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A practical approach to robotic design for the DARPA Urban Challenge

A practical approach to robotic design for the DARPA Urban C...

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作者： Patz, Benjamin J. Papelis, Yiannis Pillat, Remo Stein, Gary Harper, Don Coleman Technologies Inc. Orlando FL 32801 United States Virginia Modeling Analysis and Simulation Center Old Dominion University United States College of Engineering and Computer Science University of Central Florida Orlando FL 32816 United States

ISBN: (纸本)9783642039904

This article presents a practical approach to engineering a robot to effectively navigate in an urban environment. Inherent in this approach is the use of relatively simple sensors, actuators, and processors to generate robot vision, intelligence and planning. Sensor data is fused from multiple low cost 2-D laser scanners with an innovative rotational mount to provide 3-D coverage with image processing using both range and intensity data. Information is combined with Doppler radar returns to yield a world view processed by a Context-Based Reasoning control system to yield tactical mission commands forwarded to traditional PID control loops. As an example of simplicity and robustness, steering control successfully utilized a relatively simple follow-the-carrot guidance approach that has been successfully demonstrated at speeds of 60 mph. The approach yielded a robot that reached the finals of the Urban Challenge and completed approximately two hours of the event before being forced to withdraw as a result of a GPS data failure. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Three term control systems

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Assessing the impact of a modeling tool and its support for verification and validation

Assessing the impact of a modeling tool and its support for ...

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International Symposium on Performance Evaluation of computer & Telecommunication Systems SPECTS

作者： Jonathan D. Gibbs Hessam S. Sarjoughian Arizona Center for Integrative Modeling and Simulation Computer Science and Engineering Department Arizona State University Tempe AZ USA

Domain-specific tools for modeling and simulation (M&S) of computer network systems are aimed at simplifying the tasks of model developers and simulationists. In determining the extent to which a particular domain-specific M&S tool fits their needs, the developers must consider both how the tool can assist in the model development process, and how the tool may prevent or hinder them from achieving their objectives. We have considered two M&S tools in the domain of computer networks, IT Guru and the INET framework, and some of the ways in which they affect various aspects of simulation model development, with emphasis on the verification and validation (V&V) process as applied to net-centric enterprise systems. We have developed a metric for evaluating a domain-specific M&S tool based on certain qualitative characteristics. We will demonstrate how this metric can be applied to evaluate IT Guru and INET, and also offer some observations on how the metric can be applied to other domains besides computer networking.

关键词： computer simulation Computational modeling computer networks Hardware computer science Collaborative software Software testing Knowledge engineering Logic Access protocols

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Teaching and training of network protocols with DEVS-suite

Teaching and training of network protocols with DEVS-suite

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International Symposium on Performance Evaluation of computer & Telecommunication Systems SPECTS

作者： Ahmet Zengin Hessam Sarjoughian Department of Computer Science Education Sakarya University Serdivan Sakarya Turkey Arizona Center for Integrative Modeling and Simulation Department of Computer Science and Engineering Arizona State University Tempe AZ USA

This paper presents a robust simulation environment targeted for teaching and learning the complex dynamics of computer networks. The general-purpose DEVS-suite simulator supports animation with I/O and state trajectories of computer network models developed using parallel DEVS modeling approach. The simulator offers high-level model abstraction as compared with simulators such as NS-2. The combined capabilities afforded by the robust DEVS-suite simulator assists in understanding the fundamentals of computer network topologies and the logics of communication protocols. This newly developed DEVS-Suite offers an expressive, yet relatively simple to use, simulation environment for students and educators to develop and experiment with computer network models.

关键词： Protocols Computational modeling computer simulation computer networks computer science education Robustness Network topology Discrete event simulation Routing Animation

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The relationship between software architectures and visual programming languages

The relationship between software architectures and visual p...

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Grand Challenges in modeling and simulation Symposium 2008, GCMS 2008, Part of the 2008 Summer simulation Multiconference, SummerSim 2008

作者： Manzanares, Adam Drew Hamilton Jr., J.A. Qin, Xiao Department of Computer Science and Software Engineering Auburn University Auburn AL 36849 United States Auburn's Information Assurance Center United States Society for Modeling and Simulation International United States

ISBN: (纸本)9781622763603

Software architecture and visual programming languages both share a common goal of abstraction. Software architecture tries to present a high level over view of the over all system design. This high level view can be used to increase the security, reusability, and understandability of the overall system. Visual programming languages were introduced to allow a programmer to manipulate visual objects to create programs instead of using only text. These higherlevel languages are an abstraction of information contained in textual languages. This work aims to show the value of using a visual programming language with software architecture documents to produce systems. The marriage of these two technologies can produce a system that is closer to software architecture design as compared to using textual based programming languages. The importance of connectors and the impacts visual programming languages can have on connectors is discussed. The security, understandability, and reusability impacts are studied to understand the benefits visual programming languages can have on translating software architecture into the final product. © 2008 simulation COUNCILS, INC.

