this paper presents a new bottom-up framework for programming a humanoid robot which keeps the control systems simple and manageable while still providing a broad variety of possible tasks. Firstly, the framework impl...
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ISBN:
(纸本)9781424418619
this paper presents a new bottom-up framework for programming a humanoid robot which keeps the control systems simple and manageable while still providing a broad variety of possible tasks. Firstly, the framework implies an approach for the creation and execution of skills on a humanoid robot. A skill is a small, specialized, task specific object which contains not only data but also active components like algorithms which are able to interpret and modify the data under the consideration of the changing environment. Secondly, the framework provides an mechanism for the temporal coordination of a humanoid robot. this mechanism uses Petri-nets extended by callback and trigger functions to describe the identified features of coordinated movements. the Petri-net is not only used for modeling but also for the implementation - it describes and executes coordinated movements. the framework provides furthermore a mechanism for the resource management of a humanoid robot-which allows the parallel execution of skills and the supervision of their execution. the proposed framework is evaluated in the sample application of a fetch and carry task requiring a coordinated movement of hand, arm and head.
this paper presents a new real-time walking pattern generator that calculates center of mass trajectories from footstep locations. Key features are the calculation of reference torque patterns by quadratic programming...
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the proceedings contain 42 papers. the topics discussed include;agile software development in the large;effective measurement of the software process;test-driven J2EE: life outside the container;context driven agile p...
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the proceedings contain 42 papers. the topics discussed include;agile software development in the large;effective measurement of the software process;test-driven J2EE: life outside the container;context driven agile project leadership;hands-on teaching agile development;the extreme TDD and build experience: from acceptance tests to installation kit;from concepts to cash: deliver fast;agile system testing with texttest and xusecase;expressing business rules as executable specifications;planning effectively with stories: requirements & planning made easy;agile estimating and planning;team health indicators and holistic coaching;merciless refactoring with eclipse;AOSTA-agile open source tools academy;agile development with specific languages;patterns of adopting agile development practices;users stories foe agile requirements;value stream mapping;and how to deliver on the value proposition from real life XP projects.
Genetic programming is known to provide good solutions for many problems like the evolution of network protocols and distributed algorithms. then, it is most likely a hardwired module of a design framework where it as...
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this paper presents an efficient and reliable evolutionary-programming-based algorithm for specific harmonic elimination (SHE) switching pattern. this method eliminates the considerable amount of lower order line curr...
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ISBN:
(纸本)9781424406449
this paper presents an efficient and reliable evolutionary-programming-based algorithm for specific harmonic elimination (SHE) switching pattern. this method eliminates the considerable amount of lower order line current harmonics in Pulse Width Modulation (PWM) inverter. Determination of pulse pattern for the elimination of some lower order harmonics of a PWM inverter necessitates solving a system of nonlinear transcendental equations. Evolutionary programming is used to solve nonlinear transcendental function for PWM-SHE. In this proposed method 11(th) and 13(th) harmonics are eliminated using Evolutionary programming. Simulation results using Matlab/Simulink are carried out to validate the solution.
the paper provides a new approach for automated reasoning in a Logic Program using extended Petri net models. the design includes extension of classical linear resolution of first order logic clauses by multi-resoluti...
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ISBN:
(纸本)0769530508
the paper provides a new approach for automated reasoning in a Logic Program using extended Petri net models. the design includes extension of classical linear resolution of first order logic clauses by multi-resolution, where a set of clauses can be resolved concurrently without sacrificing any inference, thereby speeding-up the execution of the logic program. the speed-tip and utilization rate of resources are used as the performance evaluation metric to compare the performance of the proposed system withthe classical one.
this paper addresses the problem of maximum margin classification given the moments of class conditional densities and the false positive and false negative error rates. Using Chebyshev inequalities, the problem can b...
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ISBN:
(纸本)9780898716306
this paper addresses the problem of maximum margin classification given the moments of class conditional densities and the false positive and false negative error rates. Using Chebyshev inequalities, the problem can be posed as a second order cone programming problem. the dual of the formulation leads to a geometric optimization problem, that of computing the distance between two ellipsoids, which is solved by an iterative algorithm. the formulation is extended to non-linear classifiers using kernel methods. the resultant classifiers are applied to the case of classification of unbalanced datasets with asymmetric costs for misclassification. Experimental results on benchmark datasets show the efficacy of the proposed method.
A general technique based on scoring scheme reweighting is proposed that can be used to speed up dynamic programming algorithms for a variety of pairwise sequence alignment problems. For the standard sequence alignmen...
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the workflow model for composing Grid applications is based on an imperative model of computation prone to programming errors, which is an issue yet to consider in the Grid community. In this paper, we propose a new u...
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ISBN:
(纸本)9780769528335
the workflow model for composing Grid applications is based on an imperative model of computation prone to programming errors, which is an issue yet to consider in the Grid community. In this paper, we propose a new unconventional model for programming Grid applications based on two programming phases: (1) formal functional specification, written by the application scientist not interested in any Grid-related issues and representing "what" has to be computed;(2) imperative workflow-based coordination, written by the computer scientist which indicates "how" to efficiently execute the specification on the Grid. A correctness checker automatically connects both parts at compile-time and ensures the correct execution of the workflow coordination with respect to the formal specification. We validate our approach for three real-world applications and show experimental results that demonstrate the correctness and scalability of our coordination model.
Sequence segmentation is a central problem in the analysis of sequential and time-series data. In this paper we introduce and we study a novel variation to the segmentation problem: in addition to partitioning the seq...
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ISBN:
(纸本)9780898716306
Sequence segmentation is a central problem in the analysis of sequential and time-series data. In this paper we introduce and we study a novel variation to the segmentation problem: in addition to partitioning the sequence we also seek to apply a limited amount of reordering, so that the overall representation error is minimized. Our problem formulation has applications in segmenting data collected from a sensor network where some of the sensors might be slightly out of sync, or in the analysis of newsfeed data where news reports on a few different topics are arriving in an interleaved manner. We formulate the problem of segmentation with rearrangements and we show that it is an NP-hard problem to solve or even approximate. We then proceed to devise effective algorithms for the proposed problem, combining ideas from linear programming, dynamic programming, and outlier-detection algorithms in sequences. We perform extensive experimental evaluation on synthetic and real datasets that demonstrates the efficacy of the suggested algorithms.
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