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Compare and contrast: Visual exploration of source code examples

Compare and contrast: Visual exploration of source code exam...

引用

IEEE International Workshop on Visualizing Software for Understanding and Analysis (VISSOFT)

作者： Rylan Cottrell Brina Goyette Reid Holmes Robert J. Walker Jorg Denzinger Department of Computer Science University of Calgary Calgary AB Canada Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Computer Science and Engineering University of Washington Seattle WA USA

Understanding the commonalities and differences of a set of source code examples can help developers to understand or to evolve application programming interfaces (APIs). While several approaches exist to assist developers in locating source code examples, they often present their results only in a basic list view, with at most an indication of the relationship to the search query; unfortunately, they offer no information on how the results relate to one another. A developer is then faced with the highly manual task of exploring these examples to discern their similarities and differences. This paper describes our prototype tool (called Guido) for exploring source code examples, using their structural correspondences. The Guido tool uses multiple coordinated views to visualize the relationships between examples, in order to assist the developer in identifying common and unique traits between them.

关键词： Prototypes Visualization Software systems Cloning computer science Application software Image analysis Software prototyping Functional programming Software tools

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Swarm pattern transformation methodologies

Swarm pattern transformation methodologies

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Blesson Varghese Gerard T. McKee Active Robotics Laboratory School of Systems Engineering University of Reading UK Head of Computer Science Department School of Systems Engineering University of Reading UK

The work reported in this paper is motivated by the need for developing swarm pattern transformation methodologies. Two methods, namely a macroscopic method and a mathematical method are investigated for pattern transformation. The first method is based on macroscopic parameters while the second method is based on both microscopic and macroscopic parameters. A formal definition to pattern transformation considering four special cases of transformation is presented. Simulations on a physics simulation engine are used to confirm the feasibility of the proposed transformation methods. A brief comparison between the two methods is also presented.

关键词： Robots Microscopy Systems engineering and theory Physics Engines Pattern formation Humans Laboratories computer science Ant colony optimization

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Capturability of a simple guidance law with angular acceleration input

Capturability of a simple guidance law with angular accelera...

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European Control Conference (ECC)

作者： Takateru Urakubo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper examines the capturability of a guidance law that provides a desired angular acceleration of the heading angle to a pursuer. The guidance law has originally been proposed by Fajen and Warren[13], in order to explain the behavior of walking humans. It is shown that the relative rotational motion between a pursuer and an evader can be represented by an equation similar to the equation of motion for a pendulum with a disturbance. A set of sufficient conditions for successful pursuit are derived, and it is proved that the gain parameters of the guidance law can be chosen so that the conditions are satisfied. For sufficiently large gains, a pursuer controlled by the guidance law catches a maneuvering evader while achieving motion camouflage.

关键词： Vectors Equations Acceleration Angular velocity Missiles Lyapunov methods Trajectory

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Optimal placement of a two-link manipulator for door opening

Optimal placement of a two-link manipulator for door opening

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Takateru Urakubo Tomoaki Mashimo Takeo Kanade Department of Computer Science and Systems Engineering Kobe University Kobe Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This paper presents a study on the optimal base location and arm motion of a mobile manipulator for door opening task. Numerical simulation results show that the base location where the manipulability of the two-link arm is almost degenerated at the start and end points of door opening is *** show by analysis that the location has an advantage in supplying kinetic energy to the door by using torques at the joints of arm. In order to represent properly the arm motion near a singular point of manipulability, the rotational motion of the door is parameterized by piecewise fifth order polynomials of time, and the parameters of polynomials are optimized to minimize the joint torques.

关键词： End effectors Numerical simulation Polynomials Mobile robots Manipulator dynamics Torque Intelligent robots USA Councils Kinetic energy Refrigeration

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Simulation and Experiment of the Magnetic Stress Method Based on the Amorphous Alloy

Simulation and Experiment of the Magnetic Stress Method Base...

引用

International Conference on Information and Computing science, ICIC

作者： Yanping Shi Yifei Shi Department of Mechanical Engineering Huaihai Institute of Technology Lianyungang Jiangsu China Department of Computer Science VII Robotics & Telematics University of Wurzburg Wurzburg Germany

Amorphous alloy material has good soft magnetic properties, so it can be used for stress measurement. At first, the working principle of the stress measurement was analyzed. Secondly its output characteristic mathematical model was established by adopting multivariate linear regression analysis method, and the simulation of the mathematical model was made based on Matlab. Finally a practice measurement with Fe-base TM-M Amorphous alloy was completed. The results of the test have showed that the stress measurement method has some characteristics of being sensitiveness to measure and simple to make a testing system, and a promising method of measuring stress.

关键词： Amorphous magnetic materials Amorphous materials Stress measurement Soft magnetic materials Magnetic materials Magnetic analysis Mathematical model System testing Magnetic properties Linear regression

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A new methodology for evaluation of edge detectors

A new methodology for evaluation of edge detectors

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IEEE International Conference on Image Processing

作者： Rodrigo Moreno Domenec Puig Carme Julià Miguel Angel Garcia Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain

This paper defines a new methodology for evaluating edge detectors through measurements on edginess maps instead of on binary edge maps as previous methodologies do. These measurements avoid possible bias introduced by the application-dependent process of generating binary edge maps from edginess maps. The features of completeness, discriminability, precision and robustness, which a general-purpose edge detector must comply with, are introduced. The R, DS, P and FAR-measurements in addition to PSNR applied to the edginess maps are defined to assess the performance of edge detection. The R, DS, P and FAR-measurements can be seen as generalizations of previously proposed measurements on binary edge maps. Well-known and state-of-the-art edge detectors have been compared by means of the new proposed metrics. Results show that it is difficult for an edge detector to comply with all the proposed features.

