基于虚拟多任务机制的OSPF-2的设计与实现

OSPF（Open Shortest Path First Protocol）协议是目前Internet上广泛使用的自治系统内部交换路由信息的动态路由协议。文章介绍了在清华大学研制的国产高性能路由器中分布式路由协议OSPF－2的具体实现。为了实现这一复杂的动态协议,文章提出了基于事件驱动的虚拟多任务机制的设计和实现方法。这种机制能够有效支持复杂系统的分解,在实时性要求不高的前提下提供一种简便有效的并行机制,方便基于状态机的软件实现,提高了软件的可移植性。该方法对于其它的Internet高层协议的设计和实现也有一定的参考价值。     

Reconfigurable computing: design methodology and hardware tasks scheduling for real-time image processing

Technology evolution makes possible the integration of heterogeneous components as programmable elements (processors), hardware dedicated blocks, hierarchical memories and buses. Furthermore, an optimized reconfigurable logic core embedded within a System-on-Chip will associate the performances of dedicated architecture and the flexibility of programmable ones. In order to increase performances, some of the applications are carried out in hardware, using dynamically reconfigurable logic, rather than software, using programmable elements. This approach offers a suitable hardware support to design malleable systems able to adapt themselves to a specific application. This article makes a synthesis of the Ardoise project. The first objective of Ardoise project was to design and to produce a dynamically reconfigurable platform based on commercial FPGAs. The concept of dynamically reconfigurable architecture depends partially on new design methodologies elaboration as well as on the programming environment. The platform architecture was designed to be suitable for real-time image processing. The article outlines mainly the Ardoise tools aspect: development environment and real-time management of the hardware tasks. The proposed methodology is based on a dynamic management of tasks according to an application scenario written using C++ language.

A three-year longitudinal assessment of changes in office activities following the introduction of microcomputers into a multinational bank

A longitudinal assessment of the introduction of new office technologies into a multinational bank was conducted using both task diaries and semi-structured interviews. Task diaries were administered prior to the introduction of microcomputers, several months after the introduction and several years later. Semi-structured interviews were completed after the second task diary. The assessment provides evidence of how offices adapt to changing electronic tookits. The asssessment provides ergonomists with a usable list of taks activities and the effects on task variability of the adoption of microcomputers into the work routine. It shows that when support staff are asked to use a new computer they must choose what other tasks to cut back on, which has consequences for the overall work process. Overtime increased 170% after the introduction of the computer. In a culture where professional staff have high expectations of support staff this has consequences for working relationships in terms of perceptions of the computer's utility. Support staff and professional staff differ in perceptions of control, time-saving and ability to make corrections. The assessment demonstrates the importance of multiple measurement instruments in tracking the effects of technological change on the work process. In conclusion, it is noted that the introduction of new technologies into the office must be considered in the broader office context to avoid the unintended consequences often reported in other case studies.     

Nonlinear inverse optimization approach for determining the weights of objective function in standing reach tasks

This paper presents a nonlinear inverse optimization approach to determine the weights for the joint displacement function in standing reach tasks. This inverse optimization problem can be formulated as a bi-level highly nonlinear optimization problem. The design variables are the weights of a cost function. The cost function is the weighted summation of the differences between two sets of joint angles (predicted posture and the actual standing reach posture). Constraints include the normalized weights within limits and an inner optimization problem to solve for joint angles (predicted standing reach posture). The weight linear equality constraints, obtained through observations, are also implemented in the formulation to test the method. A 52 degree-of-freedom (DOF) human whole body model is used to study the formulation and visualize the prediction. An in-house motion capture system is used to obtain the actual standing reach posture. A total of 12 subjects (three subjects for each percentile in stature of 5th percentile female, 50th percentile female, 50th percentile male and 95th percentile male) are selected to run the experiment for 30 tasks. Among these subjects one is Turkish, two are Chinese, and the rest subjects are Americans. Three sets of weights for the general standing reach tasks are obtained for the three zones by averaging all weights in each zone for all subjects and all tasks. Based on the obtained sets of weights, the predicted standing reach postures found using the direct optimization-based approach have good correlation with the experimental results. Sensitivity of the formulation has also been investigated in this study. The presented formulation can be used to determine the weights of cost function within any multi-objective optimization (MOO) problems such as any types of posture prediction and motion prediction.     

Multirobot coordination in pick-and-place tasks on a moving conveyor

This paper considers the problem of multirobot coordination in pick-and-place tasks on a conveyor band. The robot team is composed of identical robots with mutually exclusive, but neighboring workspaces. The products are fed in at one end of the band, move through each workspace sequentially until being picked up and are collected at the other end—if not picked up interim. Each robot has the same task—that is picking up and packaging as many products as possible. We propose an approach based on noncooperative game theory where each robot uses local observations of the conveyor band and their neighbors' actions in order to decide on its actions. The developed algorithm has been implemented and tested in a simulated manufacturing environment using Webots. Results obtained from the simulations are analyzed using a variety of statistical performance measures.     

