In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor d...
In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.
The energy control of a Wireless Sensor Network (WSN) often leads to an unbalanced state between the battery storage system, energy extraction through photovoltaic systems energy, and energy utilization in the WSN. Th...
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Non-conformance cost is one of the key performance indicators in determining the success of executing a project. This study will substantiate the significance of two consecutive fiscal years of non-conformance cost da...
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Over the last years, the engine calibration task has mostly been conducted based on the engineers' knowledge. As a result, considering the complexity of modern engines, finding the most suitable configuration for ...
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Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot ...
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Sokoban-type puzzles and their variants involve complex planning and decision-making challenges in wide and deep search spaces. Such scenarios are interesting for testing path-planning algorithms. This document uses A...
Sokoban-type puzzles and their variants involve complex planning and decision-making challenges in wide and deep search spaces. Such scenarios are interesting for testing path-planning algorithms. This document uses A * and IDA * (Iterative Deepening A *) algorithms to solve Zen Puzzle Garden game boards; a Sokoban-type puzzle where you need rake the sandy area completely. The algorithms are evaluated in terms of speed and node expansion in moderately complex boards. Additionally, we implement three improvements: transposition tables, move ordering, and deadlock tables. The results show that IDA * with the three proposed improvements is on average faster than A *. Although its strength is its low memory usage, it can be seen that it is very competitive versus A * in terms of time usage. Transposition tables and deadlocks tables reduce by 500 times the number of nodes expanded by the IDA * without improvements. On the other hand, the ordering of nodes is not very effective for some boards, which causes a worse performance of the IDA * algorithm, giving rise to greater exploration in boards that do not lead to the solution. Studying these algorithms can be beneficial in the field of path-finding for Sokoban-type game domains or solver-based procedural content generators.
Developing a standarized metric for difficulty that can be applied to a large number of puzzles is not trivial. This does not come as a surprise because of the subjective factors involved in defining difficulty. Howev...
Developing a standarized metric for difficulty that can be applied to a large number of puzzles is not trivial. This does not come as a surprise because of the subjective factors involved in defining difficulty. However, studies that address the design and application of metrics that can be applied to multiple games are still important, because they can still be used to increase the quality of content generated by automated agents. We take a look at applying information entropy concepts in the game Asteroid Escape and compare the results with other metrics to assess difficulty used in games of similar characteristics. This approach is largely based on future work proposal from a previous study done on The Witness puzzles that yielded positive results on using an automatic method to assess the difficulty of user rated puzzles. This study also includes a modification of BFS and A* capable of finding every shortest solution. From the implementation, it is possible to look at contradicting results with the literature, where basic metrics had a better result correlating with an official definition of difficulty from the game designers. The impact expected from this study is to propose an update to the the corpus of puzzle games where the uncertainty metric for difficulty has been applied. As having an accurate assessment of difficulty can open the doors to other studies, such as improving the quality of the output from procedural content generation methods in games or propose an automated method of difficulty adjustment based on this metric.
In order to achieve the required change of systems with regard to sustainable development goals, systems from different sectors such as energy, agriculture, mobility, and production must be transformed, foremost in a ...
In order to achieve the required change of systems with regard to sustainable development goals, systems from different sectors such as energy, agriculture, mobility, and production must be transformed, foremost in a digital way. The resulting systems are called systems of systems (SoSs). Software and systemsengineering can make contributions to the necessary transformation of these systems. SoSs that are characterized by special dynamics (e.g., more frequent context changes) are referred to as dynamic SoSs (dynaSoS). Currently, there are still many open questions and challenges in their design and realization. In order to get an overview of these, in this paper we present a survey that was executed within the context of the project “DynaSoS”. For this purpose, qualitative interviews were conducted with experts in software and SoS engineering from industry and academia. Based on the statements received, 36 challenges were grouped and prioritized in several workshops. This report provides an overview of ten central software engineering issues and research challenges in the realization of dynaSoS and aims to contribute to a better understanding of the application-oriented challenges facing industry.
Real-time social interactions and multi-streaming are two critical features of live streaming services. In this paper, we formulate a new fundamental service query, Social-aware Diverse and Preferred Organization Quer...
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One of the key emerging technologies in Industry 4.0 is the Digital Twin (DT). Although it promises increased efficiency, productivity, and innovation, its adoption faces challenges such as high investment costs and t...
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