Future buildings will be constantly monitored and managed through intelligent systems that allow having information about the building health, keeping a good comfort level for the building inhabitants and optimizing t...
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Future buildings will be constantly monitored and managed through intelligent systems that allow having information about the building health, keeping a good comfort level for the building inhabitants and optimizing the energy spent. Despite many WSN programming frameworks have been to date developed and, in some cases, applied to support monitoring of buildings, none of them possesses all the specific features needed to develop WSN-based building applications. In this article a multiplatform domain specific framework based on Wireless sensor and Actuator Networks (WSANs) for enabling efficient and effective management of buildings is presented. The proposed Building Management Framework (BME) provides powerful abstractions that capture the morphology of buildings to allow for the rapid development and flexible management of pervasive building monitoring applications. The functionalities of the framework are shown in an emblematic case study concerning the SmartEnergyLab that is an effective operating scenario related to the monitoring of the usage of workstations in laboratories and offices. Finally, a performance evaluation of a WSAN running the BMF in terms of network usage and system lifetime is shown. (c) 2012 Elsevier Ltd. All rights reserved.
This paper describes the design and implementation of Cascades, a scalable, flexible and composable middleware platform for multi-modal sensor networking applications. The middleware is designed to provide a way for a...
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ISBN:
(纸本)0819461113
This paper describes the design and implementation of Cascades, a scalable, flexible and composable middleware platform for multi-modal sensor networking applications. The middleware is designed to provide a way for application writers to use pre-packaged routines as well as incorporate their own application-tailored code when necessary. As sensor systems become more diverse in both hardware and sensing modalities, such systems support will become critical. Furthermore, the systems software must not only be flexible, but also be efficient and provide high performance. Experimentation in this paper compares and contrasts several possible implementations based upon testbed measurements on embedded devices. Our experimentation shows that such a system can indeed be constructed.
The programming of robots is slowly evolving from traditional teach pendant method to graphical Off-Line programming (OLP) methods. Graphical simulation tools, such as OLP, are very useful for developing and testing r...
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The programming of robots is slowly evolving from traditional teach pendant method to graphical Off-Line programming (OLP) methods. Graphical simulation tools, such as OLP, are very useful for developing and testing robot programs before they are run on real industrial equipment. OLP systems are also used to develop task level programs. Traditional OLP systems, however, suffer from the limitations of using only position control which does not account for inherent robot inaccuracies and dynamic environments. This paper describes our work on improving and supplementing traditional position control programming methods. A baseline OLP system was implemented at NIST's Automated Manufacturing Research Facility (AMRF). Experience gained in implementing this system showed that an effective OLP system must accurately simulate the real world and must support sensor programming to compensate for real-world changes that cannot be simulated. The developed OLP geometric world model is calibrated using robot mounted ultrasound ranging sensor. The measurement capability produces a baseline geometric model of relatively good static accuracy for off-line programming. The graphical environment must also provide representations of sensor features. For this specific application, force is simulated in order to include force based commands in our robot programs. These sensor based programs are able to run reliably and safely in an unpredictable industrial environment. The last portion of this paper extends OLP and describes the functionality of a complete system for programming complex robot tasks.
The paper deals with structures of multi-sensory feedback in advanced robot control systems. The sensor programming technique, based on an automatic generation of the “constraint frames” and a projection of teacher-...
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The paper deals with structures of multi-sensory feedback in advanced robot control systems. The sensor programming technique, based on an automatic generation of the “constraint frames” and a projection of teacher-incuced rudimentary path commands into these constraint frames is outlined. Robots with arbitrarily programmable stiffness are one outcome of this technique. Concepts for learning, recall and matching of nominal multisensory patterns are outlined. Supervised learning is discussed by hand of a grinding problem. One of the experiments shown is a two-arm cooperative robot system.
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