Book reviews

Abstract

Industrial robots often operate at high speed, with unpredictable motion patterns and erratic idle times. Serious injuries and deaths have occurred due to operator misperception of these robot design and performance characteristics. The main objective of the research project was to study human perceptual aspects of hazardous robotics workstations. Two laboratory experiments were designed to investigate workers' perceptions of two industrial robots with different physical configurations and performance capabilities. Twenty-four subjects participated in the study. All subjects were chosen from local industries, and had had considerable exposure to robots and other automated equipment in their working experience. Experiment 1 investigated the maximum speed of robot arm motions that workers, who were experienced with operation of industrial robots, judged to be ‘safe’ for monitoring tasks. It was found that the selection of safe speed depends on the size of the robot and the speed with which the robot begins its operation. Speeds of less than 51 cm/s and 63cm/s for large and small robots, respectively, were perceived as safe, i.e., ones that did not result in workers feeling uneasy or endangered when working in close proximity to the robot and monitoring its actions. Experiment 2 investigated the minimum value of robot idle time (inactivity) perceived by industrial workers as system malfunction, and an indication of the ‘safe-to-approach’ condition. It was found that idle times of 41 s and 28 s or less for the small and large robots, respectively, were perceived by workers to be a result of system malfunction. About 20% of the workers waited only 10 s or less before deciding that the robot had stopped because of system malfunction. The idle times were affected by the subjects' prior exposure to a simulated robot accident. Further interpretations of the results and suggestions for operational limitations of robot systems are discussed.     

Operator strategies in a dynamic environment in relation to an operator model

Results of an analysis of the cognitive activity of operators in controlling incidents in a Steam Generating Heavy Water Reactor in relation to a computer-based model of an operator (COSIMO, Cacciabue et al. 1992) are presented. The analysis focuses on information checking and actions to be taken in five incidents of varying levels of specification. Two experienced and two less-experienced operators participated in the experiments. Techniques of video and protocol analysis have been employed. Results indicate that operators use strategies in order to overcome the dynamic feature of incidents; in particular they break down problems into elementary problems, and they aim at maintaining a stable situation. A central characteristic is the importance of actions in terms of their timing and their results. Actions are carried out incrementally, and their effects then used as pointers to guide the course of future problem-solving and future actions. Problems may be postponed when they are not urgent, or when system latency does not allow an effect to be obtained following an action. Finally the paper discusses some elements that should be modified in order to increase the predictive capability of the COSIMO model.     

The influence of low frequency vibration on pilot performance (as measured in a fixed base simulator)

This report describes a study on the effects of low frequency vibration on pilot performance. Army pilots acted as subjects and flew simulated helicopter missions in a realistic fixed base simulator environment. While flying the two-hour missions pilots were exposed to vibration stimuli varying in frequency from 6 to 12 Hz and in amplitude from ±0·1 to ±0·3g (measured at the floor). Measurements were taken of the vibration tramsmissibility of the pilot's seat so that the vibration actually felt by the subject could be determined.

Missions involved transporting external loads in a simulated logistics environment. Performance was evaluated by measuring flight path deviations from prescribed en route, approach, and hover parameters.

The vibration stimuli used did not degrade performance. In fact, performance tended to improve with increased stress. It is hypothesized that this trend was due to motivation, i.e. as subjects felt the onset of fatigue they compensated by working harder and thus tended to improve their performance.

On about 6% of their scores pilots exhibited sudden lapses in their ability to respond to display indications. This resulted in poor scores in the midst of otherwise normal data. These lapses are probably of very short duration (seconds in length) and seem to occur randomly. This same effect was also observed in a previous study by the author. It may be possible that lapses of this type are related to so called ‘pilot error’ accidents. Further research is needed to verify this.     

Older Adults as Adaptive Decision Makers: Evidence From the Iowa Gambling Task.

Older adults process emotional information differently than younger adults and may demonstrate less of a negativity bias on cognitive tasks. The Iowa Gambling Task designed by A. Bechara, H. Damasio, D. Tranel, and A. R. Damasio (1997) has been used to examine the integration of emotion and cognition in a risky-choice decision task and may give insight into differences in the decision-making strategies in younger and older adults. Eighty-eight younger adults (18-34 years) and 67 older adults (65-88 years) completed the Iowa Gambling Task. Using a theoretical decomposition of the task designed by J. R. Busemeyer and J. C. Stout (2002), the authors found that both groups were successful at solving the task but used very different strategies that reflected each group's strength. For younger adults, that strength was learning and memory. For older adults, that strength was an accurate representation of wins and losses (valence). (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Simulator-mediated acquisition of a dynamic control skill

Uses of stored skill-models to accelerate simulator-based real-time training in a control skill are discussed. A real-time coach must deliver advice at three levels: (1) what to do next, (2) what to watch for, and (3) what went wrong. Human learning and machine learning results are presented using different screen representations of a pole-and-cart balancing task.