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IEEE Conference on Decision and Control

作者： Hao Ding Gunther Reissig Olaf Stursberg Institute of Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel Germany Chair of Control Eng. (LRT-15) Dept. Aerospace Eng. University of the Federal Armed Forces Munich D-85577 Neubiberg (Munich) Germany

ISBN: (纸本)9781612848006

Path planning for robotic manipulators interacting with obstacles is considered, where an end-effector is to be driven to a goal region in minimum time, collisions are to be avoided, and kinematic and dynamic constraints are to be obeyed. The obstacles can be time-varying in their positions, but the positions should be known or estimated over the prediction horizon for planning the path. This non-convex optimization problem can be approximated by Mixed Integer Programs (MIPs), which usually leads to a large number of binary variables, and hence, to inacceptable computational time for the planning. In this paper, we present a geometric result whose application drastically reduces the number of binary decision variables in the aforementioned MIPs for 3D motion planning problems. This leads to a reduction in computational time, which is demonstrated for different scenarios.

关键词： Path planning Robot Manipulator million instructions per second Manipulators computational time Mixed integer binary decision kinematics

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A study on the estimation method of target design eng.neering quantity considering client satisfaction

A study on the estimation method of target design engineerin...

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Joint 9th IFSA World Congress and 20th NAFIPS International Conference

作者： Tsutsumi, Kazutoshi Hayashi, Kazuya Teraoka, Masaru Takizawa, Atsushi Kawamura, Hiroshi Tani, Akinori Architecture and Environment System Shibaura Institute of Technology Omiya Saitama Japan Technology Development Division Fujita Corp. Atsugi Kanagawa Japan Dept. of Arch. and Civil Eng. Kobe Univ. Kobe Hyogo Japan Graduate School of Science and Tech. Kobe Univ. Kobe Hyogo Japan

Based on the reflection of Hanshin Awaji big earthquake disaster, the target of this study is the development of performance based design method from the point of view of clients. That development aims to propose the estimation method of the rational target design eng.neering quantity that gives higher performance of satisfaction against the earthquake by using soft-computing method. In this study, the story deformation is adopted as a design eng.neering quantity.

关键词： Fuzzy sets

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Seismic response reduction of a house with improved composite soil material

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AIJ Journal of Technology and Design 2017年第54期23卷 421-426页

作者： Umakoshi, Marin Miyamoto, Yuji Shimamura, Atsushi Nakata, Shinji Miyake, Tatsuya Dept. of Architectural Eng. Div. of Global Architecture Graduate School of Eng. Osaka Univ. Japan Chemical Grouting Co. Japan R and D Laboratories Asahi Kasei Homes Corporation Japan Nihon System Sekkei Architects and Engineers Japan

This paper addresses the developing of response reduction device of a detached house during earthquake. Reduction devices are composed of shear key and improved composite soil material, which are arranged between the seismic-isolated layers. The mechanical properties of the improved composite soil material are investigated by laboratory tests. Then we confirm the hysteresis characteristics of this system by shaking table tests. Furthermore we investigate the response reduction effects of a house with this device during earthquake by analytical studies.

关键词： Houses

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The cosmic ray anisotropy observed by the large area air shower experiments

The cosmic ray anisotropy observed by the large area air sho...

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29th International Cosmic Ray Conference, ICRC 2005

作者： Iyono, A. Konishi, T. Morita, T. Nakatsuka, T. Noda, C. Ochi, N. Ohara, S. Okita, M. Okei, K. Ryou, J. Tada, J. Takahashi, N. Tokiwa, M. Tsuji, S. Wada, T. Yamamoto, I. Yamashita, Y. Dept. of Applied Science Okayama University of Science Okayama 700-0005 Japan Dept. of Physics Kinki University Higashi-Osaka 577-8502 Japan Dept. of Physics Okayama University Okayama 700-8530 Japan Okayama Shoka University Okayama 700-8601 Japan Graduate School of Informatics Okayama University of Science 700-0005 Japan Yonago National College of Technology Yonago 683-8502 Japan Nara University of Industry Ikomagun 636-8503 Japan Dept. of Electronic and Info. System Eng. Hirosaki University Hirosaki 036-8560 Japan Dept. of Information Science Kawasaki Medical School Kurashiki 701-0192 Japan Dept. of Info. and Computer Eng. Okayama University of Science Okayama 700-0005 Japan

The cosmic ray anisotropy, calculated in terms of the harmonic analysis of the EAS arrival local sidereal times(LSTs) observed by Large Area Air Shower (LAAS) group, is presented. The amplitude and phase of the first harmonic obtained are 0.23 ± 0.04 % and 0.4 ± 0.7 hr LST in the energy region from 5× 1013 to 1015 eV respectively. The results have also been compared with the model calculation on the basis of the diffusive propagation model of relativistic charged particles. The rigidity dependence of anisotropy amplitudes (δ ∼ R°) is evaluated as α =0.339 ± 0.014.

