Motion-based method for estimating time required to attach self-adhesive insulators

A self-adhesive insulator is a component of a home appliance that is used to suppress vibration or prevent humidity affecting the internal parts of the appliance. There is a wide range of types and designs available, allowing them to be applied to areas having different shapes. At the design stage, once an insulator design has been developed sufficiently to identify its dimensions and features, the attaching time and baseline cost must be estimated with reasonable accuracy to enable a comparison of vendor quotes. However, the current estimation method is not sufficiently accurate in terms of the baseline cost. This paper presents a motion-based time-estimating scheme with which the time required for the attachment of such insulators can be calculated more accurately. The scheme has been developed by analyzing the motions needed to attach 350 insulators and then designating representative motions and their time values. For this purpose, a modular arrangement of predetermined time standards (MODAPTS) is adopted. Motion-based time-estimation method is useful in terms of simplicity and accuracy. It enables design engineers to estimate the time required for the attachment based only on a drawing of the insulator and a few MODAPTS rules. Estimates made with this method should vary from the actual value by no more than 9.5%.     

Global software testing under deadline pressure: Vendor-side experiences

ContextIn the era of globally-distributed software engineering, the practice of global software testing (GST) has witnessed increasing adoption. Although there have been ethnographic studies of the development aspects of global software engineering, there have been fewer studies of GST, which, to succeed, can require dealing with unique challenges.ObjectiveTo address this limitation of existing studies, we conducted, and in this paper, report the findings of, a study of a vendor organization involved in one kind of GST practice: outsourced, offshored software testing.MethodWe conducted an ethnographically-informed study of three vendor-side testing teams over a period of 2 months. We used methods, such as interviews and participant observations, to collect the data and the thematic-analysis approach to analyze the data.FindingsOur findings describe how the participant test engineers perceive software testing and deadline pressures, the challenges that they encounter, and the strategies that they use for coping with the challenges. The findings reveal several interesting insights. First, motivation and appreciation play an important role for our participants in ensuring that high-quality testing is performed. Second, intermediate onshore teams increase the degree of pressure experienced by the participant test engineers. Third, vendor team participants perceive productivity differently from their client teams, which results in unproductive-productivity experiences. Lastly, participants encounter quality-dilemma situations for various reasons.ConclusionThe study findings suggest the need for (1) appreciating test engineers’ efforts, (2) investigating the team structure’s influence on pressure and the GST practice, (3) understanding culture’s influence on other aspects of GST, and (4) identifying and addressing quality-dilemma situations.     

Source code size estimation approaches for object-oriented systems from UML class diagrams: A comparative study

BackgroundSource code size in terms of SLOC (source lines of code) is the input of many parametric software effort estimation models. However, it is unavailable at the early phase of software development.ObjectiveWe investigate the accuracy of early SLOC estimation approaches for an object-oriented system using the information collected from its UML class diagram available at the early software development phase.MethodWe use different modeling techniques to build the prediction models for investigating the accuracy of six types of metrics to estimate SLOC. The used techniques include linear models, non-linear models, rule/tree-based models, and instance-based models. The investigated metrics are class diagram metrics, predictive object points, object-oriented project size metric, fast&&serious class points, objective class points, and object-oriented function points.ResultsBased on 100 open-source Java systems, we find that the prediction model built using object-oriented project size metric and ordinary least square regression with a logarithmic transformation achieves the highest accuracy (mean MMRE = 0.19 and mean Pred(25) = 0.74).ConclusionWe should use object-oriented project size metric and ordinary least square regression with a logarithmic transformation to build a simple, accurate, and comprehensible SLOC estimation model.     

