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arXiv 2025年

作者： Hou, Songlin Lin, Fangzhou Huang, Yunmei Peng, Zhe Xiao, Bin Department of Computer Science Worcester Polytechnic Institute Worcester01609 United States Department of Robotics Engineering Worcester Polytechnic Institute Worcester01609 United States Unprecedented-scale Data Analytics Center Tohoku University Sendai980-8577 Japan Department of Forestry and Natural Resources Purdue University West Lafayette47907 United States Department of Computing The Hong Kong Polytechnic University 999-077 Hong Kong

As a novel way of presenting information, augmented reality (AR) enables people to interact with the physical world in a direct and intuitive way. While there are some mobile AR products implemented with specific hardware at a high cost, the software approaches of AR implementation on mobile platforms(such as smartphones, tablet PC, etc.) are still far from practical use. GPS-based mobile AR systems usually perform poorly due to the inaccurate positioning in the indoor environment. Previous vision-based pose estimation methods need to continuously track predefined markers within a short distance, which greatly degrade user experience. This paper first conducts a comprehensive study of the state-of-the-art AR and localization systems on mobile platforms. Then, we propose an effective indoor mobile AR framework. In the framework, a fusional localization method and a new pose estimation implementation are developed to increase the overall matching rate and thus improving AR display accuracy. Experiments show that our framework has higher performance than approaches purely based on images or Wi-Fi signals. We achieve low average error distances (0.61-0.81m) and accurate matching rates (77%-82%) when the average sampling grid length is set to 0.5m. © 2025, CC0.

关键词： Wi-Fi

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Hands-On Learning: Teaching Parallel and Distributed Computing through Unplugged Activities in Undergraduate CS Courses 24

Hands-On Learning: Teaching Parallel and Distributed Computi...

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Proceedings of the SC '24 Workshops of the International Conference on High Performance Computing, Network, Storage, and Analysis

作者： Anurag Dasgupta Venkat Margapuri Simon Shamoun Shubbhi Taneja Matthew Toups Computer Science and Engineering Technology Valdosta State University Valdosta GA Department of Computing Sciences Villanova University Villanova PA Department of Computer Science Hofstra University Hempstead NY Department of Computer Science Worcester Polytechnic Institute Worcester Massachusetts Computer Science Department Tulane University New Orleans LA

ISBN: (纸本)9798350355543

The authors present and evaluate an unplugged activity to introduce parallel computing concepts to undergraduate students. Students in five CS classrooms used a deck of playing cards in small groups to consider how parallelization can improve performance and how improvement decreases with increased parallelization. Before and after the activity, students took a short survey about their solution and their ideas about parallelism. The authors carried out this activity in seven courses at five institutions in the 2023-2024 academic year. The results showed that students had an increased appreciation for parallelization and this type of activity.

关键词： CS

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Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification

arXiv

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arXiv 2025年

作者： Zhou, Haoying Yang, Hao Deguet, Anton Fichera, Loris Wu, Jie Ying Kazanzides, Peter Department of Robotics Engineering Worcester Polytechnic Institute MA United States Laboratory for Computational Sensing and Robotics JHU MD United States Department of Computer Science Vanderbilt University TN United States Department of Computer Science Johns Hopkins University MD United States

The da Vinci Research Kit (dVRK, also known as dVRK Classic) is anopen-source teleoperated surgical robotic system whose hardware is obtainedfrom the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA,USA). The dVRK has greatly facilitated research in robot-assisted surgery overthe past decade and helped researchers address multiple major challenges inthis domain. Recently, the dVRK-Si system, a new version of the dVRK which usesmechanical components from the da Vinci Si Surgical System, became available tothe community. The major difference between the first generation da Vinci andthe da Vinci Si is in the structural upgrade of the Patient Side Manipulator(PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer beignored as in the dVRK Classic. The high gravity offset may lead to relativelylow control accuracy and longer response time. In addition, althoughsubstantial progress has been made in addressing the dynamic modelidentification problem for the dVRK Classic, further research is required onmodel-based control for the dVRK-Si, due to differences in mechanicalcomponents and the demand for enhanced control performance. To address theseproblems, in this work, we present (1) a novel full kinematic model of thedVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic modelidentification. © 2025, CC BY.

