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6422 | Sinkage Study in Granular Material for Space Exploration Legged Robot Gripper 21

6422 | Sinkage Study in Granular Material for Space Explorat...

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21st International and 12th asia-pacific Regional conference of the International Society for Terrain-Vehicle Systems, ISTVS 2024

作者： Candalot, Arthur Hurrell, James Hashim, Malik-Manel Hickey, Brigid Laine, Mickael Yoshida, Kazuya Department of Aerospace Engineering Tohoku University Miyagi Sendai Japan Technische Universität Berlin Berlin10623 Germany University at Buffalo NY14068 United States

ISBN: (纸本)9781942112570

Wheeled rovers have been the primary choice for lunar exploration due to their speed and efficiency. However, deeper areas, such as lunar caves and craters, require the mobility of legged robots. To do so, appropriate end effectors must be designed to enable climbing and walking on the granular surface of the Moon. This paper investigates the behavior of an underactuated soft gripper on deformable granular material when a legged robot is walking in soft soil. A modular test bench and a simulation model were developed to observe the gripper sinkage behavior under load. The gripper uses tendon-driven fingers to match its target shape and grasp on the target surface using multiple micro-spines. The sinkage of the gripper in silica sand was measured by comparing the axial displacement of the gripper with the nominal load of the robot mass. Multiple experiments were performed to observe the sinkage of the gripper over a range of slope angles. A simulation model accounting for the degrees of compliance of the gripper fingers was created using Altair MotionSolve software and coupled to Altair EDEM to compute the gripper interaction with particles utilizing the discrete element method. After validation of the model, complementary simulations using Lunar gravity and a regolith particle model were performed. The results show that a satisfactory gripper model with accurate freedom of motion can be created in simulation using the Altair simulation packages and expected sinkage under load in a particle-filled environment can be estimated using this model. By computing the sinkage of the end effector of legged robots, the results can be directly integrated into the motion control algorithm and improve the accuracy of mobility in a granular material environment. © 2024 International Society for Terrain-Vehicle Systems. All rights reserved.

关键词： Silica sand

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RUBY - A versatile and customizable social robot

RUBY - A versatile and customizable social robot

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IEEE asia-pacific conference on Circuits and Systems

作者： Andreas Kitzig Edwin Naroska Shanq-Jang Ruan Marcus Weberskirch Sinan Yavuz Department of Electrical Engineering and Computer Science Niederrhein University of Applied Sciences Krefeld Germany Department of Electronic and Computer Engineering National Taiwan University of Science and Technology Taipei Taiwan

ISBN: (数字)9798350378771

ISBN: (纸本)9798350378788

The RUBYDemenz project investigated the effectiveness and optimization of personalized human-robot interaction, which serves as support and relief in the home care of people with dementia. The system, in the form of a puppet interacting with the user via voice, offers a low-threshold and playful integration into everyday life. It was developed by a consortium of various research institutions, companies, and social institutions and was carried out over a period of 42 months. The Niederrhein University of Applied Sciences developed the technical system of the puppet. The consortium owns the rights, plans, and developed major parts of the software. The development of the system included the construction of the hardware, mechanics, and electronics, the software, and the interfaces to enable numerous functions. The system is versatile, flexibly expandable, and cost-effective, making it ideal for studies with many field deployments. Due to this properties, it can be easily adapted to various application scenarios making it a perfect system platform for social robot research efforts.

关键词： Circuits and systems Social robots asia Companies software Hardware Optimization Dementia

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Testing of Production Profile Monitoring in Multi-Stage Fractured Horizontal Wells of Changqing Oilfield, China: Based on the Coiled-Tubing-Conveyed Gas Lift

Testing of Production Profile Monitoring in Multi-Stage Frac...

