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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

引用

19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Human aware UAS path planning in urban environments using nonstationary MDPs

Human aware UAS path planning in urban environments using no...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Rakshit Allamaraju Hassan Kingravi Allan Axelrod Girish Chowdhary Robert Grande Jonathan P. How Christopher Crick Weihua Sheng Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering Stillwater OK LIDS at MIT Stillwater OK Department of computer science Stillwater OK Electrical Engineering at Oklahoma State University Stillwater OK

A growing concern with deploying Unmanned Aerial Vehicles (UAVs) in urban environments is the potential violation of human privacy, and the backlash this could entail. Therefore, there is a need for UAV path planning algorithms that minimize the likelihood of invading human privacy. We formulate the problem of human-aware path planning as a nonstationary Markov Decision Process, and provide a novel model-based reinforcement learning solution that leverages Gaussian process clustering. Our algorithm is flexible enough to accommodate changes in human population densities by employing Bayesian nonparametrics, and is real-time computable. The approach is validated experimentally on a large-scale long duration experiment with both simulated and real UAVs.

关键词： Clustering algorithms Data models Computational modeling Sociology Statistics Path planning Kernel

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Technical evaluation of the Carolo-Cup 2014 - A competition for self-driving miniature cars

Technical evaluation of the Carolo-Cup 2014 - A competition ...

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International Workshop on Robot Sensing (ROSE)

作者： Sebastian Zug Christoph Steup Julian-B. Scholle Christian Berger Olaf Landsiedel Fabian Schuldt Jens Rieken Richard Matthaei Thomas Form Department for Distributed Systems Otto-von-Guericke Universitat Magdeburg Magdeburg Germany Department of Computer Science and Engineering Chalmers University of Technology & University of Gothenburg Goteborg Sweden Department Vehicle Electronics Technische Lnivcrsitat Braunschweig Braunschweig Germany

The Carolo-Cup competition conducted for the eighth time this year, is an international student competition focusing on autonomous driving scenarios implemented on 1:10 scale car models. Three practical sub-competitions have to be realized in this context and represent a complex, interdisciplinary challenge. Hence, students have to cope with all core topics like mechanical development, electronic design, and programming as addressed usually by robotic applications. In this paper we introduce the competition challenges in detail and evaluate the results of all 13 participating teams from the 2014 competition. For this purpose, we analyze technical as well as non-technical configurations of each student group and derive best practices, lessons learned, and criteria as a precondition for a successful participation. Due to the comprehensive orientation of the Carolo-Cup, this knowledge can be applied on comparable projects and related competitions as well.

关键词： Educational institutions Robots Best practices Fault tolerance Fault tolerant systems Software

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A conservative real-time garbage collector for C/C++ running on top of RTEMS 16

A conservative real-time garbage collector for C/C++ running...

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16th IEEE International Symposium on Object/Component/Service-Oriented Real-Time distributed Computing, ISORC 2013

作者： Stumpf, Tobias Werner, Matthias Technische Universität Dresden Department of Computer Science Operating Systems Group Germany

ISBN: (纸本)9781479921119

Software is getting larger and more complex. To simplify programming, languages with automatic memory management are used. In embedded systems the languages C/C++ are commonly used, which do not provide such functionalities. This paper addresses real-time garbage collection for embedded systems. We developed a conservative collector, which supports C/C++. The collector uses the mark-sweep algorithm and an installation barrier. Synchronisation points ensure termination. Memory fragmentation is avoided by memory partitioning. Compared to existing approaches, our collector provides realtime support without restrictions on the compiler, programming language or to need special hardware. We only use common hardware functionalities normally used by an operating system to avoid compiler modifications and increase performance. © 2013 IEEE.

