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15th Annual Conference on Advances in Autonomous Robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Social incentive policies to engage commercial building occupants in demand response

Social incentive policies to engage commercial building occu...

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2014 IEEE International Conference on Automation Science and Engineering, CASE 2014

作者： Li, Sisi Deng, Kun Zhou, Meng Chu Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ07012 United States Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai201804 China Coordinated Science Laboratory University of Illinois at Urbana-Champaign UrbanaIL61801 United States

Occupants' comfort is the primary target in a building operation. However their efforts are often neglected and ruled out from traditional control strategies of energy-efficient building management systems. Occupant-engaged control strategies have recently attracted many research attentions and demonstrated great potentials for energy saving. With them, occupants' behavior is incorporated into the closed-loop control methods in which their initiatives actively contribute to building services and energy utility by explicitly expressing their preferences. This work proposes an occupant-engaged demand response (DR) strategy for building automation in which occupants are actively engaged to adapt their energy consumption in response to incentive opportunities designed by facility managers. A model-based study and a Nash-Equilibrium-based solution are provided to assist facility managers with the design of social incentive policies to promote occupant participation, along with the guarantee of lucrativeness for a DR event. © 2014 IEEE.

关键词： Energy efficiency

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Amorphous localization algorithm based on BP artificial neural network

Amorphous localization algorithm based on BP artificial neur...

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International Conference on Software Intelligence Technologies and Applications & International Conference on Frontiers of Internet of Things 2014

作者： Lin-zhe Zhao Xian-bin Wen Dan Li Key Laboratory of Computer Vision and System Ministry of Education Tianjin University of Technology Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology China School of Computer Science and Technology Tianjin University China

Accurate localization of nodes is one of the key issues of wireless sensor network (WSN). Because the disadvantages of the classical Amorphous algorithm will produce large localization error in the process of localization. In order to solve the problem, an improved localization algorithm is proposed in this paper to reduce the localization error. The improved algorithm introduces the received signal strength threshold to modify the minimum hop from the unknown node to the beacon node, then BP algorithm is introduced to optimize the threshold and reduce the localization error. The simulation results show that the improved algorithm is better than other algorithms in the localization accuracy and energy consumption, and it is simple to achieve in the hardware.

关键词： Amorphous localization algorithm BP artificial neural network Wireless Sensor Network (WSN) localization Artificial neural networks algorithms Wireless sensor networks noncrystalline

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A Strategy to Integrate Test Questions from Web Towards a Textbook

A Strategy to Integrate Test Questions from Web Towards a Te...

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International Conference on Semantics, Knowledge and Grid (SKG)

作者： Biao Ren Yukun Li Shugang Tang Chengyi Xia Key Laboratory of Intelligence Computing and Novel Software Technology Tianjin China Tianjin University of Technology Tianjin University of Technology Tianjin CN Ministry of Education Tianjin Key Laboratory of Computer Vision and System China

ISBN: (纸本)9781479967162

With the development of network technology, the amount of information on network has been exploded. How to effectively make use of the web information resource has been an important problem which need to be solved. Facing the problem, scholars have some works on web information integration. But these studies mainly pay attention to specific domain information integration, such as news field, movie field, music field, blog field, and so on. There are few studies on information collection towards educational field. In this paper we propose an education-oriented approach for integrating test questions towards a special course. The method is based on a textbook's name and authors' information, and integrate the textbook's catalog and test questions automatically from Web, then computing the similarity between catalog of the textbook and test questions for classification, reaching to the purpose of building test question library by automatic method. Based on the method, we develop a prototype system. The precision and feasibility of the method have been verified by experiments.

关键词： Catalogs Libraries Education Database systems Sections Vectors

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A Petri Nets Based Approach for Detecting the Data Races and Deadlocks in OpenMP Program

A Petri Nets Based Approach for Detecting the Data Races and...

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2012 Third International Conference on Theoretical and Mathematical Foundations of Computer Science(ICTMF 2012)

作者： Yulong Xian Zhijun Ding Department of Computer Science and Technology Tongji University The Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji University

Because of OpenMP programs shielding the underlying parallel execution and scheduling details,data races and deadlocks are tend to occur during program ***,this paper puts forward the modeling method of OpenMP programs based on Petri *** flow of programs are modeled according to the semantics of program control statements and directives of OpenMP programs;Data flow of programs are modeled by abstracting read and write operations related to shared *** two detection algorithms of data race and deadlock for OpenMP program are given based on the coverability tree of Petri ***,corresponding software tool is designed and implemented,and an OpenMP program example of the dining philosophers problem is analyzed to indicate the effectiveness of this method and tools.

关键词： OpenMP, Data races, Deadlock, Static detection, Petri nets

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A fast restarting particle swarm optimizer

A fast restarting particle swarm optimizer

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Congress on Evolutionary Computation

作者： Junqi Zhang Xiong Zhu Wei Wang Jing Yao Department of Computer Science and Technology Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

Particle swarm optimization (PSO) is a swarm intelligence technique that optimizes a problem by iterative exploration and exploitation in the search space. However, PSO cannot achieve the preservation of population diversity on solving multimodal optimization problems, and once the swarm falls into local convergence, it cannot jump out of the local trap. In order to solve this problem, this paper presents a fast restarting particle swarm optimization (FRPSO), which uses a novel restarting strategy based on a discrete finite-time particle swarm optimization (DFPSO). Taking advantage of frequently speeding up the swarm to converge along with a greater exploitation capability and then jumping out of the trap, this algorithm can preserve population diversity and provide a superior solution. The experiment performs on twenty-five benchmark functions which consists of single-model, multimodal and hybrid composition problems, the experimental result demonstrates that the performance of the proposed FRPSO algorithm is better than the other three representatives of the advanced PSO algorithm on most of these functions.

