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检索条件"主题词=Computer Aided Software Engineering"

共 11032 条记录，以下是81-90 订阅

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Parameterized B-rep-Based Surface Correspondence Estimation for Category-Level 3D Object Matching Applicable to Multi-Part Items 18

Parameterized B-rep-Based Surface Correspondence Estimation ...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Yano, Taiki Hagihara, Daisuke Kimura, Nobutaka Chihara, Nobuhiro Ito, Kiyoto Hitachi Ltd Res & Amp Dev Grp Kokubunji Tokyo Japan Hitachi Ltd Control Syst Platform Div Ibaraki Japan

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

We developed parameterized B-rep-based surface correspondence estimation (PABSCO), which is a new category-level 3D object matching method to estimate the 6DoF poses and sizes of items consisting of multiple components with high recognition accuracy for practical use in logistics warehouses. PABSCO represents differences in the part sizes of each item belonging to a category by using parameterized boundary representation (B-rep), which is composed of multiple surface connections and parameters that control the sizes and positions of surfaces. It enables efficient, accurate estimation of the 6DoF pose and size of an unseen object instance by repeating part size adjustment and the surface registration between the model and areas segmented from scene data. In an experiment based on recognition for picking items in a logistics warehouse, on average, PABSCO achieved a high recognition rate of over 99.9% and a relative part size estimation error of less than 6.3% for both single- and multi-part logistics items.

关键词： Estimation error Three-dimensional displays computer aided software engineering Automation Data models Logistics

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Dual Constraint-Based Controllers for Wheeled Mobile Manipulators 18

Dual Constraint-Based Controllers for Wheeled Mobile Manipul...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Caliskan, Umut Rios, Federico Ulloa Decre, Wilm Aertbelien, Erwin Katholieke Univ Leuven Dept Mech Engn Leuven Belgium Katholieke Univ Leuven Core Lab ROB Flanders Make Leuven Belgium Flanders Make Vzw Lommel Belgium

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

A wheeled mobile manipulator, consisting of a mobile platform and a manipulator arm, can be used to provide assistive handling of loads without requiring large investments or changes in factory layout. This paper introduces a novel constraint-based control architecture in which such assistive tasks can be defined. From the same constraint-based task specification two constraint-based controllers are generated in such a way that the more accurate and higher bandwidth manipulator arm can compensate for the inaccuracies and lower bandwidth introduced by the mobile platform. The effectiveness of this approach is validated using a null-space motion task and a guided peg insertion task. The experiments clearly show an improvement in the accuracy of the null-space motion task and an increased comfort-level of the operator in the guided peg insertion task.

关键词： computer aided software engineering Automation Layout Bandwidth Manipulators Production facilities Task analysis

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Accurate Performance Predictions with Component-Based Models of Data Streaming Applications 1

引用

16th European Conference on software Architecture (ECSA)

作者： Werle, Dominik Seifermann, Stephan Koziolek, Anne Karlsruhe Inst Technol KIT Karlsruhe Germany

ISBN: (数字)9783031166976

ISBN: (纸本)9783031166976;9783031166969

Data streaming applications are an important class of data-intensive systems and performance is an essential quality of such systems. Current component-based performance prediction approaches are not sufficient for modeling and predicting the performance of those systems, because the models require elaborate manual engineering to approximate the behavior of data streaming applications that include stateful asynchronous operations, such as windowing operations, and because the simulations for these models do not support the metrics that are specific to data streaming applications. In this paper, we present a modeling language, a simulation and a case-study-based evaluation of the prediction accuracy of an approach for modeling systems that contain stateful asynchronous operations. Our approach directly represents these operations and simulates their behavior. We compare measurements of relevant performance metrics to performance simulation results for a system that processes smart meter readings. To assess the prediction accuracy of our model, we vary both the configuration of the streaming application, such as window sizes, as well as the characteristics of the input data, i.e., the number of smart meters. Our evaluation shows that our model yields prediction results that are competitive with a state-of-the-art baseline model without incurring the additional manual engineering overhead.