关键词： Charged particles

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Improving motion of robotic manipulators by an embedded optimizer

Improving motion of robotic manipulators by an embedded opti...

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2010 IEEE International Conference on Automation Science and eng.neering, CASE 2010

作者： Ding, Hao Schnattinger, Georg Passenberg, Benjamin Stursberg, Olaf Institute of Control and System Theory Dept. of Electrical Eng. and Computer Science University of Kassel Germany Institute for High-Frequency Engineering Technische Universität München 80290 München Germany Institute of Automatic Control Engineering Technische Universität München 80290 München Germany

ISBN: (纸本)9781424454471

A control scheme for efficient and safe path and motion planning of industrial robots is proposed. For motion planning of robotic manipulators, an offline method is developed which generates feasible trajectories of the joints such that a given performance criterion is maximized. The planning problem considering obstacle avoidance is converted to an optimization problem with interior points for the joint angles to guide the trajectory away from obstacles. The interior points are generated from an approach of rapidly exploring random trees (RRTs] in the configuration and time space. The method is applied to a 3-DOF-robot with known dynamic moving obstacles and evaluated afterwards. Online motion generation of industrial robots is then discussed for a human robot interaction scenario. ©2010 IEEE.

关键词： Motion planning

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AR-Classroom: Integrating Conversational Artificial Intelligence with Augmented Reality Technology for Learning Spatial Transformations and Their Matrix Representation 54

AR-Classroom: Integrating Conversational Artificial Intellig...

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54th IEEE Frontiers in Education Conference, FIE 2024

作者： Monjoree, Uttamasha Aguilar, Samantha D. Qian, Cheng.uan Van Huyck, Carl Yeh, Shu-Hao Tranbarger, Preston Duane-Tessier, Luke Solitare-Renaldo, Leo Burte, Heather Yasskin, Philip Liew, Jeffrey Song, Dezhen Quek, Francis Yan, Wei Texas A&m University Dept. Architecture College Station United States Texas A&m University Dept. Educational Psychology College Station United States Texas A&m University Dept. Computer Sci. & Eng. College Station United States Texas A&m University Dept. Visualization College Station United States Texas A&m University Dept. Mathematics College Station United States Haverford College Haverford United States Carnegie Mellon University Dept. Computer Science Pittsburgh United States Texas A&m University Dept. Teaching Learning & Culture College Station United States

ISBN: (纸本)9798350351507

This research full paper describes the AR-Classroom application that utilizes augmented reality (AR) and physical and virtual manipulatives to enable undergraduate students to build intuition about the relation between spatial transformations and their mathematical representations. To further build on the app's usability and functionality, additional features are being prototyped to continue improving the user-app interaction with the AR-Classroom. Some of the challeng.s the students faced when using AR-Classroom were recalling basic matrix operations without geometric context, basic trigonometric functions and their applications in the two-dimensional space, loss of AR registration for not understanding the AR environment, and User Interface (UI) issues. To address these issues, a conversational Artificial Intelligence (AI)-based multi-sensory and interactive assistance has been added to the AR-Classroom. Integrating sophisticated language processing and response generation of AI with immersive three-dimensional capabilities of AR can create a more eng.ging learning experience than the previous versions of the app. This integration focuses on creating a symbiosis between AR and AI. It creates an elevated user experience by offering real-time, personalized assistance to students dealing with issues related to understanding mathematical concepts and functionalities of the app. A qualitative exploratory usability study was done to assess the user's interaction with the AI implemented in the AR-Classroom, aiming to explore the AI's ability to guide students in using AR technology and aid in introductory matrix algebra learning, to effectively serve the students' learning. Based on the thematic analysis of the user experiment we found four main themes related to users' perceptions of AR-Classroom AI features usability: (1) AI chatbot ease-of-use, (2) Need for answer elaboration from AI, (3) Desire for visual information, and (4) Increased understanding of the content ar

关键词： Students

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Proposal of a Correction Factor for Predicting the Thermal Transmittance of Building Envelopes Accounting for Aging and Environmental Conditions

SSRN

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SSRN 2023年

作者： Byun, Jiyeon Baek, Jumi Shim, Jisoo Park, Somin Song, Doosam Dept. of Civil and Environmental System Eng. Graduate School Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University Korea Republic of School of Civil and Architectural Eng. and Landscape Architecture Sungkyunkwan University Suwon16419 Korea Republic of

