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Self-management in a control architecture for parallel kinematic robots

Self-management in a control architecture for parallel kinem...

2008 ASME International Design Engineering Technical Conferences and computers and Information in Engineering Conference, DETC 2008

作者： Maaß, Jochen Steiner, Jens Amado, Ana Michaela, Huhn Raatz, Annika Hesselbach, Jurgen Institute for Machine Tools and Production Technology Department of Mechanical Engineering TU Braunschweig 38106 Braunschweig Germany Institute for Programming and Reactive Systems Department of Computer Science TU Braunschweig 38106 Braunschweig Germany

ISBN: (纸本)9780791843253

Maintainability, extendibility and reusability of components in the design of robot control architectures is a major challenge. Parallel kinematic robots feature a wide variety of structures and applications. They are subject to easy reconfiguration because of the passive structure limbs. This class of robots requires more extensive calculations in their control laws than serial manipulators. During complex motion tasks, such as the ones required in assembly sequences, the algorithmic load may also vary over time. However, no generic control approach exists in order to reduce the complexity of control design for these kind of robots. In this paper the authors introduce an architecture for handling and assembly applications featuring self-management techniques as an approach to tackle these problems. The existing architecture features a modular and layered design. Concepts of self-management and self-optimization applied to this architecture are outlined. These properties are realized by the integration of self-managers within crucial system components. The mechanisms are extended for a future distributed version of the architecture. Real-time properties are guaranteed by an online formal analysis that verifies planned adaptations before realizing them. Copyright © 2008 by ASME.

关键词： Reusability

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Coloring gray-scale image using artificial neural networks

Coloring gray-scale image using artificial neural networks

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International Conference on Adaptive Science & Technology (ICAST)

作者： Bekir Karlik Mustafa Sariöz Department of Computer Engineering Haliç University Istanbul Turkey Computer Technology and Programming Fatih University Istanbul Turkey

This paper presents a novel method on coloring the grayscale images. For this purpose, a combination of artificial neural networks and some image processing algorithms was developed to transfer colors from a user-selected source image to a target grayscale image. According to the results of this combining method, a survey where volunteers were asked to rate the plausibility of the colorings generated automatically was performed for individual images. In most cases automatically-colored images were rated either as totally or mostly acceptable.

关键词： Gray-scale Artificial neural networks Color Humans Pixel Image databases Motion pictures computer networks Image processing Data visualization

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Generating formal specifications for security-critical applications - A model-driven approach

Generating formal specifications for security-critical appli...

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International Workshop on Software Engineering for Secure Systems (SESS)

作者： Nina Moebius Kurt Stenzel Wolfgang Reif Department of Software Engineering and Programming Languages Institute of Computer Science University of Augsburg Augsburg Germany

ISBN: (纸本)9781424437252

The SecureMDD approach aims to generate both, a formal specification for verification and executable code, from UML diagrams. The UML models define the static as well as dynamic components of the system under development. This model-driven approach is focused on security-critical applications that are based on cryptographic protocols, especially Java Card applications. In this paper we describe the generation of the formal specification from the UML model which is then used as input for our interactive verification system KIV. The formal specification is based on abstract state machines and algebraic specifications. It allows to formulate and to prove application-specific security properties.

关键词： Formal specifications Object oriented modeling Unified modeling language Cryptographic protocols Java Security Application software Software engineering computer languages computer science

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Predicting Parameter Sweep Jobs: From Simulation to Grid Implementation

Predicting Parameter Sweep Jobs: From Simulation to Grid Imp...