关键词： Embedded systems

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Assessing neural networks for sensor fault detection

Assessing neural networks for sensor fault detection

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IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement systems and Applications

作者： Georg Jäger Sebastian Zug Tino Brade André Dietrich Christoph Steup Christian Moewes Ana-Maria Cretu Department of Distributed Systems Otto-von-Guericke Universität Magdeburg Magdeburg Germany Otto von Guericke Universitat Magdeburg Magdeburg Sachsen-Anhalt DE Departement of Computer Science Universite du Quebec en Outaouais

The idea of “smart sensing” includes a permanent monitoring and evaluation of sensor data related to possible measurement faults. This concept requires a fault detection chain covering all relevant fault types of a specific sensor. Additionally, the fault detection components have to provide a high precision in order to generate a reliable quality indicator. Due to the large spectrum of sensor faults and their specific characteristics these goals are difficult to meet and error prone. The developer manually determines the specific sensor characteristics, indicates a set of detection methods, adjusts parameters and evaluates the composition. In this paper we exploit neural-network approaches in order to provide a general solution covering typical sensor faults and to replace complex sets of individual detection methods. For this purpose, we identify an appropriate set of fault relevant features in a first step. Secondly, we determine a generic neural-network structure and learning strategy adaptable for detecting multiple fault types. Afterwards the approach is applied on a common used sensor system and evaluated with deterministic fault injections.

关键词： Fault detection Biological neural networks Neurons Training Mathematical model Signal to noise ratio

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Designing future-context-aware dynamic applications with structured context prediction

Designing future-context-aware dynamic applications with str...

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作者： Zaplata, Sonja Meiners, Matthias Lamersdorf, Winfried Distributed Systems and Information Systems Computer Science Department University of Hamburg Vogt-Koelln-Strasse 30 22527 Hamburg Germany

Middleware support for advanced pervasive applications includes dealing with heterogeneous systems and dynamic changes of execution environments. If applications are context aware, they are able to detect such changes at runtime and react to them accordingly. Furthermore, they can also proactively adapt to upcoming situations by making accurate assumptions about future contexts. However, the design of reusable middleware support for such future-context-aware applications is still challenging as a supporting prediction system has to be generic, but at the same time has to provide potential for high accuracy and *** paper proposes a concept for the development of future-context-aware applications on the basis of the novel approach of structured context prediction. As a framework, this approach allows for integrating domain-specific knowledge and facilitates application, combination, and implementation of suitable prediction methods. In addition, specific runtime mechanisms for distribution of knowledge and adaptation of prediction tasks are proposed, which enable useful context predictions even for dynamic applications. The overall development process as well as practical experiments with the prototype framework is illustrated by two use case scenarios - demonstrating that both high accuracy and efficiency of future context predictions are achievable and even ad hoc context predictions can be supported this way. Copyright © 2011 John Wiley & Sons, Ltd.

关键词： Middleware

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Conceptual integration of agents with WSDL and RESTful web services

Conceptual integration of agents with WSDL and RESTful web s...

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10th International Workshop on Programming Multi-Agent systems, ProMAS 2012

作者： Braubach, Lars Pokahr, Alexander Distributed Systems and Information Systems Computer Science Department University of Hamburg Vogt-Kölln-Str. 30 22527 Hamburg Germany

ISBN: (纸本)9783642386992

Agent communication has been standardized by FIPA in order to ensure interoperability of agent platforms. In practice only few deployed agent applications exist and agent technology remains a niche technology that runs its own isolated technology stack. In order to facilitate the integration of agents with well-established and used technologies the connection of agents with web services plays an important role. This problem has traditionally been tackled by creating translation elements that accept FIPA or web service requests as input and produce the opposite as output. In this paper we will show how a generic integration of web services can be achieved for agents that follow our active components approach. Active components allow encapsulating agent behavior in black box components that may act as service providers and consumers with explicit service interfaces. Thus, the integration approach will directly make use of these services. Concretely, the presented approach aims at answering two important questions. First, how can specific functionality of an existing agent system be made available to non-agent systems and users? Second, how can an agent system seamlessly integrate existing non agent functionality? The first aspect relates to the task of service publication while the latter refers to external service invocation. In this paper a generic conceptual approach for both aspects will be presented and it will be further shown how a specific integration with both WSDL and RESTful web services can be achieved. Example applications will be used to illustrate the approach in more details. © 2013 Springer-Verlag.