关键词： Surgical equipment

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Nonlinear hybrid vector finite element method for modeling wave propagation in nonlinear media

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RADIO SCIENCE 1996年第4期31卷 913-922页

作者： Polstyanko, SV Lee, JF Department of Electrical and Computer Engineering Worcester Polytechnic Institute

In this paper a unified computer-aided approach based on the vector finite element method is proposed to study the propagation of optical waves in dielectric nonlinear waveguides. Most of the existing methods are based on the scalar Helmholtz wave equation and cannot adequately describe the vectorial properties of fields in nonlinear optical structures. To take into account vectorial field properties and properties of the medium without limitations, a new nonlinear hybrid vector finite element method based on the vectorial wave equation is developed. Several numerical examples are given to demonstrate the applicability of this method.

关键词： Optical waveguides Finite element analysis Nonlinear optics Optical beams Electric fields Mathematical model

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Deviation from Nash mixed equilibrium in repeated rock–scissors–paper reflect individual traits

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Scientific Reports 2025年第1期15卷 1-14页

作者： Arai, Kensuke Jacob, Suma Widge, Alik S. Yousefi, Ali Computer Science Department Worcester Polytechnic Institute Worcester 01609 MA United States Semel Institute Child & Adolescent Psychiatry University of California Los Angeles 90210 CA United States Department of Psychiatry and Behavioral Sciences University of Minnesota Minneapolis 55414 MN United States Department of Biomedical Engineering University of Houston Houston 77204 TX United States

Current psychiatric nosology is based on observed and self-reported symptoms. Heterogenous pathophysiological mechanisms may underlie similar symptoms leading to diagnosis not matching up to the neurobiology. Recent research has sought to move away from diagnoses by symptoms, to viewing aberrant mental health in terms of abnormal human neurobehavioral functioning and concurrent deviations in the pathophysiology. Human behavior in a social context is a core neurobehavioral function with large individual variation that may reflect genomic, metabolic or neurobiological variation, whose identification potentially yields more accurate targeting for the development of interventions and biomedical treatments. In this research, we describe an experimental framework that utilizes a zero-sum game of repeated Rock–Paper–Scissors played against an artificial intelligence agent as an assay of social interaction. Human deviation from the Nash Mixed Equilibrium strategy of play, the only guaranteed way to avoid exploitation, can be seen in the sequential dependence of hands. We hypothesize that this deviation represents humans mimicing randomness to avoid exploitation through constant adjustments of behavior, which we analyze in terms of a set of switching heuristic lag-1 conditional response rules. We quantify and interpret the set of rules subjects are able to utilize as mirroring individual traits. Subjects in the study also completed the Autism Quotient Abridged survey, and subscores of the social, imagination and routine factors were found to be predicted by a combination of behavioral features derived from game play. © This is a U.S. Government work and not under copyright protection in the US;foreign copyright protection may apply 2025.

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AN EXPLICIT NUMERICAL TIME-DOMAIN FORMULATION TO SIMULATE PULSED PRESSURE WAVES IN VISCOUS FLUIDS EXHIBITING ARBITRARY FREQUENCY POWER-LAW ATTENUATION

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IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL 1995年第6期42卷 1040-1049页

作者： WISMER, MG LUDWIG, R Electrical and Computer Engineering Department Worcester Polytechnic Institute Worcester MA USA

An explicit time domain algorithm is developed which is capable of numerically simulating pulsed pressure waves propagating through media whose attenuation increases with frequency according to a power law dependency. Because of possible noninteger exponents in the power law formulation, standard temporal differential operators cannot be defined and traditional finite difference approximations are therefore inappropriate, We derive a method that is consistent with the fact that the complex wavenumber often must include a nonlinear phase if system causality is to be ensured. This phase is derived from the power law attenuation and, due to their interdependency, the two terms in the wave equation corresponding to attenuation and phase can be combined into a single factor, This so-called dispersion wave equation is mapped into complex discrete-time frequency, In this domain, noninteger exponents can be eliminated via a power series expansion, and the resulting equations transform naturally to discrete time operators, The algorithm is tested by comparing numerically evaluated attenuation with the exact power law form, and the issues of stability in relation to the convergence of the power series and the accuracy of the mapping are investigated.

