A feature-based database evolution approach in the design process

Design data are assigned in geometric and non-geometric form in order to meet design requirements. These data and information must be encapsulated in a data structure that has significance for design applications in each design process phase. The main goal of this research is to find design data groups that represent each mechanical design phase, which will be called phase's design signature. In addition, current data should be an evolution of the geometric and non-geometric information of the previous design phase. In this paper, the purpose is to identify and model a set of design features that encapsulate the design data and their transformations which occurred during the mechanical design phases. This database must capture the designer's intents that can be modeled and implemented using feature-based model in the conventional CAD systems, object-oriented modeling, and Java classes.     

Vision-based control for rigid body stabilization

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move on . It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system’s trajectory. The resulting solution consists of a feedback control law based on the current and desired image coordinates and reconstructed attitude and depth ratio information, which guarantees that (i) the desired equilibrium point is an almost global attractor; (ii) a set of necessary conditions for feature visibility holds throughout the system’s trajectories; and (iii) the image of a predefined feature point is kept inside the camera’s field of view.     

Distributed envy minimization for resource allocation

Minimizing envy in distributed discrete resource or task allocation, is an unusual distributed optimization challenge, since the quality of the allocation for each of the agents is dependent, not only on its own allocation, but on the allocation of others as well. Thus, in order to perform distributed search for allocations with minimal envy there is a need to design innovative algorithms that can cope with the challenging constraint structure of an envy minimization problem. Distributed methods for minimizing envy among agents in indivisible resource allocation problems are presented. First, Distributed Envy Minimization Problems (DEMP) are formulated as Distributed Constraint Reasoning problems. When the DEMPs are large, and cannot be solved by a complete search an incomplete local search algorithm is presented. Each transfer of a good from one agent to another involves the change of state of more than one agent. Thus, a minimizing envy local search algorithm must build upon actions (transfers) that include multiple agents. Since DEMPs are particularly susceptible to local minima during local search, the paper proposes an algorithm that alternates between two different hill climbing search phases. The first phase uses one-transfer steps while the other exploits envy cycle elimination steps. An algorithm that minimizes envy while preserving efficiency, is proposed. The proposed algorithm finds a Pareto optimal allocation with low envy. In the context of resource allocation problems, a Pareto optimal solution is particularly desirable since it presents a stable solution. The proposed algorithm first finds a divisible Pareto optimal envy-free allocation using a Fisher market equilibrium. This allocation is transferred into an indivisible allocation of goods while maintaining the Pareto optimal characteristic of the allocation and a low envy level among agents.     

On the design of multi‐rate tracking controllers: Application to rotorcraft guidance and control

This paper presents a new methodology for the design and implementation of gain‐scheduled controllers for multi‐rate systems. The proposed methodology provides a natural way to address the integrated guidance and control problem for autonomous vehicles when the outputs are sampled at different instants of time. A controller structure is first proposed for the regulation of non‐square multi‐rate systems with more measured outputs than inputs. Based on this structure, an implementation for a gain‐scheduled controller is obtained that satisfies an important property known as the linearization property. The implementation resembles the velocity implementation for single‐rate systems. The method is then applied to the problem of steering an autonomous rotorcraft along a predefined trajectory defined in terms of space and time coordinates. By considering a convenient error vector to describe the vehicle's dynamics, the trajectory tracking problem is reduced to that of regulating the error variables to zero. Because of the periodic multi‐rate nature of the onboard sensor suite, the controller synthesis is dealt with under the scope of linear periodic systems theory. Simulation results obtained with a full non‐linear rotorcraft dynamic model are presented and discussed. Copyright © 2010 John Wiley & Sons, Ltd.     

A nonlinear position and attitude observer on SE(3) using landmark measurements

This paper addresses the problem of position and attitude estimation, based on landmark readings and velocity measurements. A derivation of a nonlinear observer on SE(3) is presented, using a Lyapunov function conveniently expressed as a function of the difference between the estimated and the measured landmark coordinates. The resulting feedback laws are explicit functions of the landmark measurements and velocity readings, exploiting the sensor information directly in the observer. The proposed observer yields almost global asymptotic stabilization of the position and attitude errors and exponential convergence in any closed ball inside the region of attraction. Also, it is shown that the asymptotic convergence of the estimation error trajectories is shaped by the landmark geometry and observer design parameters. The problem of non-ideal velocity readings is also considered, and the observer is augmented to compensate for bias in the angular and linear velocity measurements. The resulting position, attitude, and bias estimation errors are shown to converge exponentially fast to the desired equilibrium points, for bounded initial estimation errors. Simulation results are presented to illustrate the stability and convergence properties of the observer.     

