A task‐based and resource‐aware approach to dynamically generate optimal software architecture for intelligent service robots

Intelligent service robots provide various services to users by understanding the context and goals of a user task. In order to provide more reliable services, intelligent service robots need to consider various factors, such as their surrounding environments, users' changing needs, and constrained resources. To handle these factors, most of the intelligent service robots are controlled by a task‐based control system, which generates a task plan that represents a sequence of actions, and executes those actions by invoking the corresponding functions. However, the traditional task‐based control systems lack the consideration of resource factors even though intelligent service robots have limited resources (limited computational power, memory space, and network bandwidth). Moreover, system‐specific concerns such as the relationships among functional modules are not considered during the task generation phase. Without considering both the resource conditions and interdependencies among software modules as a whole, it will be difficult to efficiently manage the functionalities that are essential to provide core services to users. In this paper, we propose a mechanism for intelligent service robots to efficiently use their resources on‐demand by separating system‐specific information from task generation. We have defined a sub‐architecture that corresponds to each action of a task plan, and provides a way of using the limited resources by minimizing redundant software components and maintaining essential components for the current action. To support the optimization of resource consumption, we have developed a two‐phase optimization process, which is composed of the topological and temporal optimization steps. We have conducted an experiment with these mechanisms for an infotainment robot, and simulated the optimization process. Results show that our approach contributed to increase the utilization rate by 20% of the robot resources. Copyright © 2011 John Wiley & Sons, Ltd.     

Visual understanding industrial workflows under uncertainty on distributed service oriented architectures

Service Oriented Architecture (SOA) is an evolution of distributed computing based on the request/reply design paradigm for synchronous and asynchronous applications. In such architectures, application developers or system integrators can build scenarios by composing one or more services without knowing the services’ underlying implementations. In this paper, we adopt a SOA framework for on-line scheduling complex industrial workflows. The proposed SOA consists of three main layers; the input layer, the benchmarking layer, the prediction layer and the scheduler. The main innovation of our SOA architecture is the prediction layer that supports computer vision tools able to visually observe how an industrial workflow is actually executed. This way, we can automatically estimate the actual execution time for a process. In particular a new self-initialized visual tracker algorithm is proposed in this paper to robustly trace workers’ trajectory in a plant via visual observations. Then, part-to-whole curve matching is presented so as to find correspondences among the traced curve and the ideal one and thus improving scheduler efficiency. The input layer interoperably describes industrial operations using the XPDL (an XML-based) format. The benchmarker evaluates much faster than real-time and in an off-line mode how long it takes for an industrial workflow to be executed on a given resource guaranteeing an almost real-time implementation of the video processing algorithms on the plant. The last component of the proposed SOA is the scheduler with the goal to assign the workflows to the available resources. In this paper, a Maximum Benefit First (MBF) scheduler is presented which maximizes the total gain received by the industry when completing execution of all the beneficial operations with minimum violations of their delivery deadlines (that is with the minimum compensations). Experiments have been conducted on a real-world industrial plant of Nissan Iberica automobile construction indicating the efficiency of the proposed system.     

自我评价过程观理论研究及启示

学生自我评价是学生对自身知识,行为和理解的评价监控活动,是自主学习过程中不可或缺的一环。本文在学习能力自我评价相关理论研究的基础上,剖析学习者自我评价的元认知结构和认知过程,提出自我评价动态过程模型,讨论其在培养学生自我评价能力中的可行性以及对教学的启示。     

面向媒体的系统传输网络连接管理策略

为了适应动态变化的面向媒体的系统传输(MOST)网络环境,提出了一种基于MOST网络管理的连接管理策略。该策略动态更新中心注册表,管理MOST网络中数据源与目的端口,并实现了多同步信道连接的建立、释放与切换等操作。在采用MOST50网络节点搭建的环型网络中,通过MOST网络分析器OptoLyzer的功能性验证表明,该策略有效提高了MOST网络带宽的利用率。     

企业产品质量管理系统

为解决企业产品质量管理工作中存在的问题,更高效、便捷的执行产品质量管理制度,介绍了一套企业产品质量管理的信息化实施方案。采用面向对象的分析和设计方法,运用统一建模语言中的常用概念和视图建模,重点描述使用用例图、类图和时序图的开发过程,最后使用基于B/S的结构实现该系统。     

Characterization and microstructure of highly preferred oriented lead barium titanate thin films on MgO (100) by sol-gel process

Highly preferred oriented lead barium titanate (Pb_1−x,Ba_x)TiO₃ thin film, with particular emphasis on (Pb_0.5,Ba_0.5)TiO₃, can be obtained by spin-coating on MgO (100) substrate by using the precursor sol, which was synthesized from acetylacetone chelating with titanium isopropoxide and ethylene glycol as a solvent, in the sol-gel process. Film thickness, pyrolysis temperature and heating rate were studied systemically to investigate their influences on the formation of preferred oriented thin films. The highly preferred (001)/(100) oriented thin film could be obtained by the pyrolysis of wet film at 500 °C and annealing at 600 °C at a slow heating rate of 5 °C/min. It is confirmed that the tetragonal perovskite structure of the titanate ceramic decreases with an increase of Ba content in (Pb_1−x,Ba_x)TiO₃. The (001)/(100) oriented films were synthesized from all compositions between x = 0.2 and x = 0.8, at a crystallization temperature of 600 °C. In particular, for the Ba content in the range of x = 0.50.6, highly preferred (001)/(100) planes were observed.     

基于IRMCK203的永磁同步电机控制系统的设计方法

介纠IRMCK203芯片的结构特点。给出了基于IRMCK203的尤传感器永磁同步电机的控制系统设计方法。详细介绍了控制系统的硬件设计步骤及其参数配置方法。     

浅析饭店员工流失的原因、影响及对策

员工是饭店经营之本，控制人才流失是饭店立身之基。适当比例的人员流动，能够增强饭店活力；但流动如果超过一定比例，对饭店的影响无疑弊大于利。根据对目前饭店员工流失的主要原因的分析，提出了切实可行的应对措施。     

车辆动力传动系模型库的开发与应用

研究基于面向对象物理系统建模语言Modelica的车辆动力传动系模型库的开发。利用模型库的面向对象、多重继承、可重用等特点，采用充排法建立了一个四缸汽油机模型，并且结合某变速箱的具体结构和换档规律图，建立了适用于前／后向仿真的车辆动力传动系模型，即可以按照驾驶员的驾驶意图来分析系统的换档动态特性，也可以根据不同的车辆行驶工况考察动力传动系的转矩响应，为动力传动系的性能研究提供了一种建模方法。     

配套新型布袋除尘控制系统软件设计

大型火电厂中粉尘污染已经成为最主要的污染源之一,所以研究高除尘率的布袋除尘器具有十分重要的意义.介绍了一种基于Profibus总线的新型布袋除尘器控制系统软件设计,该系统软件设计分成四个子系统进行.为提高系统的可靠性和实用性,以及满足工艺要求,设计又采用了先进的控制策略.通过实际运行证明,该系统达到了节约成本、降低粉尘排放浓度的控制目的.