关键词： Series expansions Pulse Pressure Power series Wave equation TIME-DOMAIN viscous fluids Pressure waves Power law

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ULTRASONIC-ATTENUATION BASED ON THE RONEY GENERALIZED THEORY AND MULTIPLE POWER-LAW GRAIN-SIZE DISTRIBUTIONS

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IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL 1994年第1期41卷 144-149页

作者： NICOLETTI, D KASPER, D Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

We investigate ultrasonic attenuation as a nondestructive determination of grain-size distributions. Previous work showed power-law relationships between the wavelength dependence of ultrasonic attenuation and a single power-law grain-size distribution, along with experimental verification. The work presented here further validates the previously reported relationship for single power-law grain-size distributions, and generalizes the relationships to cases where the grain-size distribution follows multiple power-laws. Roney's generalized approach to ultrasonic attenuation is used. Numerical results are presented for the single power-law and multiple power-law cases. The attenuation exponents computed from the numerical calculations correspond well with theoretical expectations. For wavelengths greater than all the grain sizes, Rayleigh scattering dominates and the attenuation exponent approaches 4. For single power-laws and wavelengths between the smallest and largest grain size, the attenuation exponent equals the grain-size distribution exponent. When multiple power-laws are used to describe the grain-size distribution, the attenuation exponent is a combination of the grain-size distribution exponent, and therefore cannot be directly measured from the attenuation curve.

关键词： Power law Ultrasonic attenuation Exponent Frequency dependence Particle size distribution size distribution attenuation curve wavelengths

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ON THE STRUCTURE OF A MULTIPURPOSE INTRODUCTORY COURSE IN computer ARCHITECTURE AT THE worcester-polytechnic-institute

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IEEE TRANSACTIONS ON EDUCATION 1995年第3期38卷 230-236页

作者： ROTITHOR, HG Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

In this paper, we describe the structure and contents of an introductory course in computer architecture that is designed to meet multiple objectives and offered to the first year graduate students and senior undergraduate students at the worcester polytechnic institute. The objectives include providing a solid background in computer architecture to senior undergraduate students, providing prerequisite preparation for advanced computer engineering courses to the graduate students, and offering a self sufficient study of the computer architecture field to those students who do not pursue further courses in the field. Appropriate projects integrated into the course and public domain tools that were used to facilitate the project assignments are described, The paper describes important issues that were addressed in designing the course structure and its contents, The effectiveness of the approach presented in this paper is supported from our experience that has resulted after multiple offerings of the course over a period of three years.

关键词： computer architecture Hardware Software tools Solids Computational modeling computer simulation Assembly Laboratories

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A NEW INTRODUCTORY ELECTRICAL-engineering CURRICULUM FOR THE 1ST-YEAR STUDENT

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IEEE TRANSACTIONS ON EDUCATION 1994年第2期37卷 171-177页

作者： CYGANSKI, D NICOLETTI, D ORR, JA Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA

This paper reports on our experience with respect to a major revision of the introductory Electrical engineering curriculum at worcester polytechnic institute. The new curriculum incorporates classroom and laboratory experience in electrical engineering for first-year students. The new courses are based on the ''spiral'' approach to education in which concepts are introduced at an applications-oriented level, and then repeatedly revisited with successively greater levels of detail and theoretical sophistication. The plan that has been adopted was the result of extensive study within the department in which current students and alumni participated through surveys. An assessment plan and preliminary assessment results are discussed.

关键词： Electrical engineering Force measurement Circuit analysis Voltage Student members Laboratories Mathematics engineering education Circuit theory

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A quantitative analysis of the separation of aluminum cans out of a waste stream based on eddy current induced levitation

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IEEE TRANSACTIONS ON MAGNETICS 1997年第1期33卷 772-781页

作者： Woltereck, M Ludwig, R Michalson, W Electrical and Computer Engineering Department Worcester Polytechnic Institute Worcester MA USA

Eddy current induced levitation can be employed to separate conducting from nonconducting materials as in the recycling of aluminum products. To investigate magnetic fields, eddy currents, and forces, a multiple strategy involving analytical, numerical, and experimental analysis techniques is implemented. In particular, the configuration of an aluminum can over an arrangement of multiple coils is investigated with a two-dimensional parametric finite element model. The results from these simulations are compared to measurements of a practical levitation device. To establish the fidelity of the finite element model, we applied the method to two simplified geometries of a thick and a thin slab extended over a conducting wire. For the first case, an analytical inverse Laplace-transform model for the eddy current density is developed. For the second case, Lorentz forces exerted on the thin slab are analytically obtained by employing Maxwell's moving image method. In addition, an approximation to the moving image method is derived which can be described by an equivalent resonance circuit.

关键词： Aluminum Magnetic analysis Eddy currents Levitation Magnetic field measurement Finite element methods Slabs Conducting materials Magnetic materials Recycling

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