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Frontier-based multi-robot map exploration using particle swarm optimization

Frontier-based multi-robot map exploration using particle sw...

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IEEE Symposium on Swarm Intelligence

作者： Wang, Yiheng Liang, Alei Guan, Haibing School of Software Shanghai Jiao Tong University Shanghai Key Laboratory of Scalable Computing and Systems Shanghai 200240 China Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai Key Laboratory of Scalable Computing and Systems Shanghai 200240 China

ISBN: (纸本)9781612840529

Exploring an unknown environment using team of autonomous mobile robots is an important task in many real-world applications. Many existing map exploration algorithms are based on frontier, which is the boundary between unexplored space and known open space. In the context of multiple robots, the main problem of frontier-based algorithm is to choose appropriate target points for the individual robots so that they can efficiently explore the different part of the common area. This paper proposed a novel distributed frontier-based map exploration algorithm using Particle Swarm Optimization model for robot coordination. In this algorithm, the robot keeps moving to the nearby frontier to reduce the size of the unknown region, and is navigated towards frontier far away based on the PSO model after exploring the local area. The exploration is completed when there are no frontier cells on the map. Our algorithm has been implemented and tested both in simulation runs and real world experiment. The result shows that our method has a good scalability and efficiency. © 2011 IEEE.

关键词： Particle swarm optimization (PSO)

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Hybrid simple artificial immune system (SAIS) and particle swarm optimization (PSO) for spam detection

Hybrid simple artificial immune system (SAIS) and particle s...

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Malaysian Conference in software engineering (MySEC)

作者： Saber Salehi Ali Selamat Software Engineering Research Group Department of Software Engineering Faculty of Computer Science & Information Systems University of Technology of Malaysia Johor Malaysia

Spam detection is a significant problem which considered by many researchers by various developed strategies. Among many others, simple artificial immune system is one of those being proposed. There is a deficiency in number of optimization methods in simple artificial immune system (SAIS). This problem can be solved and eliminated using other optimization methods besides mutation. In this research, SAIS was hybridized by particle swarm optimization (PSO) for optimizing the performance of SAIS for spam filtering. PSO was used with mutation to reinforce the immune system's searches to find the best class in exemplar for classification. Achieved results represent the Hybrid SAIS and PSO is superior to that of a SAIS.

关键词： Immune system Classification algorithms Electronic mail Training data Accuracy Optimization Filtering

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Students' perceptions of the differences between formal and informal learning 11

Students' perceptions of the differences between formal and ...

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7th International Computing Education Research Workshop, ICER 2011

作者： Boustedt, Jonas Eckerdal, Anna McCartney, Robert Sanders, Kate Thomas, Lynda Zander, Carol Division of Technology and Environment University of Gävle Gävle Sweden Department of Information Technology Uppsala University Uppsala Sweden Department of Computer Science and Engineering University of Connecticut Storrs CT United States Mathematics and Computer Science Department Rhode Island College Providence RI United States Department of Computer Science Aberystwyth University Aberystwyth United Kingdom Computing and Software Systems University of Washington Bothell Bothell WA United States

ISBN: (纸本)9781450308298

Research has shown that most learning in the workplace takes place outside of formal training and, given the swiftly changing nature of the field, computer science graduates more than most workers, need to be able to learn computing topics outside of organized classes. In this paper we discuss students' perceptions of the difference between formal and informal learning of computing topics, based on three datasets: essays collected from a technical writing course at a single university;the results of a brainstorming exercise conducted in the same course;and semi-structured interviews conducted at six institutions in three countries. The students report strengths and weaknesses in informal learning. On the one hand, they are motivated, can choose their level of learning, can be more flexible about how they learn, and often retain the material better. On the other hand, they perceive that they may miss important aspects of a topic, learn in an ad hoc way, and have difficulty assessing their learning. © 2011 ACM.

