is one response to this difficulty. This paper describes the permissive planning approach and presents GRASPER, a permissive planning robotic system that learns to robustly pick up novel objects.     

Selecting a waste management option using a life-cycle analysis approach

Solid-waste management, and in particular the disposal of used packaging, is currently the subject of much topical debate. This is driven by both consumer and legislative pressures. Consumers see used packaging as a highly visible element of municipal solid waste, complaining of excessive packaging and low levels of recycling. Legislators, perhaps in pandering to the views expressed by consumer bodies, have been active within the CEC and individual Member States by introducing (or proposing) legislation or similar regulatory tools and targets to facilitate a greater diversion of used packaging from disposal by landfill to alternative solid-waste management practices, in particular recycling, which are widely accepted to have a lower impact on the environment. In this paper the relative environmental profiles of pursuing alternative solid-waste management practices to disposal by landfill are explored, focusing not just on solid waste per se but also on associated considerations of energy consumption and emissions, which are invariably overlooked as factors contributing to the environmental impact of solid-waste management practices.     

High throughput VLSI DSP using replicated finite rings

This paper discusses strategies for implementing DSP systems using residue replication. The theory, recently introduced by two of the authors, uses formal polynomial ring mappings, from binary representations, to direct product ring implementation of integer processing arrays. The mapping produces completely independent computational arrays each computing over the same ring. This paper describes an architecture and processing array to implement, and take advantage of, the special computational ring structures that result from the mapping. A brief review of the theory and mapping techniques, is followed by the discussion of the architecture and VLSI design of an efficient inner product processing array using Fermat Primes.     

Investigating the Social Dimensions of Transport Disadvantage II: From Concepts to Methods through an Empirical Case Study

This article is the second of two papers that review the field of spatially sensitive social scientific research into the links between social status and transport disadvantage. The first paper undertook a comprehensive review of the social scientific and transport planning literature to mark the level of development in the field and identify conceptual and methodological issues and constraints in this field of inquiry. The present article supports the advancement of socially and geographically sensitive transport research by opportunities for the development of more sophisticated spatial analytical methodologies. The approach we present is able to account for factors not previously addressed in either social or transport planning research, in particular the temporal dimensions of transport service accessibility. The article articulates the methodology through an empirical case study of socio-spatial transport disadvantage within the Gold Coast City. The article demonstrates that there are important theoretical and practical lessons to be gained for researchers and policy makers in addressing the social dimensions of transport and infrastructure provision. Further, the article argues that an attentiveness to new ways of combining and representing social and transport data-sets can promote policy relevant empirical social inquiry. The article also contributes in a productive way to the empirical knowledge of Australia's sixth-largest metropolitan area, which is often overlooked by urban scholars.     

Quasi-static and dynamic crushing behaviors of aluminum and steel tubes with a cutout

Tubular members are commonly used as an energy absorber in engineering structures and many such members have a cutout. In this study, the crushing behaviors of tubes with a cutout are characterized and the effects of cutout on the energy absorption capabilities of these tubes are quantified. Systematic parametric studies were carried out to study the effect of material properties, including yield and ultimate strength of material, strain rate effect, location of cutout, tube length and impact speed on the crushing behaviors and energy absorption capacity of aluminum and steel tubes. First, a numerical model was constructed with a commercial explicit finite element code. It will be first proven that the numerical simulation can produce sufficiently accurate results in an economic manner. Subsequently, the crushing behavior of aluminum and steel tubes with a cutout was experimentally characterized and their energy absorption capacity was evaluated in terms of mean crushing force, peak crushing force and specific energy absorption (SEA). Tubes of various lengths with a cutout located at different locations, subject to both quasi-static and dynamic impact loadings were considered. For steel tubes, the numerical simulation investigated the influence of the strain rate effect and variation in strain hardening ratio of the material. Empirical equations describing the mean and peak crushing forces of aluminum and steel tubes with a cutout were developed using linear and nonlinear regression methods applied to the results obtained from the numerical and experimental studies.     

