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European Grid Conference on Advances in Grid computing - EGC 2005

作者： Sipos, Gergely Lewis, Gareth J. Kacsuk, Péter Alexandrov, Vassil N. MTA SZTAKI Computer and Automation Research Institute P.O. Box 63 H-1518 Budapest Hungary Advanced Computing and Emergent Technologies Centre School of Systems Engineering University of Reading Whiteknights P.O. Box 225 Reading RG6 6AY United Kingdom

The paper presents how workflow-oriented, single-user Grid portals could be extended to meet the requirements of users with collaborative needs. Through collaborative Grid portals different research and engineering teams would be able to share knowledge and resources. At the same time the workflow concept assures that the shared knowledge and computational capacity is aggregated to achieve the high-level goals of the group. The paper discusses the different issues collaborative support requires from Grid portal environments during the different phases of the workflow-oriented development work. While in the design period the most important task of the portal is to provide consistent and fault tolerant data management, during the workflow execution it must act upon the security framework its back-end Grids are built on. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Job analysis

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Teaching advanced test issues in digital electronics

Teaching advanced test issues in digital electronics

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： R. Ubar E. Orasson J. Raik H.-D. Wuttke Computing Engineering Department Tallinn University of Technology Tallina Estonia Engineering Student Services Center University of Pittsburgh Pittsburgh PA USA Faculty of Informatics and Automation Ilmenau Technical University Ilmenau Germany

An environment targeted to e-learning is presented for teaching advanced test issues in digital electronics. Digital circuits and systems are getting more and more complex, and in the same time the requirements for the quality of systems are getting higher and higher. This is the reason why the importance of testing as an engineering task has started to grow extremely fast. An environment which consists of a set of Java applets has been created to help the students to improve their understanding of test. The tools support university courses on digital electronics, computer hardware, testing and design for testability to learn by hands-on exercises how to generate test patterns, and how to analyze their quality. The tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity.

关键词： Electronic equipment testing Education Circuit testing Electronic learning Digital circuits Java Hardware Design for testability Test pattern generators Pattern analysis

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Handling Data Sparseness in Gene Network Reconstruction

Handling Data Sparseness in Gene Network Reconstruction

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IEEE Symposium on Computational Intelligence and Bioinformatics and Computational Biology (CIBCB)

作者： G.B. Bezerra T.V. Barra F.J. von Zuben L.N. de Castro Laboratory of Bioinformatics and Bio-Inspired Computing (LBiC) Department of Computer Engineering and Industrial Automation State University of Campinas-UNICAMP Sao Paulo Brazil Graduate Program on Informatics Catholic University of Santos Sao Paulo Brazil

One of the main problems related to regulatory network reconstruction from expression data concerns the small size and low quality of the available dataset. When trying to infer a model from little information it is necessary to give much more precedence to generalization, rather than specificity, otherwise, any attempt will be fated to overfitting. In this paper we address this issue by focusing on data sparseness and noisy information, and propose a density estimation technique that achieves regularized curves when data is scarce. We first compare the proposed method with the EM algorithm for mixture models on density estimation problems. Next, we apply the method, together with Bayesian networks, on realistic simulations of static gene networks, and compare the obtained results with the standard discrete Bayesian network model. We intend to demonstrate that adopting a discrete approach is not justifiable when only a small amount of information is available.

关键词： Intelligent networks Bayesian methods Genetics Bioinformatics Computer networks Reverse engineering Cellular networks Noise robustness Laboratories Data engineering

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Research and training environment for digital design and test

Research and training environment for digital design and tes...

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34th Annual Frontiers in Education: Expanding Educational Opportunities Through Partnerships and Distance Learning - Conference Proceedings, FIE

作者： Ubar, Raimund Wuttke, Heinz-Dietrich Tallinn University of Technology Computing Engineering Department Raja 15 12618 Tallinn Estonia Ilmenau Technical University Faculty of Informatics and Automation post box 10 0565 D-98684 Ilmenau

An environment directed to e-learning is presented for teaching test generation and fault diagnosis in digital circuits. The environment consists of a set of Java applets for learning basics of test preliminary and of a set of low-cost tools for research oriented training in more advanced topics of test. The tools support university courses on digital electronics, computer hardware, testing and design for testability. They help to learn by hands-on exercises how to generate tests, how to build self-testing systems, how to analyze the quality of tests or testing hardware and how to localize faults in hardware. The tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity. © 2004 IEEE.

关键词： engineering education

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Food packing with intelligent robotic system

Food packing with intelligent robotic system

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IEEE International Conference on Mechatronics and automation

作者： Hong Qiao J. Keane J.O. Gray D.G. Caldwell Institute of Automation University of Manchester Manchester UK School of Computing Science and Engineering Salford University Great Manchester UK School of Computing Science and Engineering Salford University Great Manchester UK

Food packing, including food localization, food grasping and food assembly, is important to human daily life and is very labour-consuming so far. Automated food packing can reduce the number of labour intensive handling operations and bring a huge profit. Also, it can reduce microbial and foreign body contamination due to human contacts and increase the hygiene and reliability. The main difficulties are caused by (a) Specifies of the food products such as (i) irregularity of shapes, (ii) sticky surfaces and (iii) friability of food products and (b) the requirement of high hygiene, reliability and flexibility. Based on others' and author's previous work, this paper provides a new system for food packing with intelligent robots, which can grasp and assembly various irregular food products without sensors and also have the learning ability to improve the effectiveness and flexibility.