关键词： software performance model-driven software engineering computer aided software engineering software architecture data streaming big data applications

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Multi-level Multi-channel Bio-signal Analysis for Health Telemonitoring 18

Multi-level Multi-channel Bio-signal Analysis for Health Tel...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Alramadeen, Wesam Rababa, Salahaldeen Costa, Carlos Si, Bing SUNY Binghamton Dept Syst Sci & Ind Engn Binghamton NY 13902 USA IBM TJ Watson Res Ctr Yorktown Hts NY 10510 USA

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

Technology advancements have enabled a wealth of health information to be remotely collected, resulting in increasing use of telemonitoring for patients with chronic diseases. In particular, multi-channel bio-signals such as ECG and EEG, gold-standard diagnostic approaches for many diseases, are able to be collected at home. To utilize multi-channel bio-signals for telemonitoring and telemedicine, it is critical to develop a rigorous prediction model that "translates" the monitored symptomatic signals into a clinical indicator of disease severity to facilitate disease monitoring and diagnosis. However, multi-level and multi-channel data pose major challenges for most statistical prediction methods. To address these challenges, this paper proposes a multi-level multi-channel framework to integrate multi-channel epoch-level bio-signals and other patient-level health covariates for precise prediction of disease severity in health telemonitoring. The proposed framework was applied in a real-world dataset consisting of 409 patients and achieved the highest prediction accuracy in comparison with benchmark methods that do not take account of the multi-level structure of features into prediction. The findings of this study demonstrate the efficacy and performance of the proposed method in predicting disease severity from multi-level multi-channel features, which contributes a novel predictive analytical tool to facilitate bio-signal-based health telemonitoring.

关键词： computer aided software engineering Telemedicine Biological system modeling Predictive models Electrocardiography Brain modeling Electroencephalography

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Impacts of Proton Accelerator Upgrade on System Level Performance of Proton Therapy Systems 18

Impacts of Proton Accelerator Upgrade on System Level Perfor...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Wang, Feifan Huang, Yu-Li Mayo Clin Robert D & Patricia E Kern Ctr Sci Hlth Care Deli Rochester MN 55905 USA

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

To improve care quality and efficiency of proton therapy systems, the facility has options to upgrade proton accelerator. However, operating a proton therapy facility is complex, and thus it is not obvious to see if an upgrade is necessary and to what level a facility should be upgraded to better serve patients. This study aims to explore the relationship between accelerator upgrade and system level performance. The time of each proton therapy procedure was collected from the proton therapy practice at Mayo Clinic and applied to a simulation model. The current state of 4-gantry proton therapy system was taken as a baseline, and different upgrade options were evaluated. It suggested that a small dose rate increase could achieve a significant system improvement in terms of patient throughput and beam wait time. Besides, the necessity of accelerator upgrade for 3-gantry and 2-gantry proton therapy systems was studied. The improvement of accelerator upgrade for systems with less gantries was mainly demonstrated by decrease of finish time. This study can help a proton beam facility make a proper upgrade decision.

关键词： Particle beams computer aided software engineering Automation Proton accelerators Simulation Switches Throughput

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Bayesian Optimization-based Nonlinear Adaptive PID Controller Design for Robust Mobile Manipulation 18

Bayesian Optimization-based Nonlinear Adaptive PID Controlle...

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Hajieghrary, Hadi Deisenroth, Marc Peter Bekiroglu, Yasemin Chalmers Univ Technol Dept Elect Engn Automat Control Res Grp Gothenburg Sweden UCL Ctr Artificial Intelligence Dept Comp Sci London England

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing a conventional PID controller, one should make a trade-off between the performance and agility of the closed-loop system and its stability margins. The proposed nonlinear adaptive PID controller provides a mechanism to relax the need for such a compromise by adapting the gains according to the magnitude of the error without expert tuning. Therefore, we can achieve agile performance for the system while seeing damped overshoot in the output and track the reference as close as possible, even in the presence of external disturbances and uncertainties in the modeling of the system. We have employed a Bayesian optimization approach to choose the parameters of a nonlinear adaptive PID controller to achieve the best performance in tracking the reference input and rejecting disturbances. The results demonstrate that a well-designed nonlinear adaptive PID controller can effectively regulate a mobile manipulator's joint variables while carrying an unspecified heavy load and an abrupt base movement occurs.