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2024 SPE asia pacific Oil and Gas conference and Exhibition, APOGCE 2024

作者： Yang, Haitao Lu, Hongjun Li, Dajian Wang, Yahui Zheng, Gang Gan, Qingming Zhu, Hongzheng Ma, Yufeng Oil & Gas Technology Research Institute Changqing Oilfield Company Petrochina China Changqing Engineering Design Co. LTD Changqing Oilfield Company Petrochina China Oil Production Plant No.8 Changqing Oilfield Company Petrochina China

ISBN: (纸本)9781959025269

For horizontal wells of the Changqing ultra-low-permeability oil reservoir stimulated via the multi-stage multi-cluster fracturing, an innovative production profile monitoring technology, adapted to the long horizontal wellbore and low liquid production, was developed to provide references for adjustment and treatment of production performance of wells. This passage discusses establishing a stable flow state in the wellbore of low-pressure, low-permeability reservoirs to meet test requirements. The proposed method involves utilizing 2" coiled tubing along with logging tools for well testing. The process involves maintaining a stable flow or a consistent flow in the wellbore through annular negative pressure lifting. Coiled tubing is used to transport downhole logging tools for conducting fluid profile testing of the modified layer, analyzing fluid output, oil-gas-water distribution, among other parameters. This method rapidly identifies the main water-producing layers, with test data transmitted in real-time to surface receivers via single-core cable. Before entering the well, multiphase flow simulation software is utilized in conjunction with parameters such as well pressure, temperature, and fluid production index to design the depth for deploying the gas lift string. By employing gas lift for fluid evacuation to increase wellbore discharge and conducting continuous testing with the tubing string, this approach effectively addresses the challenges of low fluid yield and low success rate and operational efficiency in fluid profile testing of long horizontal well sections in low-production wells. It quantitatively interprets and analyzes the production contribution patterns of different stages, clarifying the water breakthrough mechanism and water production patterns in horizontal well segments during water injection development. Trials in three wells demonstrate that this technology fulfills the logging requirements for wells with a daily fluid production of less t

关键词： Coiled tubing

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A Meta-Model for Outcome-Based Education: Streamlining Evaluation Processes

A Meta-Model for Outcome-Based Education: Streamlining Evalu...

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asia-pacific conference on software engineering

作者： Muhammad Awais Muhammad Waseem Anwar Farooque Azam Dept. of Computer Software Engineering CEME NUST Islamabad Pakistan Dept. of Innovation Design and Eng. Mälardalen University Västerås Sweden

Outcome-Based Education (OBE) is widely recognized for its goal-oriented approach in education. The key elements of outcome-based education are learning outcomes which are measured at student, course, program, and institution levels. The evaluation of learning outcomes is usually performed manually in isolation which leads to several issues like assessment delays and impaired judgement. Furthermore, integration of OBE techniques with existing Learning Management System (LMS) becomes impracticable. To handle such issues, in this article, we propose a framework comprising Metamodel for streamlining evaluation processes of OBE. Moreover, a set of text-to-model transformations is implemented for the automatic gen-eration of high-level models from traditional documents containing information about students, courses, grades etc. Furthermore, the model-to-text transformations are implemented to generate the target model in JAVA for the assessment of learning outcomes. This facilitates OBE evaluation straightforwardly. The efficacy of the framework is validated through a case study conducted within the Department of software engineering at University of AJK. The results are encouraging, and OBE assessment is successfully performed for software engineering courses.

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Optimizing Hull Design for a Battery-Electric Inland Waterway Catamaran

Optimizing Hull Design for a Battery-Electric Inland Waterwa...