关键词： Students

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Towards runtime testing in automotive embedded systems

Towards runtime testing in automotive embedded systems

引用

IEEE International Symposium on Industrial Embedded systems

作者： Bradatsch, C. Ungerer, T. Zalman, R. Lajtkep, A. Systems and Networking Department of Computer Science University of Augsburg 86159 Augsburg Germany Automotive Electronics Microcontroller Development System and Software Engineering Infineon Technologies AG 75579 Neubiberg Germany Electrics/Electronics and Driver Environment Platform Technologies Software and AUTOSAR BMW Group 80788 Munich Germany

ISBN: (纸本)9781612848204

Runtime testing is a common way to detect faults during normal system operation. To achieve a specific diagnostic coverage runtime testing is also used in safety critical, automotive embedded systems. In this paper we propose a test architecture to consolidate the hardware resource consumption and timing needs of runtime tests and of application and system tasks in a hard real-time embedded system as applied to the automotive domain. Special emphasis is put to timing requirements of embedded systems with respect to hard real-time and concurrent hardware resource accesses of runtime tests and tasks running on the target system. © 2011 IEEE.

关键词： Embedded systems

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Transmission reduction based on order compression of compound aggregate data over wireless sensor networks

Transmission reduction based on order compression of compoun...

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2011 6th International Conference on Pervasive Computing and Applications, ICPCA 2011

作者： Yang, Chi Yang, Zhimin Ren, Kaijun Liu, Chang School of Computer Science and Software Engineering University of Western Australia 35 Stirling Highway Crawley WA 6009 Australia Department of Computer Shandong University at Weihai Weihai China College of Computer National University of Defense Technology Changsha Hunan 410073 China CS3-Centre for Complex Software Systems and Services Swinburne University of Technology Melbourne 3122 Australia

ISBN: (纸本)9781457702082

To reduce the energy consumption and maximize the lifetime of the wireless sensor network (WSN), different techniques are developed to reduce the communication over WSN. However, it is also critical to discuss the energy cost problems in computing and maintaining the information of aggregate queries. Currently, some in-network temporal data suppression techniques are developed for more efficiently processing data aggregation queries over WSN. With those techniques, a data source node which sends data only forwards newly collected data with its value changing beyond predefined constants, to a data aggregate node which receives data. Otherwise, an aggregate node can infer the absent data report of a source node from the data history of the same source node. In order to further reduce the data communication, hence the energy consumption of the In-network temporal data suppression techniques, in this paper, a technique which makes use the order relationship of compound sensor data is proposed to compress data size during the In-network prediction. An empirical study is carried out to show the performance gains of the proposed techniques optimized by order compression comparing to the previous In-network prediction technique. © 2011 IEEE.

关键词： Energy utilization

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Ontology of moodle e-learning system for social network analysis

Ontology of moodle e-learning system for social network anal...

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IEEE Conference on Open systems (ICOS)

作者： Norazah Yusof Andi Besse Firdausiah Mansur Mohd Shahizan Othman Department of Software Engineering Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia Johor Malaysia Department of Information Systems Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia Johor Malaysia

The analysis using Social Network Analysis (SNA) is focusing more on the number or the frequency of social interactions based on adjacency matrix. This method cannot be used to observe the semantic relationship among e-Learning components. Therefore, this paper aims to propose a new paradigm of Social Network Analysis (SNA) using ontology structure of Moodle e-Learning. By considering the relationship of ontology, we can understand the meaning of semantic relationship more deeply. The ontology of Moodle e-learning system for social network analysis will become great advantage to make measurement not only based on the matrix or number of interactions but also based on the semantic meaning of the relationships among users.

关键词： Social network services Ontologies Electronic learning Open systems Semantics Conferences Internet

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Resource Provisioning Policies to Increase IaaS Provider's Profit in a Federated Cloud Environment

Resource Provisioning Policies to Increase IaaS Provider's P...

