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IEEE Annual International computer software and Applications Conference (COMPSAC)

作者： Sun Bo Xinjun Mao Shuo Yang Long Chen College of Computer National University of Defense Technology Changsha China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China

ISBN: (数字)9781665488105

ISBN: (纸本)9781665488112

The Robot Operating System (ROS) has become the most popular robot development framework in the last few years, which has loosely coupled structure and provides remote communications between different component nodes. The ROS messages are critical to bridge the communication channels and clearly define the data structures. The developers can use the standardized or user-customized ROS message types to construct a communication channel between two component nodes uniquely. However, it becomes increasingly difficult for developers to find the required ROS message type from thousands of diverse ROS message types in ROS-based robotic software development. Finding the proper ROS message type is a non-trivial task because developers may hardly know the exact names of required ROS messages but only has a rough knowledge of the task domain features. To tackle this challenge, we construct a novel ROS Message Knowledge Graph (RMKG) with 4543 entities and 14320 relationships, including all ROS message types and message packages. We take the shortest path algorithm to search ROS message in RMKG by searching with ROS message feature or ROS message package and visualize the subgraph structure of the search results. Moreover, we develop a ROS message package library that supports fuzzy queries to find the required message package. A comprehensive evaluation of RMKG shows the high accuracy of our knowledge construction approach. A user study indicates that RMKG is promising in helping developers find suitable ROS message types for robotics software development tasks. An effect evaluation of message package fuzzy query shows the good effects of our fuzzy query method under different situations.

关键词： Bridges Operating systems Conferences Communication channels Data structures software Libraries

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Discovering API Directives from API Specifications with Text Classification

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Journal of computer Science & Technology 2021年第4期36卷 922-943页

作者： Jing-Xuan Zhang Chuan-Qi Tao Zhi-Qiu Huang Xin Chen College of Compute Science and Technology Nanjing University of Aeronautics and AstronauticsNanjing 210016China Key Laboratory of Safety-Critical Software(Nanjing University of Aeronautics and Astronautics) Ministry of Industry and Information TechnologyNanjing 210016China Key Laboratory of Complex Systems Modeling and Simulation(Hangzhou Dianzi University) Ministry of Education Hangzhou 310018China School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou 310018China

Application programming interface(API)libraries are extensively used by *** correctly program with APIs and avoid bugs,developers shall pay attention to API directives,which illustrate the constraints of ***,API directives usually have diverse morphologies,making it time-consuming and error-prone for developers to discover all the relevant API *** this paper,we propose an approach leveraging text classification to discover API directives from API ***,given a set of training sentences in API specifications,our approach first characterizes each sentence by three groups of ***,to deal with the unequal distribution between API directives and non-directives,our approach employs an under-sampling strategy to split the imbalanced training set into several subsets and trains several *** a new sentence in an API specification,our approach synthesizes the trained classifiers to predict whether it is an API *** have evaluated our approach over a publicly available annotated API directive *** experimental results reveal that our approach achieves an F-measure value of up to 82.08%.In addition,our approach statistically outperforms the state-of-the-art approach by up to 29.67%in terms of F-measure.

关键词： Application programming interface(API)directive API specification imbalanced learning text classification

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A New Atmospheric Dataset for GIIRS Sampled from ERA5 Using Shannon Entropy Method

A New Atmospheric Dataset for GIIRS Sampled from ERA5 Using ...

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2020 International Conference on Innovative Solutions in Hydropower and Environmental and Civil engineering

作者： Zhang, Qi Yu, Yi Zhang, Weimin College of Meteorology and Oceanography National University of Defense Technology Changsha410073 China College of Computer Science National University of Defense Technology Changsha410073 China Key Laboratory of Software Engineering for Complex Systems Changsha410073 China

Geostationary Interferometric Infrared Sounder (GIIRS) on board the new Chinese geostationary meteorological satellite Fengyun-4A is aimed to obtain three-dimensional atmospheric information regularly at the regional scale. Since the existing atmospheric datasets are global covered and they are not representative of the GIIRS detection area, a diverse and local representative atmospheric dataset is required for GIIRS in training transmittance parameterization scheme of fast radiative transfer model and retrieving atmospheric profiles. The new atmospheric dataset for GIIRS application in this paper is sampled from the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation reanalysis (ERA5) 2019 dataset using Shannon entropy sampling method. The new dataset demonstrates the feature of uniform distribution within multiple atmospheric variables' (i.e. atmospheric temperature, specific humidity, 2 meter temperature) variation ranges and GIIRS's spatial coverage. To address the issue derived from the climate difference and the varied vertical pressure structure of regions with great differences in topographic height, the study area is divided into six categories regarding of topographic height categories where atmospheric dataset are sampled separately. Seasonal variation is also taken into account in the process of sampling. Compared with the initial randomly sampled dataset, the atmospheric and 2 meter temperature in the new dataset demonstrate a higher level of uniformity within their variation ranges. The statistical results indicate that the differences between samples in the new dataset are enlarged, meanwhile, the new dataset well retains the statistical characteristics of the original ERA5 dataset. The new dataset has a potential in the study of the utility of GIIRS data in the numerical weather forecast. © Published under licence by IOP Publishing Ltd.

