A methodology is presented to build colored Petri nets (CPN) describing assembly tasks performed by robot cells. The approach consists mainly of a catalog of CPN modules modeling the cell operations and a set of rules...
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A methodology is presented to build colored Petri nets (CPN) describing assembly tasks performed by robot cells. The approach consists mainly of a catalog of CPN modules modeling the cell operations and a set of rules for module mating and reduction. It is pointed out that CPN can be used as a knowledge-representation tool for qualitative tasks plans. A modeling example of an assembly task performed by a two-robot cell is included.< >
Acquiring and developing programming knowledge is a highly complex process. It involves a variety of cognitive activities and mental depictions. Hence, programming courses are generally regarded as difficult, and ofte...
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Acquiring and developing programming knowledge is a highly complex process. It involves a variety of cognitive activities and mental depictions. Hence, programming courses are generally regarded as difficult, and often have the highest dropout taxes. Such problem is especially significant in introductory programming courses: novice programmers need to apply the programming concepts continuously to understand them. Besides, beginner students often fail to recognize their own deficiencies and oversights. In this context, early assessment and continuous feedback are essential activities to correct mistakes and confusions. The purpose of this paper is to present our experience in teaching introductory programming courses as a case study. The course design is based on a specific assessment tool for introductory programming exercises. The tool aims at improving the assessment activity, facilitating its management and automating the communication flow in order to reduce the assessment process time-span. The final goal of our work is to increase feedback and improve the rectification of errors and misunderstandings from learners. The paper includes both the description of our assessment tool and the evaluation of its features.
A class of beliefs-desires-intentions (BDI) agent architecture is presented for control systems with a high degree of autonomy. The architecture contains agents for modelling, controller optimization, implementation a...
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ISBN:
(纸本)0780386825
A class of beliefs-desires-intentions (BDI) agent architecture is presented for control systems with a high degree of autonomy. The architecture contains agents for modelling, controller optimization, implementation and to monitor performance. The global convergence of performance of the agent system is proven under three mild assumptions. Relevant features of the agent structure are competing modellers and controllers. The benefit is an enhanced ability to learn new plant dynamics of varying complexity and controller adaptation. The new family of control agent architectures is called cautiously optimistic, a name to reflect the most important property of the new architecture: modelling results are applied with caution for control but current models are accepted until measurements do not contradict them with a margin. A cautiously optimistic control agent (COCA) is proven to have converging performance to a nearly optimal performance for stationary dynamics of a real plant under fairly general assumptions.
Open-architecture test systems were supposed to simplify test program set (TPS) development while using the latest instrumentation. The promise was that choosing best-in-class tools to integrate instrument-specific dr...
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Open-architecture test systems were supposed to simplify test program set (TPS) development while using the latest instrumentation. The promise was that choosing best-in-class tools to integrate instrument-specific drivers would create efficiency in the TPS development process. Unfortunately, TPS development is as complex as ever. In most cases, the cost for the TPS development is much higher than the test instrument itself. This paper postulates a reason why: while test requirements are specified with a UUT (unit under test)-centric view, the available instrument drivers and tools force test developers to take an instrument-oriented view during test development. A UUT-centric TPS describes tests in terms of the behavior of the I/O, while an instrument-oriented TPS describes tests in terms of instrument setup (such as when using an instrument-specific driver). This paper describes a UUT-centric digital test development approach using the iStudio Digital Test Editor associated with Teradyne's new generation of digital test instruments. This integrated graphical toolset combines test development, debugging, and code-generation capabilities under one environment, and works in conjunction with the user's existing applications development environment. Instead of the traditional instrument orientation, the toolset enables the test developer to specify tests in terms of user test data; e.g. DC characteristics for UUT signals, bus cycle definitions, and vector-based timing data. The ability to generate readable, properly-constructed source code and the UUT-centric interface make the toolset a major training tool for test engineers. More importantly, even when the tool generates source code, developers can still use the same UUT-centric environment to debug the tests that they used to develop them
In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring...
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In this paper a mono-objective optimum design procedure for parallel robot is outlined by using optimality criterion of workspace and numerical aspects. A mono-objective optimization problem is formulated by referring to a basic performance of parallel robots. Additional objective functions can be used to extend the proposed design procedure to more general but specific design problems. A kinematic optimization was performed to maximize the workspace of the mini parallel robot. Optimization was performed using genetic algorithms and simulated annealing
One of the fundamental goals of parallel computing is to develop a framework that will support portable and efficient application programs. The Bulk-Synchronous Parallel (BSP) model was proposed to help achieve this g...
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One of the fundamental goals of parallel computing is to develop a framework that will support portable and efficient application programs. The Bulk-Synchronous Parallel (BSP) model was proposed to help achieve this goal. The BSP model is intended to be a "unifying model"-it addresses both software and hardware issues by allowing theoretical analysis to coexist with practical physical implementations. For several years the BSP model has been supported mainly by theoretical results. Recent experiments, however, have begun to demonstrate the practicality of the model for real architectures running real applications. The goal of this paper is to describe the methodology used to construct an efficient BSP library on the BBN Butterfly GP1000. Our results are relevant for BSP library implementations on shared-memory systems in general and for NUMA (nonuniform m-memory-access) machines in particular.
It is assessed to steer simulation for China coast guard ship in narrow waterway according to the information of the ship's navigation environment, the sailor's operating skills, scientific righteous and the o...
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It is assessed to steer simulation for China coast guard ship in narrow waterway according to the information of the ship's navigation environment, the sailor's operating skills, scientific righteous and the objective assessment model. The steer simulation exercise evaluation system is constructed by face object programming in VC++6.0, which automatically calculates steer achievements of the professional soldiers.
programming automated web navigation assistants, i.e., applications that automatically navigate the web performing specific tasks for the user, is far from easy. Since HTML pages offered by legacy web-based applicatio...
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programming automated web navigation assistants, i.e., applications that automatically navigate the web performing specific tasks for the user, is far from easy. Since HTML pages offered by legacy web-based applications, which are designed to be manipulated only by people using browsers, web pages contain semi-structured information [P. Atzeni, et al., 1997] whose data schema can easily be changed, the creation and even the maintenance of this kind of applications, is very expensive. However, an increasing amount of information sources and online applications have been added to the web during the last few years, so assistants for automating tasks over those web-enabled applications are more and more needed. These assistants may automate tasks by filling in forms, following links, analyzing data embedded in web pages and performing computations over those data on behalf of the user. Software engineering techniques are clearly needed to reduce the cost, not just creating these programs (by significantly reducing their time-to-market), but even more importantly, maintaining them working properly, reducing the cost of readapting them to web site pages whose structure or navigation schemes are frequently changed. This paper proposes the well known formal method message sequence charts (MSC) [ITU-T, 1997] as a base for defining a language for programming web navigation assistants which may navigate a web site according to the user's aims. This specification language, called XPlore, is specially suited for both requirements engineering and automatic generation of an executable, and has been successfully tested on several well known web sites.
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