关键词： Intelligent robots Intelligent systems Robotic assembly Food products Shape Costs Humans Assembly systems Food industry Food manufacturing

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Hough transform based correction of mobile robot orientation

Hough transform based correction of mobile robot orientation

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IEEE International Conference on Industrial Technology (ICIT)

作者： L. Banjanovic-Mehmedovic I. Petrovic E. Ivanjko Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In most applications, a mobile robot must be able to determine its position and orientation in the environment using only own sensors. The problem of pose tracking can be seen as a constituent part of the more general navigation problem. Our proposed approach is able to track the mobile robot pose without environment model. It is based on combining histograms and Hough transform (HHT). While histograms for position tracking (x and y histograms) are extracted directly from local occupancy grid maps, angle histogram is obtained indirectly via Hough transformation combined with a non-iterative algorithm for determination of end points and length of straight-line parts contained in obtained histograms. Histograms obtained at the actual mobile robot pose are compared to histograms saved at previous mobile robot poses to compute position displacement and orientation correction. Orientation estimation accuracy greatly influences the position estimation accuracy and is crucial for a reliable mobile robot pose tracking. Sensors used for local occupancy grid generation are sonars but other exteroceptive sensors like a laser range finder can also be used. Test results with mobile robot Pioneer 2DX simulator show the capacity of this method.

关键词： Mobile robots Histograms Magnetic noise Robot kinematics Dead reckoning Control engineering computing Robotics and automation Robot sensing systems Motion planning Mesh generation

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Improved basic planar algorithm of vehicle guidance through waypoints by the line of sight

Improved basic planar algorithm of vehicle guidance through ...

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International Symposium on Communications Control and Signal Processing (ISCCSP)

作者： V. Bakaric Z. Vukic R. Antonic Department of Control Engineering Brodarski institut Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Zagreb Croatia Split College of Maritime Studies Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, the basic waypoint guidance algorithm, is very simple, computationally inexpensive, and flexible to sudden changes in the desired path specification. On the other side, the basic algorithm achieves unoptimal vehicle trajectory, ignores possible side disturbances as sea currents, and can even lead to deadlock situations. Therefore it should be improved to use in the real world applications. This paper introduces several such improvements: missed waypoint detection to prevent deadlocks, novel reference heading correction method to give smoother vehicle path in turns at waypoints, and sea current compensation method to cancel its influence. This improvements address the mentioned flaws of the basic algorithm, as is demonstrated by the simulations, and yet keep it simpler than is the case for the most used waypoint-derived guidance methods.

关键词： Navigation Remotely operated vehicles Computer vision System recovery Error correction Control engineering Automatic control Control engineering computing Automotive engineering automation

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Improved line-of-sight guidance for cruising underwater vehicles

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IFAC Proceedings Volumes 2004年第10期37卷 447-452页

作者： Vedran Bakaric Zoran Vukic Radovan Antonic Brodarski institut Av. V. Holjevca 20 10020 Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 10000 Zagreb Croatia Split College of Maritime Studies Zrinsko-Frankopanska 38 21000 Split Croatia

Guidance through waypoints is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoints. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the line-of-sight guidance in the diving plane.

关键词： Autonomous vehicles Guidance systems Cruise control Algorithms

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Panel on future challenges in modeling methodology 04

Panel on future challenges in modeling methodology

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Simulation Winter Conference

作者： S.J.E. Taylor P. Lendermann R.J. Paul S.W. Reichenthal S. Strassburger S.J. Turner Centre for Applied Simulation Modeling Department of Information Systems and Computing Brunei University Uxbridge Middlesex UK Production and Logistics Planning Group Singapore Institute of Manufacturing Technology Singapore Boeing Anaheim CA USA Department Virtual Development Fraunhofer Institute of Factory Operation and Automation Magdeburg Germany Parallel & Distributed Computin Centre School of Computer Engineering Nanyang Technological University Singapore

ISBN: (纸本)9780780387867

This panel paper presents the views of six researchers and practitioners of simulation modeling. Collectively we attempt to address a range of key future challenges to modeling methodology. It is hoped that the views of this paper, and the presentations made by the panelists at the 2004 Winter Simulation Conference will raise awareness and stimulate further discussion on the future of modeling methodology in areas such as modeling problems in business applications, human factors and geographically dispersed networks; rapid model development and maintenance; legacy modeling approaches; markup languages; virtual interactive process design and simulation; standards; and Grid computing.

关键词： Computational modeling Virtual manufacturing Logistics Human factors Computer aided manufacturing Markup languages Process design Standards development Grid computing Discrete event simulation

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