关键词： Image edge detection Detectors Intelligent robots Robustness Robot vision systems computer vision computer science Mathematics Informatics Tin

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Study on Output Model and Test of a New Kind of Magnetoelastic Force Sensor

Study on Output Model and Test of a New Kind of Magnetoelast...

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International Conference on Information and Computing science, ICIC

To measure the force which act on a mechanical equipment on-line and make the fault diagnosis, a kind of the non-contact force sensor with three magnetic pole based on magnetoelastic effect was designed and its operation principle and the mathematical model of induced voltage output were also derived out in this paper. The output characteristic of the sensor affected by field current intensity, frequency, and the gap between the probe of the sensor and the surface of the material tested was analyzed by testing. The calculation result based on the output model found by the paper accord basically with the test result. The results of the test have showed that the measuring precision and sensitivity of the sensor can meet the demands of the general practical application.

关键词： Force sensors Force measurement Magnetic devices Magnetic sensors Sensor phenomena and characterization Materials testing Mechanical variables measurement Fault diagnosis Mathematical model Voltage

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Robust color edge detection through tensor voting

Robust color edge detection through tensor voting

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IEEE International Conference on Image Processing

作者： Rodrigo Moreno Miguel Angel Garcia Domenec Puig Carme Julià Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira i Virgili University Tarragona Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain

This paper presents a new method for color edge detection based on the tensor voting framework, a robust perceptual grouping technique used to extract salient information from noisy data. The tensor voting framework is adapted to encode color information via tensors in order to propagate them into a neighborhood through a voting process specifically designed for color edge detection by taking into account perceptual color differences, region uniformity and edginess according to a set of intuitive perceptual criteria. Perceptual color differences are estimated by means of an optimized version of the CIEDE2000 formula, while uniformity and edginess are estimated by means of saliency maps obtained from the tensor voting process. Experiments show that the proposed algorithm is more robust and has a similar performance in precision when compared with the state-of-the-art.

关键词： Robustness Image edge detection Tensile stress Voting Colored noise Color Detectors Eigenvalues and eigenfunctions Intelligent robots computer vision

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Reconfigurable disruption tolerant routing via Reinforcement Learning

Reconfigurable disruption tolerant routing via Reinforcement...

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International Joint Conference on Neural Networks (IJCNN)

作者： Tae-Hyung Kim Larry D. Pyeatt Donald C. Wunsch Applied Computational Intelligence Laboratory Department of Electrical & Computer Engineering Missouri University of Science and Technology Rolla MO USA AI Robotics Laboratory Department of Computer Science Texas Tech University Abilene TX USA

This paper shows packet delivery rate can be improved by adopting learning-based hybrid routing strategies when a wired network suffers from severe link disruption. The dynamics of the link disruptions complicate the routing problem; successful and stable routing operations of conventional routing approaches are hindered as the level of disruption increases. The target is to develop a robust and efficient routing approach in a single structure. A robust routing approach means a packet should be delivered to a destination even under severe disruptions. Efficient routing should deliver a packet with the shortest path at no disruption. These goals should be achieved with the maximum utilization of preexisting network components and with the minimal human intervention once installed. Therefore, we chose a popular conventional routing scheme, link state, and add-ons that can learn changing network environment. Our approach is to add a learning agent and a simple routing scheme to link state in order to automatically select a better routing scheme at an arbitrary level of disruption. Markov decision process is employed to model this problem. The simulation results show robustness and packet delivery rate are increased up to 35% at acceptable cost of computational and architectural complexity even when link state approach is close to be collapsed.

关键词： Learning Robustness Disruption tolerant networking Internet Computational intelligence Laboratories Fault tolerance TCPIP Routing protocols Neural networks

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Hybrid attitude estimation for laparoscopic surgical tools: A preliminary study

Hybrid attitude estimation for laparoscopic surgical tools: ...

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Hongliang Ren Peter Kazanzides Laboratory of Computational Sensing and Robotics (LCSR) Department of Biomedical Engineering Johns Hopkins University USA LCSR Department of Computer Science Johns Hopkins University USA

Laparoscopic surgery poses a challenging problem for a real-time navigation system: how to keep tracking the surgical tools inside the human body intraoperatively. This paper proposes a sensor fusion method for a hybrid tracking system that incorporates a miniature inertial measurement unit and an electromagnetic navigation system, in order to obtain continuous orientation information, even in the presence of metal objects. The sensor fusion algorithm employs an extended Kalman filter to integrate the data from the two sensor streams, based on a quaternion formulation of the system dynamics. The preliminary experimental results show that the integration of low-cost inertial measurement is able to compensate the distortion of EM tracking.

关键词： Minimally invasive surgery Optical distortion Optical sensors Biomedical optical imaging Sensor fusion Distortion measurement Optical filters Navigation Humans Coils

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