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IEEE conference and Expo Transportation Electrification asia-pacific (ITEC asia-pacific)

作者： Sheryl Diokno Rovinna Janel Tayo Lew Andrew Tria Paul Rodgers Electrical and Electronics Engineering Institute University of the Philippines Diliman Quezon City Philippines

ISBN: (数字)9798331529277

ISBN: (纸本)9798331529307

The electrification of maritime vessels in the Philippines is at an early stage, with inland waterways emerging as prime candidates for this transition. This study focuses on optimizing hull design for an electric catamaran ferry to be operated on an inland waterway system in the Philippines. Three hull designs were evaluated: broad, tapered, and fair form, each influenced by different battery capacities and operational requirements. Hydrodynamic simulations using Maxsurf, statistical simulation using the design of experiments (DOE) feature of JMP software and iterative design refinements with Rhinoceros software were employed to minimize drag and enhance efficiency. The fair form hull demonstrated the highest energy efficiency, requiring 31.08 kW at 8 knots cruising speed, with an energy economy of 2.57 kWh per km while also satisfying the other restrictions determined from the deployment site. This integrated approach underscores the importance of hull design in enhancing the performance and sustainability of electric ferries.

关键词： Transportation Electrification Hydrodynamics software Energy efficiency Batteries Iterative methods Sustainable development

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Pandemic software Development: The Student Experiences from Developing a COVID-19 Information Dashboard 28

Pandemic Software Development: The Student Experiences from ...

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28th asia-pacific software engineering conference (APSEC)

作者： Koh, Benjamin Shahin, Mojtaba Ong, Annette Yeap, Soo Ying Saxena, Priyanka Singh, Manvendra Chen, Chunyang Monash Univ Fac IT Melbourne Vic Australia

ISBN: (纸本)9781665437844

The COVID-19 pandemic has birthed a wealth of information through many publicly accessible sources, such as news outlets and social media. However, gathering and understanding the content can be difficult due to inaccuracies or inconsistencies between the different sources. To alleviate this challenge in Australia, a team of 48 student volunteers developed an opensource COVID-19 information dashboard to provide accurate, reliable, and real-time COVID-19 information for Australians. The students developed this software while working under legislative restrictions that required social isolation. The goal of this study is to characterize the experiences of the students throughout the project. We conducted an online survey completed by 39 of the volunteering students contributing to the COVID-19 dashboard project. Our results indicate that playing a positive role in the COVID-19 crisis and learning new skills and technologies were the most cited motivating factors for the students to participate in the project. While working on the project, some students struggled to maintain a work-life balance due to working from home. However, the students generally did not express strong sentiment towards general project challenges. The students expressed more strongly that data collection was a significant challenge as it was difficult to collect reliable, accurate, and upto-date data from various government sources. The students have been able to mitigate these challenges by establishing a systematic data collection process in the team, leveraging frequent and clear communication through text, and appreciating and encouraging each other's efforts. By participating in the project, the students boosted their technical (e.g., front-end development) and nontechnical (e.g., task prioritization) skills. Our study discusses several implications for students, educators, and policymakers.

关键词： COVID-19 Pandemic Student software Development Education

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Design of Dual Code Traceability System for Agricultural Products Based on RSA Algorithm

Design of Dual Code Traceability System for Agricultural Pro...

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software engineering, Social Network Analysis and Intelligent Computing (SSAIC), asia-pacific conference on

作者： Zhigang Wang Debin Han Junzhen Hou Weifang Engineering Vocational College Weifang Shandong China Weifang Hospital of Traditional Chinese Medicine Weifang China

ISBN: (数字)9798350393682

ISBN: (纸本)9798350393699

With the rapid development of China’s economy, QR code has achieved good development as a new technology, and many merchants have begun to use QR code technology to sell, adulterate, and fabricate agricultural products. The agricultural product traceability and anti-counterfeiting system is based on internet technology and utilizes relevant computer programming software to establish traceability archives, including the traceability code, product name, affiliated distributor, and detailed introduction of the agricultural product, for the convenience of consumers’ inquiry and supervision. In terms of anti-counterfeiting technology, due to its ease of imitation and forgery, manufacturers need to invest heavily in the development of this technology, and there are drawbacks such as difficulty in detection and lack of uniqueness. In response to the above issues, this article proposes a dual code traceability system for agricultural products based on RSA algorithm. The experimental results indicate that the system not only achieves systematic management and monitoring of the production, processing, and transportation of fruit and vegetable agricultural products, but also achieves product traceability and anti-counterfeiting by encrypting product information QR codes.