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IEEE International Conference on High Performance Computing and Communications (HPCC)

作者： Adel Nadjaran Toosi Rodrigo N. Calheiros Ruppa K. Thulasiram Rajkumar Buyya Cloud Computing and Distributed Systems (CLOUDS) Laboratory Department of Computer Science and Software Engineering University of Melbourne Australia Department of Computer Science University of Manitoba Canada

Cloud Federation is a recent paradigm that helps Infrastructure as a Service (IaaS) providers to overcome resource limitation during spikes in demand for Virtual Machines (VMs) by outsourcing requests to other federation members. IaaS providers also have the option of terminating spot VMs, i.e, cheaper VMs that can be canceled to free resources for more profitable VM requests. By both approaches, providers can expect to reject less profitable requests. For IaaS providers, pricing and profit are two important factors, in addition to maintaining a high Quality of Service (QoS) and utilization of their resources to remain in the business. For this, a clear understanding of the usage pattern, types of requests, and infrastructure costs are necessary while making decisions to terminate spot VMs, outsourcing or contributing to the federation. In this paper, we propose policies that help in the decision-making process to increase resources utilization and profit. Simulation results indicate that the proposed policies enhance the profit, utilization, and QoS (smaller number of rejected VM requests) in a Cloud federation environment.

关键词： Outsourcing Quality of service Mathematical model Equations Pricing Computational modeling Availability

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Interaction design for wheelchair using Nintendo Wiimote controller

Interaction design for wheelchair using Nintendo Wiimote con...

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International Conference on User science and engineering (i-USEr)

作者： Mahmood Ashraf Masitah Ghazali Department of Software Engineering Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia Skudai Johor Malaysia

Impaired people require additional attention by the people around them and also by the people who design artifacts and tools for them. We investigate the interaction design aspects of a wheelchair controller, developed by embedded software engineers in the laboratory, according to the rules of physicality. The purpose of the study is to facilitate impaired people with ease of use while bridging the gap between human-computer interaction and embedded software engineering. By proposing Nintendo's Wiimote as wheelchair controller, we intend to produce intuitive, simple and natural interaction with the wheelchair.

关键词： Wheelchairs Presses Thumb Sensors Games Manuals

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software architecture reliability prediction models: An overview

Software architecture reliability prediction models: An over...

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Malaysian Conference in software engineering (MySEC)

作者： Furkh Zeshan Radziah Mohamad Department of Software Engineering Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia Skudai Johor Malaysia

The ability to predict reliability of the software during its architectural design not only helps in saving cost but also helps to improve its reliability. With the growing size and complexity of software applications researchers have focused that how to get software reliability through its architecture. Architectural design phase is the stage where one can evaluate either the developed software will fulfill the requirements or not; that's why a highly reliable method is required to analyze and predict the software's architectural reliability. Reliability prediction at architecture level is a challenging task because the architecture reliability depends on the reliability of the individual component, their size, complexity, implemented technology and the interaction among the components. In this paper we have compared the existing reliability prediction models based on our criteria. The purpose is to discover that which one is the best and what is the shortcoming of these models. We also have suggested the research activities needed to overcome these shortcomings.

关键词： software reliability Analytical models software computer architecture Reliability engineering Unified modeling language

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WSMO-M: NFP-aware web service discovery for mobile computing

WSMO-M: NFP-aware web service discovery for mobile computing

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Malaysian Conference in software engineering (MySEC)

作者： Nor Azizah Saadon Radziah Mohamad Department of Software Engineering Faculty of Computer Science and Information Systems Universiti Teknologi Malaysia Skudai Johor Malaysia

Nowadays, the significant advancement of mobile technologies has led to the possibility of accessing web services in a pervasive way and semantic web service discovery approaches seem to be the most promising approach to perform semantic matching. The proliferation of web services with similar functionalities is increasing rapidly. Thus, differentiation of the characteristics of web service offered has become more crucial. Without considering non-functional properties (NFPs) such as user requirement and quality standard of web services, it may result to irrelevant services to the users' need in mobile computing. Mobile users may discover unusable web services invoked, due to the device compatibility issues and lack of quality standard information in service description. This paper proposes WSMO-M(Mobile), an enhancement of WSMO to describe NFPs as a context and Quality of Web Service (QoWS) information for mobile computing environment. Initially, for annotating web service description, the context and QoWS models are specified by using Web Service Modeling Ontology (WSMO). Semantic matchmaking and degree of match calculation are also presented to define the importance of non-functional properties in mobile computing during the discovery and selection of web services. Finally, this paper demonstrates the applicability of the enhancement through a simple case study.

关键词： Web services Context Mobile communication Mobile computing Context modeling Ontologies Computational modeling

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