关键词： Reusability

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Ontology methodology based context awareness using system entity structure for network analysis

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2nd KES International Symposium on Agent and Multi-Agent Systems: Technologies and Applications, KES-AMSTA 2008

作者： Kim, Taekyu Han, Young-Shin Kim, Tae-Young Lee, Jong-Sik Arizona Center for Integrative Modeling and Simulation Electrical and Computer Engineering Department University of Arizona Tucson AZ 85721 United States School of Engineering Inha University 253 Yonghyun-Dong Nam -Gu Incheon 402-751 Korea Republic of

ISBN: (纸本)3540785817

Currently network uses, especially the number of internet users, increase rapidly. Also, high quality of service is required and this requirement results a sudden network traffic increment. As a result, an efficient management system for huge network traffic becomes an important issue. Ontology/data engineering based context awareness using the System Entity Structure (SES) concepts enables network administrators to access traffic data easily and efficiently. The network traffic analysis system, which is studied in this paper, is an effective management system with a high throughput and a low response time designed and implemented based on a model and simulation based data engineering methodology. Extensible Markup Language (XML) is used for metadata language in this system. The information which is extracted from the network traffic analysis system could be modeled and simulated in Discrete Event simulation (DEVS) methodology for further works such as post simulation evaluation, web services, and etc. © 2008 Springer-Verlag Berlin Heidelberg.

关键词： Ontology

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Evaluation of American sign language generation by native ASL signers

Evaluation of American sign language generation by native AS...

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作者： Huenerfauth, Matt Zhao, Liming Gu, Erdan Allbeck, Jan Computer Science Department CUNY Queens College City University of New York 65-30 Kissena Blvd Flushing NY 11375 United States Center for Human Modeling and Simulation University of Pennsylvania 3401 Walnut St Philadelphia PA 19104 United States

There are many important factors in the design of evaluation studies for systems that generate animations of American Sign Language (ASL) sentences, and techniques for evaluating natural language generation of written texts are not easily adapted to ASL. When conducting user-based evaluations, several cultural and linguistic characteristics of members of the American Deaf community must be taken into account so as to ensure the accuracy of evaluations involving these users. This article describes an implementation and user-based evaluation (by native ASL signers) of a prototype ASL natural language generation system that produces sentences containing classifier predicates, which are frequent and complex spatial phenomena that previous ASL generators have not produced. Native signers preferred the system's output to Signed English animations - scoring it higher in grammaticality, understandability, and naturalness of movement. They were also more successful at a comprehension task after viewing the system's classifier predicate animations. © 2008 ACM.

关键词： Natural language processing systems

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Optimization of Dynamic Data Types in Embedded Systems using DEVS/SOA-based modeling and simulation 3

Optimization of Dynamic Data Types in Embedded Systems using...

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3rd International Conference on Scalable Information Systems, InfoScale 2008

作者： Risco-Martín, José L. Mittal, Saurabh Atienza, David Hidalgo, J. Ignacio Lanchares, Juan Department of Computer Architecture and Automation Complutense University of Madrid C/Prof. José García Santesmases s/n Madrid28040 Spain Arizona Center for Integrative Modeling and Simulation University of Arizona ECE Building 1230 E Speedway TucsonAZ85721 United States

ISBN: (纸本)9789639799288

New multimedia embedded applications are increasingly dynamic, and rely on Dynamically-allocated Data Types (DDTs) to store their data. The optimization of DDTs for each target embedded system is a time-consuming process due to the large searching space of possible DDTs implementations. This results in the minimization of embedded design variables (memory accesses, power consumption and memory usage). Till date some effective heuristic algorithms have been developed in order to solve this problem, however unreported, as the problem is NP-complete and cannot be fully explored. In these cases the use of parallel processing can be very useful because it allows not only to explore more solutions spending the same time but also to implement new algorithms. This research work provides a methodology to use Discrete Event Systems Specification (DEVS) to implement a parallel evolutionary algorithm within a Service Oriented Architecture (SOA), where parallelism improves the solutions found by the corresponding sequential algorithm. This algorithm provides better results when compared with other previously proposed procedures. In order to implement the parallelism the DEVS/SOA framework in utilized. Experimental results show how a novel parallel multi-objective genetic algorithm, which combines NSGA-II and SPEA2, allows designers to reach a larger number of solutions than previous approximations. This research also establishes DEVS/SOA as a platform for conducting complex distributed simulation experiments. © 2008 Association for Computing Machinery. All rights reserved.