Micro-persistence and difficulty in a game-based learning environment for computational thinking acquisition

Persistence has been identified as a crucial quality of learning. However, it is hard to attain in online game-based environments as the drive to progress in the game may influence the ability to achieve the learning goals. This study aimed to examine the associations between micro-persistence, that is, the tendency to complete an individual task successfully, and task difficulty while acquiring computational thinking (CT). We further explored whether contextual or personal attributes better explain micro-persistence. We analysed data of 111 school students who used the CodeMonkey platform. We took a learning analytics approach for analysing the platform's log files. We found that micro-persistence is associated with task difficulty and that students who demonstrated an aptitude to learn new material are motivated to achieve the best solution. We also found that contextual variables better-explained micro-persistence than personal attributes. Encouraging micro-persistence can improve CT acquisition and the learning processes involved.     

Comprehensibility of UML-based software product line specifications

Software Product Line Engineering (SPLE) deals with developing artifacts that capture the common and variable aspects of software product families. Domain models are one kind of such artifacts. Being developed in early stages, domain models need to specify commonality and variability and guide the reuse of the artifacts in particular software products. Although different modeling methods have been proposed to manage and support these activities, the assessment of these methods is still in an inceptive stage. In this work, we examined the comprehensibility of domain models specified in ADOM, a UML-based SPLE method. In particular, we conducted a controlled experiment in which 116 undergraduate students were required to answer comprehension questions regarding a domain model that was equipped with explicit reuse guidance and/or variability specification. We found that explicit specification of reuse guidance within the domain model helped understand the model, whereas explicit specification of variability increased comprehensibility only to a limited extent. Explicit specification of both reuse guidance and variability often provided intermediate results, namely, results that were better than specification of variability without reuse guidance, but worse than specification of reuse guidance without variability. All these results were perceived in different UML diagram types, namely, use case, class, and sequence diagrams and for different commonality-, variability-, and reuse-related aspects.     

Hierarchical Supervisory Control Based on Discrete Event Systems With Flexible Marking

This paper proposes a two-level hierarchical supervisory control scheme for a discrete event system (DES), where the low-level is represented in the standard Ramadge-Wonham framework and the high level is represented by a DES with flexible marking (DESFM). As shown, the flexibility in the definition of marking provided by a DESFM simplifies the modeling of the high-level marking behavior. This approach, when compared with other approaches, requires less events and states to model the high-level, while guaranteeing hierarchical consistency.     

Assessing pre- and post-deformation in the southern Arava Valley segment of the Dead Sea Transform, Israel by differential interferometry

Differential radar interferometry, using archived ERS data over the region of the Dead Sea Transform, allows to detect ground movement (subsidence or uplift) in playas within the southern Arava Valley segment of the Dead Sea Rift. These measurements are consistent with a mean displacement rate of about 0.4 cm/month, in the direction of the radar beam, during the 8-month period preceding the Nuweiba earthquake of 22 November 1995. In the 3 years following the earthquake, the measured rate was smaller by a factor of 10. These movements are not related to salt diapirs or water pumping activities in the area. The exact location, along faults, suggests a possible correlation with pre-seismic and post-seismic fault deformation.A simple fault model consistent with the observed phenomena associates the observed subsidence/uplift to right and left stepping en-echelon fault patterns related to inter-seismic tensional accumulation along the faults. Further observations are necessary on this site and similar fault areas to corroborate the correlation between seismic activity and the observed phenomena. Monitoring of these sites should continue with differential Global positioning system (GPS) measurements and radar interferometric analysis using Envisat and Radarsat as well as archived data (including J-ERS).     

Contributions from cognitive engineering to requirements specifications for complex sociotechnical systems: A case study in the context of healthcare in Brazil

This paper aims at presenting a case study on the use of human factors and ergonomics to enhance requirement specifications for complex sociotechnical system support tools through enhancing the understanding of human performance within the business domain and the indication of high‐value requirements candidates to information technology support. This work uses methods based on cognitive engineering to build representations of the business domain, highlighting workers’ needs, and contributing to the improvement of software requirements specifications, used in the healthcare domain. As the human factors discipline fits between human sciences and technology design, we believe that its concepts can be combined with software engineering to improve understanding of how people work, enabling the design of better information technology.