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International Conference on Complex, Intelligent and Software Intensive Systems, CISIS

作者： Peter Hellinckx Sam Verboven Frans Arickx Jan Broeckhove Research Group Computational Modeling and Programming Department of Mathematics and Computer Sciences University of Antwerp Antwerp Belgium

ISBN: (纸本)9781424435692

Efficiently using the computational power made available through desktop grids based distributed systems is a complicated and many-sided problem, caused by the intermittent resource availability. In this paper a novel solution is presented for predicting the runtimes of parameter sweep jobs. These jobs are characterized by their lack of inter-dependence and suitability for runtime prediction by modeling. This makes them ideal candidates for deployment on volatile grid configurations using prediction based techniques. The parameter sweep prediction framework used to make the predictions is referred to as GIPSy (grid information prediction system). Previous research involving GIPSy has focused on results obtained during simulation were it is necessary to make some basic assumptions. By combining GIPSy with PGS (prediction based grid scheduling), an actual grid implementation, real results can be obtained. A detailed comparison between the expected results, based on simulation analysis, and the final results is given. Discrepancies are highlighted and possible causes are identified, solutions are proposed and implemented. By comparing the results for different model building configurations an optimal configuration is found that produces reliable result independent of the chosen job type. Results are presented for a quantum physics problem and two simulated workloads represented by sleep jobs.

关键词： Predictive models Availability Runtime Scheduling Computational modeling Grid computing Distributed computing Workstations Testing Computational intelligence

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Separation of concerns for Multithreads Object-Oriented programming

Separation of concerns for Multithreads Object-Oriented Prog...

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International Conference on Electrical Engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Paniti Netinant Concurrent Programming Research Group Illinois Institute of Technology Chicago IL USA Computer Science Department Bangkok University Bangkok Thailand

Multithreaded Object-Oriented programming in concurrency environment using object-oriented technology is a complex activity. Programmers need to be aware of issues unrelated to their domain of problem, and are often unprepared for the challenges of the concurrent object-oriented programming brings. The interaction of their components becomes more complex, and makes it difficult to validate the design and correctness of the implemented program. Supporting separation of concerns in the design and implementation of the multithreaded object-oriented programming can provide a number of benefits such as comprehension, reusability, extensibility and adaptability in both design and implementation. We have tackled this problem by adopting the technique of separation of concerns in multithreaded object-oriented programming. In this paper we demonstrate an aspect-oriented approach that can be used for multithreaded object-oriented programming. We also show how better the separation of concerns in components. Readers/Writers problem is demonstrated using an aspect-oriented approach. Our methodology, which is based on aspect-oriented techniques as well as language and architecture independence, is an aspect-oriented framework.

关键词： Object oriented programming computer architecture programming profession Yarn Concurrent computing Parallel programming Delay Robustness Software architecture Software development management

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High-Performance Reverse Time Migration on GPU

High-Performance Reverse Time Migration on GPU

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computer Science Society (SCCC) International Conference Chilean FLAGGED

作者： Javier Cabezas Mauricio Araya-Polo Isaac Gelado Nacho Navarro Enric Morancho José M. Cela Computer Sciences - Programming Models Barcelona Supercomputing Center (BSC) Barcelona Spain Computer Applications in Science and Engineering dept. Barcelona Supercomputing Center (BSC) Barcelona Spain Department of Computer Architecture Universitat Politècnica de Catalunya Spain Computer Applications in Science and Engineering Department Barcelona Supercomputing Center Barcelona Spain

Partial Differential Equations (PDE) are the heart of most simulations in many scientific fields, from Fluid Mechanics to Astrophysics. One the most popular mathematical schemes to solve a PDE is Finite Difference (FD). In this work we map a PDE-FD algorithm called Reverse Time Migration to a GPU using CUDA. This seismic imaging (Geophysics) algorithm is widely used in the oil industry. GPUs are natural contenders in the aftermath of the clock race, in particular for High-performance Computing (HPC). Due to GPU characteristics, the parallelism paradigm shifts from the classical threads plus SIMD to Single Program Multiple Data (SPMD). The NVIDIA GTX 280 implementation outperforms homogeneous CPUs up to 9x (Intel Harpertown E5420) and up to 14x (IBM PPC 970). These preliminary results confirm that GPUs are a real option for HPC, from performance to programmability.