Three-parameter vs. two-parameter Weibull distribution for pultruded composite material properties

The three-parameter and two-parameter Weibull distributions are compared using 26 mechanical property data sets of fiber-reinforced polymeric (FRP) composite materials manufactured by the pultrusion process. Both strength and stiffness properties were examined. The probability distributions were compared on the basis of goodness of fit, nominal design values, and allowable load to achieve uniform reliability. It is recommended that the two-parameter Weibull distribution be used to characterize FRP composite material properties. The primary basis for this recommendation is small differences in nominal design values and small differences in allowable loads between the two-parameter and three-parameter Weibull distributions. Other supporting reasons for the recommendation are similar observed significance levels in distribution fitting, computational efficiency, and the fact that the location parameter of the three-parameter Weibull distribution is near the first order statistic.     

Developing competency-based methods for near-real-time air combat problem solving assessment

Air combat scenarios present unique problems where the solution is not obvious. An advanced networked simulation environment can be used to train high-level cognitive air combat skills such as problem solving. A problem in the development of principled and construct oriented assessment is related to determining the level of specificity of the assessment. We present a detailed discussion of the definition of critical competencies associated with combat mission problem solving performance, and we describe our approach to develop and implement an embedded performance assessment system that maps outcomes to these competencies. Finally, we discuss the implications for our approach for comprehensive assessment and discuss our goals for an evaluation of the competency-based approach to assessment.     

Do You Know What I Know? A Shared Understandings Perspective on Text‐Based Communication

This article illustrates how the hermeneutic analysis of text illuminates how shared understandings affect our interpretations of lean communication in distributed work environments. It is proposed that in contrast to the pessimistic conclusions of media richness theory that lean communication channels cannot support complex or equivocal work tasks, miscommunications are not the result of technology, but rather occur due to a lack of shared understandings among the individuals communicating. An illustrative case study based on fieldwork in franchise organizations is presented to demonstrate the possibilities for how the hermeneutic analysis of coherence, invention, intention, and reference can be used to discover how workers create and recreate shared understandings through text.     

Generation and context memory.

Generation enhances memory for occurrence but may not enhance other aspects of memory. The present study further delineates the negative generation effect in context memory reported in N. W. Mulligan (2004). First, the negative generation effect occurred for perceptual attributes of the target item (its color and font) but not for extratarget aspects of context (location and background color). Second, nonvisual generation tasks with either semantic or nonsemantic generation rules (antonym and rhyme generation, respectively) produced the same pattern of results. In contrast, a visual (or data-driven) generation task (letter transposition) did not disrupt context memory for color. Third, generating nonwords produced no effect on item memory but persisted in producing a negative effect on context memory for target attributes, implying that (a) the negative generation effect in context memory is not mediated by semantic encoding, and (b) the negative effect on context memory can be dissociated from the positive effect on item memory. The results are interpreted in terms of the processing account of generation. The original, perceptual-conceptual version of this account is too narrow, but a modified processing account, based on a more generic visual versus nonvisual processing distinction, accommodates the results. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Extracting Electron Densities in N-Type GaAs From Raman Spectra: Theory

In this paper, we present the theory for calculating Raman line shapes as functions of the Fermi energy and finite temperatures in zinc blende, n-type GaAs for donor densities between 10¹⁶ cm⁻³ and 10¹⁹ cm⁻³. Compared to other theories, this theory is unique in two respects: 1) the many-body effects are treated self-consistently and 2) the theory is valid at room temperature for arbitrary values of the ratio R = (Q²/α), where Q is the magnitude of the normalized wave vector and α is the normalized frequency used in the Raman measurements. These calculations solve the charge neutrality equation self-consistently for a two-band model of GaAs at 300 K that includes the effects of high carrier concentrations and dopant densities on the perturbed densities of states used to calculate the Fermi energy as a function of temperature. The results are then applied to obtain the carrier concentrations from Fermi energies in the context of line shapes in Raman spectra due to the coupling between longitudinal optical phonons and plasmons. Raman measurements have been proposed as a non-destructive method for wafer acceptance tests of carrier density in semiconductor epilayers. The interpretation of Raman spectra to determine the majority electron density in n-type semiconductors requires an interdisciplinary effort involving experiments, theory, and computer-based simulations and visualizations of the theoretical calculations.