Thermal transmittance is often considered a constant value in building design and assessment of building performance. However, the thermal transmittance of the building envelope changes as a result of aging and environmental parameters. To accurately evaluate the energy performance of existing buildings, it is important to define the degradation of thermal performance of the entire wall *** study proposes a simple method of calculating the thermal transmittance of a building’s envelope, accounting for age and environmental conditions, by applying a correction coefficient to the initial thermal transmittance rather than conducting on-site measurements. On-site measurements of wall thermal transmittance were conducted in 40 older buildings using visual observation and the heat flow meter *** examining the environmental factors that affect deterioration in the performance of insulation in an exterior wall through linear regression analysis, we found that the correction factor has a high correlation with the type of exterior wall finish, color, surface finishing, pollution source, exposure to the sea, and the presence or absence of adjacent *** scenarios are proposed to quantify the correction factor, with the goal of obtaining an optimized model that can predict the thermal transmittance of building envelopes. These scenarios are reviewed based on ISO 15686 and regression analysis, and the scenario with the correction factor that best estimated the measured value is *** thermal transmittance of the walls of older building as estimated by the simple method proposed in this study shows the best match with the on-site measured results. © 2023, The Authors. All rights reserved.

关键词： Regression analysis

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Experimental testbed and distributed algorithm for cooperative driving in VII simulation

Experimental testbed and distributed algorithm for cooperati...

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International Conference on Intelligent Transportation

作者： Weihua Sheng.Qingyan Yang Yi Guo School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA School of Electrical & Computer Eng. Oklahoma State University Stillwater OK System Division Iteris Inc. MI Dept. of Electrical & Computer Eng. Stevens Institute of Technology Hoboken NJ USA

This paper presents an experimental testbed to conduct research on vehicle infrastructure integration (VII) in intelligent transportation systems (ITS). A miniature robotic vehicle is developed and an overhead vision system is used to localize the vehicles. We first study the single lane tracking control algorithm. Then a distributed cooperative driving algorithm is developed to control multiple vehicles to drive through an intersection without collision. This platform can serve as a cost-effective testbed to study vehicle-to-vehicle communication based cooperative driving in intelligent transportation systems

关键词： Distributed algorithms Intelligent transportation systems system testing Intelligent vehicles Communication system control Intelligent robots Robot vision systems Machine vision Vehicle driving Drives

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An efficient indoor localization system based on Affinity Propagation and Support Vector Regression

An efficient indoor localization system based on Affinity Pr...

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International Conference on Digital Information Processing and Communications (ICDIPC)

作者： Ashraf Sayed Abdou Mostafa Abdel Aziem Ashraf Aboshosha Information System Department AAST Cairo Egypt Computer Science Department AAST Cairo Egypt Eng. Dept. NCRRT Atomic Energy Authority Cairo Egypt

ISBN: (纸本)9781467375054

Indoor localization using fingerprinting techniques became more attracting to researchers in recent years because of their high accuracy. However, unpredictable Received Signal Streng.h (RSS) is one of the challeng.s. In our proposed system, it can be reduced by using strong Access Points (APs) selection method to select a subset of reliable APs and decrease the input of feature dimension. In addition, the computational cost due to a large fingerprint database was addressed by using Affinity Propagation clustering algorithm. The efficient indoor localization system relies on Support Vector Regression (SVR) due to its advantage of high generalization ability. The detailed results of real experiments indicate that the proposed system using SVR achieved a high accuracy compared to the conventional indoor algorithm.

关键词： Training Databases Fingerprint recognition Clustering algorithms Feature extraction Support vector machines Wireless LAN

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A framework for test quality assessment

A framework for test quality assessment

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European Test Conference

作者： G.-J. Tromp A.J. van der Goor Department of Electrical Engineering Section Computer Architecture Delft University of Technnology Netherlands Delft Univ. of Technol. Dept. of Electr. Eng. Netherlands

This paper describes a novel framework for estimating the quality level of tests for digital circuits, using realistic fault models which represent faults that are likely to occur. The framework contains test pattern generation and fault simulation programs, automated logic synthesis and silicon compilation programs, and an inductive fault analysis (IFA) program. The framework is used to produce experimental results concerning the detection of realistic bridging faults using single stuck-at test sets. The results show that compact stuck-at test sets, generated using state-of-the-art dynamic compaction techniques, barely decrease the fault coverage of bridging faults, as compared with uncompacted test sets. In addition the paper shows that logic synthesis can be used to increase the realistic bridging fault coverage.< >

关键词： Quality assessment Circuit faults Circuit testing Digital circuits Test pattern generators Analytical models Circuit simulation Logic testing Circuit synthesis Silicon

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