关键词： Weather forecasting

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ANFIS and SA Based Approach to Prediction, Scheduling, and Performance Evaluation for Semiconductor Wafer Fabrication

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Chinese Journal of Electronics 2023年第1期22卷 25-30页

作者： Zhengcai Cao Huidan Zhao Yongji Wang College of Information Science and Technology Beijing University of Chemical Technology Beijing China State Key Laboratory of Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences Beijing China

In this paper, an optimized mechanism for Semiconductor wafer fabrication (SWF) by integrating the Adaptive neuro-fuzzy inference system (ANFIS) with Simulated annealing (SA) algorithm is proposed. In this approach, aiming to solve the rush order problem which significantly affect the cycle time and impact the Work in process (WIP) of lots due to the high priority, we build an ANFIS based prediction model which will be embedded into releasing to forecast product codes and quantities of the contingent rush orders. Then a scheduler based on SA algorithm is constructed, the coding of which represents a combination of scheduling policies, including lot releasing policies, dispatching rules, batching rules and settingup rules. When the SA finished its optimization process, an optimal scheduling policy is produced. By using the proposed approach, we will find that the system can be optimized to a large extent and give a better performance.

关键词： Semiconductor device modeling Job shop scheduling System performance Optimal scheduling Simulated annealing Predictive models Semiconductor device manufacture

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Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators

arXiv

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arXiv 2025年

作者： Zhang, Yunsong Zhou, Xinyu Zhang, Feitian Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

Robotic wrists play a pivotal role in the functionality of industrial manipulators and humanoid robots, facilitating manipulation and grasping tasks. In recent years, there has been a growing interest in integrating artificial muscle-driven actuators for robotic wrists, driven by advancements in technology offering high energy density, lightweight construction, and compact designs. However, in the study of robotic wrists driven by artificial muscles, dynamic model-based controllers are often overlooked, despite their critical importance for motion analysis and dynamic control of robots. This paper presents a novel design of a two-degree-of-freedom (2-DOF) robotic wrist driven by twisted and coiled actuators (TCA) utilizing a parallel mechanism with a 3RRRR configuration. The proposed robotic wrist is expected to feature lightweight structures and superior motion performance while mitigating friction issues. The Lagrangian dynamic model of the wrist is established, along with a nonlinear model predictive controller (NMPC) designed for trajectory tracking tasks. A prototype of the robotic wrist is developed, and extensive experiments are conducted to validate its superior motion performance and the proposed dynamic model. Subsequently, extensive comparative experiments between NMPC and PID controller were conducted under various operating conditions. The experimental results demonstrate the effectiveness and robustness of the dynamic model-based controller in the motion control of TCA-driven robotic wrists. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial manipulators

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Hydrodynamic bound states of rotating microcylinders in a confining geometry

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Physical Review Fluids 2024年第1期9卷 014102-014102页

作者： Hanliang Guo Yi Man Hai Zhu Department of Mathematics and Computer Science Ohio Wesleyan University Delaware Ohio 43015 USA Department of Mechanics and Engineering Science at College of Engineering and State Key Laboratory for Turbulence and Complex Systems Peking University Beijing 100871 China Center for Computational Mathematics Flatiron Institute New York New York 10010 USA

Many microswimmers propel themselves by rotating microcylindrical organelles such as flagella or cilia. These cylindrical organelles almost never live in free space, yet their motions in a confining geometry can be counterintuitive. For example, one of the intriguing yet classical results in this regard is that a rotating cylinder next to a plane wall does not generate any net force in Newtonian fluids and therefore does not translate. In this work we employ analytical and numerical tools to investigate the motions of microcylinders under prescribed torques in a confining geometry. We show that a cylinder pair can form four nontrivial hydrodynamic bound states depending on the relative position within the confinement. Our analysis shows that the distinct states are the results of competing effects of the hydrodynamic interactions within the cylinder pair and between the active cylinders and the confinement.