关键词： Particle swarm optimization Sociology Statistics Convergence Oscillators Algorithm design and analysis Benchmark testing

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GIRAFFE: A scalable distributed coordination service for large-scale systems

GIRAFFE: A scalable distributed coordination service for lar...

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IEEE International Conference on Cluster computing

作者： Xuanhua Shi Haohong Lin Hai Jin Bing Bing Zhou Zuoning Yin Sheng Di Song Wu Services Computing Technology and System Lab School of Computer Science and Technology Huazhong University of Science and Technology Centre for Distributed and High Performance Computing School of Information Technologies University of Sydney GraphSQL Inc. INRIA and Argonne National Laboratory

ISBN: (纸本)9781479955497

The scale of cloud services keeps increasing over time, significantly introducing huge challenges in system manageability and reliability. Designing coordination services in cloud is the right track to solve the above problems. However, existing coordination services (e.g., Chubby and ZooKeeper) only perform well in read-intensive scenario and small ensemble scales. To this end, we propose Giraffe, a scalable distributed coordination service. There are three important contributions in our design. (1) Giraffe organizes coordination servers using interior-node-disjoint trees for better scalability. (2) Giraffe employs a novel Paxos protocol for strong consistency and fault-tolerance. (3) Giraffe supports hierarchical data organization and in-memory storage for high throughput and low latency. We evaluate Giraffe on a high performance computing test-bed. The experimental results show that Giraffe gains much better write performance than ZooKeeper when server ensemble is large. Giraffe is nearly 300% faster than ZooKeeper on update operations when ensemble size is 50 servers. Experiments also show that Giraffe reacts and recovers more quickly than ZooKeeper against node failures.

关键词： cloud computing fault tolerant computing large-scale systems protocols public domain software reliability Giraffe Paxos protocol ZooKeeper cloud services fault-tolerance hierarchical data organization memory storage scalable distributed coordination service Color Proposals Protocols Scalability Servers Topology Vegetation Consistency Coordination Service Distributed Cloud system Fault Tolerance

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Patra: Parallel tree-reweighted message passing architecture

Patra: Parallel tree-reweighted message passing architecture

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International Conference on Field Programmable Logic and Applications

作者： Wenlai Zhao Haohuan Fu Guangwen Yang Wayne Luk Ministry of Education Key Laboratory for Earth System Modeling Tsinghua University Tsinghua National Laboratory for Information Science and Technology (TNList) Department of Computing Imperial College London

Maximum a posteriori probability inference algorithms for Markov Random Field are widely used in many applications, such as computer vision and machine learning. Sequential tree-reweighted message passing (TRW-S) is an inference algorithm which shows good quality in finding optimal solutions. However, the performance of TRW-S in software cannot meet the requirements of many real-time applications, due to the sequential scheme and the high memory, bandwidth and computational costs. This paper proposes Patra, a novel parallel tree-reweighted message passing architecture, which involves a fully pipelined design targeting FPGA technology. We build a hybrid CPU/FPGA system to test the performance of Patra for stereo matching. Experimental results show that Patra provides about 100 times faster than a software implementation of TRW-S, and 12 times faster than a GPU-based message passing algorithm. Compared with an existing design in four FPGAs, we can achieve 2 times speedup in a single FPGA. Moreover, Patra can work at video rate in many cases, such as a rate of 167 frame/sec for a standard stereo matching test case, which makes it promising for many real-time applications.

关键词： Field programmable gate arrays Message passing Algorithm design and analysis Bandwidth Random access memory Accuracy Vectors

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Dynamically tolerating and detecting asymmetric races

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Jisuanji Yanjiu yu Fazhan/Computer Research and Development 2014年第8期51卷 1748-1763页

作者： Wang, Wenwen Wu, Chenggang Ratanaworabhan, Paruj Yuan, Xiang Wang, Zhenjiang Li, Jianjun Feng, Xiaobing Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Engineering Kasetsart University Bangkok10900 Thailand

Asymmetric races are a common type of data races. They are triggered when a thread accesses a shared variable in a critical section, and another thread accesses the same shared variable not in any critical section, or in a critical section guarded by a different lock. Asymmetric races in multi-threaded programs are usually harmful. To solve the problem introduced by asymmetric races, ARace is proposed. ARace utilizes shared variable protecting and write buffer to dynamically tolerate and detect asymmetric races. Shared variable protecting is used to protect shared variables that are read-only and read-before-write in critical sections, and these shared variables should not be modified out of critical sections;write buffer is used to buffer the writing operations to shared variables in critical sections. ARace can not only tolerate asymmetric races triggered by shared variable accesses in and out of critical sections, but also detect asymmetric races triggered by shared variable accesses in concurrent critical sections. ARace can be directly applied to binary code and requires neither additional compiler support nor hardware support. In addition, an implementation based on dynamic binary instrumentation is also proposed. The experimental results demonstrate that ARace guarantees the tolerance and detection of asymmetric races while incurring acceptable performance and memory overhead.

关键词：非对称数据竞争容忍和检测写缓冲区页保护动态二进制插桩

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Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

Cooperative and Geometric Learning Algorithm (CGLA) for path...

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作者： Zhang, Baochang Liu, Wanquan Mao, Zhili Liu, Jianzhuang Shen, Linlin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China Department of Computing Curtin University Perth WA 6102 Australia Shenzhen Key Laboratory of Spatial Smart Sensing and Services School of Computer Science and Software Engineering Shenzhen University China Media Laboratory Huawei Technologies Co.Ltd. Shenzhen 518129 China

In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs. © 2014 Elsevier Ltd. All rights reserved.

关键词： Motion planning

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