有限元方法在离心机转鼓强度分析中的应用

在回顾以往转鼓强度分析的基础上 ,指出了目前转鼓有限元应力分析所存在的问题 ,给出了提高计算精度和保证模拟有效性的注意事项 ,并探讨了转鼓强度评定准则     

Single frame correction of motion artifacts in PMD-based time of flight cameras

One of the leading time of flight imaging technologies for depth sensing is based on Photonic Mixer Devices (PMD). In PMD sensors each pixel samples the correlation between emitted and received light signals. Current PMD cameras compute eight correlation samples per pixel in four sequential stages to obtain depth with invariance to signal amplitude and offset variations. With motion, PMD pixels capture different depths at each stage. As a result, correlation samples are not coherent with a single depth, producing artifacts. We propose to detect and remove motion artifacts from a single frame taken by a PMD camera. The algorithm we propose is very fast, simple and can be easily included in camera hardware. We recover depth of each pixel by exploiting consistency of the correlation samples and local neighbors of the pixel. In addition, our method obtains the motion flow of occluding contours in the image from a single frame. The system has been validated in real scenes using a commercial low-cost PMD camera and high speed dynamics. In all cases our method produces accurate results and it highly reduces motion artifacts.     

Security concepts for the dynamics of autonomous vehicle networks

The secure operation of autonomous vehicle networks in the presence of adversarial observation is examined, in the context of a canonical double-integrator-network (DIN) model. Specifically, we study the ability of a sentient adversary to estimate the full network’s state, from noisy local measurements of vehicle motions. Algebraic, spectral, and graphical characterizations are provided, which indicate the critical role of the inter-vehicle communication topology and control scheme in achieving security.     

3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline model

Visual tracking techniques based on stereo endoscope are developed to measure tissue motion in robot-assisted minimally invasive surgery. However, accurate 3D tracking of tissue surfaces remains challenging due to complicated deformation, poor imaging conditions, specular reflections and other dynamic effects during surgery. This study employs a robust and efficient 3D tracking scheme with two independent recursive processes, namely kernel-based inter-frame motion estimation and model-based intra-frame 3D matching. In the first process, target region is represented in joint spatial-color space for robust estimation. By defining a probabilistic similarity measure, a mean-shift-based iterative algorithm is derived for location of the target region in a new image. In the second process, the thin-plate spline model is used to fit the 3D shape of tissue surfaces around the target region. An iterative algorithm based on an efficient second-order minimization technique is derived to compute optimal model parameters. The two processes can be computed in parallel. Their outputs are combined to recover 3D information about the target region. The performance of the proposed method is validated using phantom heart videos and in vivo videos acquired by the daVinci^®${\mathrm{daVinci}}^{\circledR }$ surgical robotic platform and a synthesized data set with known ground truth.     

A global energy optimization framework for 2.1D sketch extraction from monocular images

The 2.1D sketch is a layered image representation, which assigns a partial depth ordering of over-segmented regions in a monocular image. This paper presents a global optimization framework for inferring the 2.1D sketch from a monocular image. Our method only uses over-segmented image regions (i.e., superpixels) as input, without any information of objects in the image, since (1) segmenting objects in images is a difficult problem on its own and (2) the objective of our proposed method is to be generic as an initial module useful for downstream high-level vision tasks. This paper formulates the inference of the 2.1D sketch using a global energy optimization framework. The proposed energy function consists of two components: (1) one is defined based on the local partial ordering relations (i.e., figure-ground) between two adjacent over-segmented regions, which captures the marginal information of the global partial depth ordering and (2) the other is defined based on the same depth layer relations among all the over-segmented regions, which groups regions of the same object to account for the over-segmentation issues. A hybrid evolution algorithm is utilized to minimize the global energy function efficiently. In experiments, we evaluated our method on a test data set containing 100 diverse real images from Berkeley segmentation data set (BSDS500) with the annotated ground truth. Experimental results show that our method can infer the 2.1D sketch with high accuracy.     

Online stiffness estimation for robotic tasks with force observers

In this paper we propose an online stiffness estimation technique for robotic tasks based only on force data, therefore, not requiring contact position information. This allows estimations to be obtained in robotic tasks involving interactions with unstructured and unknown environments where geometrical data is unavailable or unreliable. Our technique – the Candidate Observer Based Algorithm (COBA) – uses two force observers, configured with different candidate stiffnesses, to estimate online the actual target object stiffness. COBA is embedded in a force control architecture with computed torque in the task space. The theoretical presentation of the algorithm, as well as simulation tests and experimental results with a lightweight robot arm are also presented.