关键词： Laminar flows Low Reynolds number swimmers

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Real-Time Estimation for the Swimming Direction of Robotic Fish Based on IMU Sensors*

Real-Time Estimation for the Swimming Direction of Robotic F...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shikun Li Yufan Zhai Chen Wang Guangming Xie State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China National Engineering Research Center for Software Engineering Peking University Beijing China Institute of Ocean Research Peking University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

An increasing number of underwater robots inspired by Carangidae are developed, which is characterized by high efficiency and flexibility. However, estimating the swimming direction of these robotic fish is challenging due to the constant swinging of the head during movement, which complicates precise control. In this study, we installed two low-cost inertial measurement unit (IMU) sensors separately on the head and tail parts of a double-joint robotic fish and presented a method for accurately and timely estimating the swimming direction. Firstly, we effectively compensated for the yaw angle drift of the IMU sensors through a fused Kalman Filter. Furthermore, we propose the Anti-Shake Estimation (ASE) algorithm to calculate the real-time swimming direction using filtered yaw angles at a high updating rate of 100Hz. Finally, we applied the method to swimming direction feedback control for evaluation and comparison. The results show that our ASE method performs better than other existing methods in straight-line swimming experiments. The experiment of S-curve swimming also demonstrates the effectiveness of our method in complex missions.

关键词： Measurement units Estimation Tail Sensor phenomena and characterization Sensor fusion Robot sensing systems Fish

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Towards Adjoint Sensing and Acting Schemes and Interleaving Task Planning for Robust Robot Plan

Towards Adjoint Sensing and Acting Schemes and Interleaving ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Shuo Yang Xinjun Mao Shuo Wang Huaiyu Xiao Yuanzhou Xue Key Laboratory of Software Engineering for Complex Systems College of Computer National University of Defense Technology

Robots operating in open environments expect to have robust plans to achieve tasks successfully under environment uncertainties. However, both partial observability and dynamics of environment states have significantly decreased the robustness of task achievement, making robot task planning much more challenging. The partially observable states require the robot to obtain observations for optimally acting of the task goal. Also, state dynamics expects the robot to continuously observe surroundings for acting safely. Both challenges practically demand the purposeful and tight interactions between robot state-changing actuating actions and sensor-based observation actions. This paper proposes a novel model of Adjoint Sensing and Acting (ASA) that explicitly defines two parallel and sequential interaction schemes between actuating and observation actions, as well as an extended Behavior Tree for a concrete implementation of above schemes. We further propose an interleaving task planning approach for planning ASA-style plans, which integrates a deliberative POMDP planner for pursuing task goals, and a reactive Behavior Tree executive for fast responding to unexpected events. We experimentally demonstrate that ASA interaction schemes are practical and applicable to model and plan the open environment robot tasks. The plans from the interleaving task planning approach are both reactive in run-time response and efficient in task achievement.

关键词： Uncertainty Automation Conferences Robot sensing systems Robustness Planning Sensors

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Towards functional verifying a family of SystemC TLMs

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Frontiers of computer Science 2020年第1期14卷 53-66页

作者： Tun LI Jun YE Qingping TAN College of Computer National University of Defense TechnologyChangsha 410073China Laboratory of Software Engineering for Complex Systems Changsha 410073China Jiangnan Institute of Computing Technology Wuxi 214083China

It is often the case that in the development of a system-on-a-chip(SoC)design,a family of SystemC transaction level models(TLM)is *** in the same family often share common functionalities but differ in their timing,implementation,configuration and performance in various SoC developing *** most cases,all the TLMs in a family must be verified for the follow-up design *** our previous work,we proposed to call such family TLM product line(TPL),and proposed feature-oriented(FO)design methodology for efficient TPL ***,developers can only verify TLM in a family one by one,which causes large portion of duplicated verification ***,in our proposed methodology,functional verification of TPL has become a *** this paper,we proposed a novel TPL verification method for FO *** our method,for the given property,we can exponentially reduce the number of TLMs to be verified by identifying mutefeature-modules(MFM),which will avoid duplicated *** proposed method is presented in informal and formal way,and the correctness of it is *** theoretical analysis and experimental results on a real design show the correctness and efficiency of the proposed method.

关键词： system-on-a-chip transaction level model SystemC feature-oriented functional verification

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Autonomous Environmental Exploration and Target Tracking Control for Unmanned Surface Vehicles in Uncertain Environment

Autonomous Environmental Exploration and Target Tracking Con...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Kaiwei Zhu Shihan Kong Fang Wu Jinan Sun Junzhi Yu Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China SPIC Nuclear Energy Co. Ltd. China National Engineering Research Center for Software Engineering Peking University Beijing China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In this paper, a set of methods of autonomous obstacle exploration, avoiding, and target-tracking control in the uncertain environment is proposed. First, a secure and reliable obstacle exploration framework via multi-sensors information fusion is developed for USV to autonomously perceive obstacles in unknown environments. Second, a modified dynamic artificial potential field-based path planning method is proposed to dynamically generate a safe and feasible path even without complete prior obstacle position information. Third, a robust sliding mode control law with extended state observer is designed to track expectational target in the dynamical and uncertain environment. Finally, the target-tracking control law has been validated through the simulation experiments. Besides, the proposed methods of obstacle exploration, path planning, and target-tracking control are comprehensively evaluated through the simulation experiments in WEBOTS software, which is closer to the real world.

关键词： Target tracking Observers Path planning software Real-time systems Reliability Vehicle dynamics

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