关键词： Uncertainty computer aided software engineering Automation Tracking Manipulators Stability analysis Bayes methods

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Time Pressure Based Human Workload and Productivity Compatible System for Human-Robot Collaboration 18

Time Pressure Based Human Workload and Productivity Compatib...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Shirakura, Naoki Takase, Ryuichi Yamanobe, Natsuki Domae, Yukiyasu Ogata, Tetsuya Natl Inst Adv Ind Sci & Technol Artificial Intelligence Res Ctr Koto Ku 2-3-26 Aomi Tokyo 1350064 Japan Waseda Univ Sch Fundamental Sci & Engn Dept Intermedia Art & Sci Shinjuku Ku 3-4-1 Ohkubo Tokyo 1698555 Japan

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

This paper presents a human-robot collaboration (HRC) system which balance human workload and system productivity by using time pressure. To adjust time pressure using a real robot, we introduce a task scheduler that determines the intervention timing considering the movement limitation of the system and an interaction system using perception modality according to the work content. Our system was evaluated through a subjective experiment. In the experiment, workload and productivity were estimated using a physiological signal such as pupil diameter, subjective evaluation, and operation time. Based on the results of the experiment, we investigated the relation between workload and efficacy under the conditions of several time pressures. The result shows that the proposed HRC system can control time pressure, which can affect human workload and productivity.

关键词： Productivity computer aided software engineering Collaboration Control systems Physiology Timing Pressure measurement

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Process Dynamics-Aware Flexible Manufacturing for Industry 4.0 18

Process Dynamics-Aware Flexible Manufacturing for Industry 4...

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Balszun, Michael Hobbs, Clara Fraccaroli, Enrico Roy, Debayan Fummi, Franco Chakraborty, Samarjit Tech Univ Munich Munich Germany Univ N Carolina Chapel Hill NC USA Univ Verona Verona Italy

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

This paper studies the following basic flexible manufacturing problem: Given N machines that can perform the same job on a production item (e.g., drilling or tapping) but with different capabilities (e.g., energy requirements and speeds), what is an optimal schedule for the job on these machines? While this is a well-studied problem, the main innovation this paper introduces is the explicit modeling of the underlying process dynamics-i.e., the physical interaction of the item and the machine-using differential equations. The resulting scheduling problem is in a hybrid systems setting that involves determining the transition times between states, where the system evolution in each state is defined by differential equations. To the best of our knowledge, such a cyber-physical systems (CPS) oriented approach to machine scheduling has not been studied before, although it lies at the core of flexible manufacturing in Industry 4.0. We believe that this new formulation might lead to a renewed interest in machine scheduling problems, but now in a hybrid/CPS-oriented setting.

关键词： Drilling Technological innovation Job shop scheduling computer aided software engineering Optimal scheduling Differential equations Production

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AUTOMATIC DIFFERENTIATION FOR GRADIENT ESTIMATORS IN SIMULATION

AUTOMATIC DIFFERENTIATION FOR GRADIENT ESTIMATORS IN SIMULAT...

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Winter Simulation Conference (WSC)

作者： Ford, Matthew T. Henderson, Shane G. Eckman, David J. Cornell Univ Sch Operat Res & Informat Engn 206 Rhodes Hall Ithaca NY 14853 USA Texas A&M Univ Dept Ind & Syst Engn 3131 TAMU College Stn TX 77843 USA

ISBN: (纸本)9781665476614

Automatic differentiation (AD) can provide infinitesimal perturbation analysis (IPA) derivative estimates directly from simulation code. These gradient estimators are simple to obtain analytically, at least in principle, but may be tedious to derive and implement in code. AD software tools aim to ease this workload by requiring little more than writing the simulation code. We review considerations when choosing an AD tool for simulation, demonstrate how to apply some specific AD tools to simulation, and provide insightful experiments highlighting the effects of different choices to be made when applying AD in simulation.

关键词： computer aided software engineering

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Work-in-Progress: An Open-Source Platform for Design and Programming of Partially Reconfigurable Heterogeneous SoCs

Work-in-Progress: An Open-Source Platform for Design and Pro...

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International Conference on Compilers, Architecture, and Synthesis for Embedded Systems (CASES)

作者： Seyoum, Biruk B. Giri, Davide Chiu, Kuan-Lin Carloni, Luca P. Columbia Univ Comp Sci New York NY 10027 USA

Dynamic partial reconfiguration (DPR) enables the design and implementation of flexible, scalable and robust adaptive systems. We present an FPGA-based DPR flow for partially reconfigurable heterogeneous SoCs that use... 详细信息

ISBN: (数字)9781665472968

ISBN: (纸本)9781665472968

关键词： Program processors Embedded systems computer aided software engineering Adaptive systems Programming Field programmable gate arrays

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