关键词： Heuristic algorithms

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Tracking nanostructural evolution in alloys: Large-scale analysis of atom probe tomography data on Blue Gene/L

Tracking nanostructural evolution in alloys: Large-scale ana...

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37th International Conference on Parallel Processing, ICPP 2008

作者： Seal, Sudip Moody, Michael Ceguerra, Anna Ringer, Simon Rajan, Krishna Aluru, Srinivas Modeling and Simulation Group Oak Ridge National Laboratory Oak Ridge TN 37831 United States Australian Key Center for Microscopy and Microanalysis Madsen Building F09 University of Sydney NSW 2006 Australia Dept. of Material Sciences and Engineering Iowa Suite University Ames IA 50011 United States Dept. of Electrical and Computer Engineering Iowa Suite University Ames IA 50011 United States

ISBN: (纸本)9780769533742

The advent of Local Electrode Atom Probe (LEAP) tomography is revolutionizing materials science by enabling near atomic scale imaging of materials. Analysis of threedimensional atom probe tomography (APT) data holds the promise of relating combinatorial arrangement of atoms to material properties and enable better design and synthesis of complex materials. Existing techniques, which are serial and require O(n2) work for n atoms, do not scale to the hundred million large data sets produced by current generation atom probe microscopes. In this paper, we present an O(n) work autocorrelation based technique that reveals clustering of constituent atoms and spatial associations between them. We present an efficient parallelization of this method and show scaling on a 1,024 node Blue Gene/L. To our knowledge, this is the first parallel algorithm for the analysis of APT data, and together with our linear work autocorrelation technique, is demonstrated to easily scale to billion atom data sets expected in the very near future. © 2008 IEEE.

关键词： Atoms

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Complexities of simulating a hybrid agent-landscape model using multi-formalism composability

Complexities of simulating a hybrid agent-landscape model us...

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2007 Agent Directed simulation Symposium, ADS 2007

作者： Mayer, Gary R. Sarjoughian, Hessam S. Arizona Center for Integrative Modeling and Simulation Computer Science and Engineering Department School of Computing and Informatics Arizona State University TempeAZ United States

ISBN: (纸本)1565553136

Hybrid agent-landscape models are used as an environment in which to study humans, the environment, and their dynamics. To provide flexibility in model design, expressiveness, and modification, the environment models and human agent models should be developed independently. While retaining each model's individuality, the models can be composed to create a model of a complex, hybrid agent-landscape system. This should allow for a much more in-depth analysis of each model independently, as well as a study of their interactions. To create such a modeling environment requires a look beyond a simple interface between two models. It may require that the models' formalisms be composed, their execution be synchronized, their architectures be integrated, and a common visualization be created to provide a whole-system data view during simulation. This paper discusses the complexities of such an undertaking.

关键词： Cellular automata

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DEVS/NS-2 Environment;Integrated tool for efficient networks modeling and simulation

DEVS/NS-2 Environment;Integrated tool for efficient networks...

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3rd DEVS Integrative M and S Symposium, DEVS 2007, Part of the 2007 Spring simulation Multiconference, SpringSim 2007

作者： Kim, Taekyu Hwang, Moon Ho Kim, Doohwan Zeigler, Bernard P. Electrical and Computer Engineering Department Arizona Center for Integrative Modeling and Simulation University of Arizona Tucson AZ 85721 United States RTSync Corp. 4731 E Southern Ave Phoenix AZ 85042 United States

DEVS/NS-2 is a new integrated network simulation tool that provides efficient high and low level network modeling capabilities. DEVS (Discrete Event System Specification) serves as a base framework to support well-defined mathematical formalism specification for structure and behavior of dynamic systems. The NS-2 is a discrete event network simulator, whose primary use is intended to build and run various detailed network models and protocols. The interoperable simulation of the two powerful modeling and simulation systems, DEVS and NS-2, allows to attain significant benefits in terms of reduction of the cost, increased high and low level networks modeling power, and enhanced reusability.

关键词： Wireless sensor networks

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