关键词： Finite difference methods Geophysics computing computer architecture Parallel processing Graphics processing unit Clocks Hardware Algorithm design and analysis

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Performance Characterization of SPEC CPU2006 Benchmarks on Intel and AMD Platform

Performance Characterization of SPEC CPU2006 Benchmarks on I...

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International Workshop on Education Technology and computer Science, ETCS

作者： Shengmei Li Buqi Cheng Xingyu Gao Lin Qiao Zhizhong Tang Department of Computer Science and Technology Tsinghua University Beijing China Programming Systems Laboratory Intel China Research Center Limited Beijing China Chinese Academy and Sciences Beijing China

For understanding the performance differences caused by different computer architectures and optimization technologies, the paper characterizes performance of SPEC CPU2006 benchmarks both on Intel and AMD platform. Using the performance events collected by Performance Monitor Unit, we compare their performance differences and analyze the causes from the features of architectures and the optimization technologies. Our results and analysis help the programmers better understand the memory performance and branch prediction performance which are caused by architectures and guide them in the optimization. The analysis also help the processor architects better balance among the key architecture factors such as memory disambiguation and hardware prefetch when doing architecture design decision.

关键词： Microarchitecture Decoding Educational technology Paper technology programming profession Performance analysis computer science computer architecture Hardware Prefetching

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The Mechanical Stability for the Hand-Arm System

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PAMM 2009年第1期8卷

作者： Aurora Felicia Pop A. Trutą Mariana Arghir Technical University of Cluj–Napoca Department of Mechanics and Computer Programming Romania

The present paper contains a study regarding importance stability in the mechanical systems, mechanical systems are emerging under mechanical vibrations action, it referring especially to the human hand–arm system. Mechanical systems stability is directly influenced of the dumper and the elasticity factors. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Research about transmission of the mechanical vibration done by machine-tools on the group of bones shoulder-neck-head

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PAMM 2009年第1期8卷

作者： Aurica Trutą Aurora Felicia Pop Mariana Arghir Technical University of Cluj–Napoca Department of Mechanics and Computer Programming Romania

Different researches have shown that long–term exposure to whole–body vibration can induce different injuries like back pain, injuries of the different part of the body, disturbing the physical and intellectual activities. The resulted diseases could be occasional or could be for ever. Bearing in mind that vibration is applied on the hand or feet, the health rick can be assessed if the forces transmitted in the shoulder during vibration are known. To estimate the forces a biomechanical model has been developed in which the shoulder, neck and head are represented by rigid bodies. The bodies are connected by visco–elastic joint elements. The applied forces are resulted from experimental measurements. To assess the health risk the forces must be divised in two components, an ascendant one and a descendent one. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Studies on molten bath and aluminium contamination with ceramic anodes corrosion products

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PAMM 2009年第1期8卷

作者： Cristian Paul Rodean Simona Rodean Babes–Bolyai University Cluj–Napoca Department of Inorganic Chemistry Technical University of Cluj–Napoca Department of Mechanic and Computer Programming

Two types of tin oxide ceramic anodes with 3 different bulk densities are prepared and tested in a laboratory aluminium reduction cell. During normal electrolysis, the regular chemical dissolution process of anode material should be controlled by mass–transport and subsequent reduction of the corrosion products into the cathode metal. The content of Sn species from each experimental anode in the electrolyte reaches stable values and does not contribute to the time dependent corrosion. Their concentration in metal becomes linear with time, providing that the concentration in the electrolyte remains constant. The mass transport anode dissolution mechanism is experimentally confirmed and it becomes evident that the dissolution rate is largely dependent by the conditions at the cathode, which has a hundred times lower rate factor. The smallest aluminium contamination (under 0.2 wt %) and corrosion rate (under 1 cm/year) were obtained by testing the tin oxide anode, with Recipe 2 (2) – 96% SnO 2 +2%Sb 2 O 3 +2%CuO by our own sintering procedure and with bulk densities bigger than 6.5 g⋅cm −3 prepared. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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