关键词： Codes Systematics software algorithms Transportation QR codes Production Agricultural products

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Study of One-stop Intelligent Teaching Platform for College English Based on Artificial Intelligence Algorithm

Study of One-stop Intelligent Teaching Platform for College ...

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software engineering, Social Network Analysis and Intelligent Computing (SSAIC), asia-pacific conference on

作者： Daoen Lu Xiaobin Luo Qiannan Normal University for Nationalities Qiannan Guizhou China

ISBN: (数字)9798350393682

ISBN: (纸本)9798350393699

With the continuous development of information construction in colleges and universities and the rapid popularization of mobile terminals, traditional digital campus applications face challenges in providing real-time access to information and mobility for users. This paper presents a study on the implementation of a one-stop service platform for smart campuses based on mobile terminals. The platform integrates smart classroom technology with college English (CE) and speaking classes, showcasing its advantages in CE listening and speaking instruction. The article analyzes the transformation of artificial intelligence in CE teaching within the context of big data. The research objective is to develop an understanding of the multi-level and multi-faceted needs of front-line teachers and students in CE teaching. The findings emphasize the importance of adapting to changes in teaching methods and highlight the direction of future CE teaching.

关键词： Machine learning algorithms Uncertainty Social networking (online) Education software algorithms Big Data Information age

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Performance Diagnosis for Microservice-Based Systems via Intra-/Inter-Trace Analysis

Performance Diagnosis for Microservice-Based Systems via Int...

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asia-pacific conference on software engineering

作者： Zheheng Liang Guoquan Wu Lei Cui Zhenyue Long Joint Laboratory on Cyberspace Security of China Southern Power Grid Guangzhou China Guangdong Power Grid Guangzhou China Chinese Academy of Sciences Institute of Software Beijing China University of Chinese Academy of Sciences Beijing China

Diagnosing performance issues is a slow and labor-intensive process, especially for modern complex microservice systems. In this paper, we propose a novel performance diagnosis framework for microservice application based on intra-/inter-trace analysis. For a slow request to be diagnosed, our approach first determines whether the anomaly is caused by on-path service by aggregating and comparing normal/abnormal traces. Considering that some performance problems may actually be caused by off-path services which do not lie in the path of the abnormal traces, our approach further identifies traces which have temporal relation with the abnormal trace by proposed inter-trace analysis technique, and locates the root cause based on traffic analysis.

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Adversarial Classification Rumor Detection based on Social Communication Networks and Time Series Features

Adversarial Classification Rumor Detection based on Social C...

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asia-pacific conference on software engineering

作者： Xinyu Zhang Zixin Chang Li Li Wei Zhou Junhao Wen School of Philosophy Sun Yat-Sen University Guangzhou China School of Bigdata and Software Engineering Chongqing University Chongqing China

ISBN: (数字)9798331534011

ISBN: (纸本)9798331534028

With the unprecedented power of social media and public opinion, the widespread rumors on social media have brought a severe negative impact on public life. This paper introduces a new rumor detection method STAC(Spatial-Temporal Adversarial Classifier). STAC aggregates rumor propagation at a finer granularity by jointly modeling their spatial structural and time-series features. In addition, STAC uses an auxiliary adversarial topic classifier to improve generalization to emerging news topics. Experimental results show that STAC exhibits advantages in early detection and overall performance. STAC employs a graph convolutional network to capture the structural information of the propagation graph and uses a bidirectional recurrent neural network to learn the sequence features of the propagation path. Through a gating mechanism, STAC aggregates the learned structural features with temporal features in a fine-grained manner. STAC proves its effectiveness in the experiments by showing advantages in early detection and overall performance. STAC performs better in rumor detection tasks and can detect rumors at an early stage.

关键词： Recurrent neural networks Social networking (online) Graph convolutional networks Aggregates Collaborative filtering Time series analysis Contrastive learning Feature extraction Communication networks software engineering

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