关键词： Web services

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A practical security infrastructure for distributed agent applications

A practical security infrastructure for distributed agent ap...

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11th German Conference on Multiagent System Technologies, MATES 2013

作者： Braubach, Lars Jander, Kai Pokahr, Alexander Distributed Systems and Information Systems Computer Science Department University of Hamburg Vogt-Kölln-Str. 30 22527 Hamburg Germany

ISBN: (纸本)9783642407758

Security is a vital feature for most real-world distributed applications. For applications using an agent-based middleware, comprehensive support for many security-related aspects can and should already be provided by the platform in a holistic manner. Moreover, security in practice does not only concern the enforcement of well-known security objectives like authenticity and confidentiality but also requires a simple yet effective usage concept that renders it easy for developers to define their security requirements. In this paper a security concept and implementation for multi-agent systems is introduced, which focuses on external, i.e. inter-platform, security aspects. The solution encompasses a usage concept distinguishing security intents from realization details and allows service providers as well as service clients to impose security constraints on communication relationships. The security concept requirements have been elicited from and the results have been evaluated with a real-world company project in the area of distributed workflow management in business intelligence. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Middleware

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Maximum lifetime broadcast in mobile sensor networks 1

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12th International Conference on Ad-hoc, Mobile and Wireless Networks, ADHOC-NOW 2013

作者： Nunes, Bruno Barboza, Frederico Assis, Flávio LaSiD - Distributed Systems Laboratory DCC - Department of Computer Science UFBA - Federal University of Bahia Salvador Bahia Brazil

ISBN: (数字)9783642392474

ISBN: (纸本)9783642392467

In this paper we investigate the Maximum Lifetime Broadcast (MLB) problem, i.e. the problem of extending network lifetime when a series of broadcast operations is executed, in sensor networks with mobile nodes. For this problem, we present two localized algorithms (nodes use only 2-hop information), namely LPrim and LMCP, which are based on trees with minimum highest cost edges and shortest paths trees, respectively. The algorithms were evaluated through simulations under three distinct mobility models and compared against common broadcasting techniques (broadcasting based on a Connected Dominating Set and Flooding). According to our experiments, LPrim outperformed alternative solutions in terms of the number of successfully executed broadcasts (network lifetime) and in terms of the energy consumed by broadcast. © 2013 Springer-Verlag.

关键词： Sensor nodes

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Performance analysis of computational approaches to solve Multiple Sequence Alignment

Performance analysis of computational approaches to solve Mu...

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作者： Montañola, Alberto Roig, Concepció Guirado, Fernando Hernández, Porfidio Notredame, Cedric Distributed Computing Group Computer Science and Industrial Engineering Department Universitat de Lleida Lleida Spain Computer Architecture and Operating Systems Department Universitat Autònoma de Barcelona Cerdanyola del Vallès Spain Barcelona Spain

In the biotechnology field, the deployment of the Multiple Sequence Alignment (MSA) problem, which is a high performance computing demanding process, is one of the new challenges to address on the new parallel systems. The aim of this problem is to find similar regions on biological sequences. Furthermore, the goal of MSA applications is to align as much sequences as possible with a level of quality that makes the alignment biologically meaningful. An efficiency study of different MSA implementations, based on T-Coffee (one of the most used MSA aligners), has been performed in order to find new optimizations that may improve the average execution time on multi-core systems. We found that the current parallel implementations have some performance issues, affecting negatively the scalability of the process. Finally, the proposed implementation based on the usage of threads in conjunction with a message-passing library is presented, with the aim to optimize the execution of the MSA problem in multi-core-based clusters. © 2012 Springer science+Business Media, LLC.

关键词： Message passing

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