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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： H. X. Zhang S.Y. Chen W. Wang J. W. Zhang G. H. Zong Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany Dept of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotic Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology Shenzhen China

This paper presents a novel field robot JL-I based on a reconfigurable concept for urban search and rescue applications. The robot consists of three identical modules; each module is an entire robotic system that can perform distributed activities. It features three-degrees-of-freedom (DOF) active joints actuated by serial and parallel mechanisms for changing shape and flexible docking mechanism. The docking mechanism enables adjacent modules to connect or disconnect flexibly and automatically. DOF analysis, working space analysis and the kinematics of the 3D active joint between connected modules are studied thoroughly. In the end a series of successful tests confirm the principles and the robot's capabilities.

关键词： Runtime Mobile robots Orbital robotics Robotics and automation Space technology Intelligent robots Kinematics Testing Prototypes Accidents

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A novel modular climbing caterpillar using low-frequency vibrating passive suckers

A novel modular climbing caterpillar using low-frequency vib...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： H. X. Zhang J. Gonzalez-Gomez S.Y. Chen W. Wang R. Liu D. Li J. W. Zhang Institute of Technical Aspects of Multimodal Systems Department of Computer Science University of Hamburg Hamburg Germany School of Engineering Universidad Autonoma de Madrid Spain Department of Informatics University of Hamburg Germany College of Information Engineering Zhejiang University of Technology Hangzhou China Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China

This paper presents a novel modular climbing caterpillar named ZC-I. After a related survey on the topic, a systematical summarizing on basic functions provided by this system is given. ZC-I features fast-building mechanical structure and low-frequency vibrating passive attachment principle. Active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. After that the discussion focuses on the various locomotion capabilities. Linear movement, turning movement, lateral movement, rotating and rolling movement are achieved based on an inspired control model to produce rhythmic motion. In the end a conclusion and future work are given.

关键词： Climbing robots Prototypes Kinematics Servomechanisms Joining processes Shape Adhesives Electromagnetic forces Electromagnets Mobile robots

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REQUIREMENTS FOR AN EVENT-BASED SIMULATION PACKAGE FOR GRID SYSTEMS

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Journal of Interconnection Networks 2007年第2期8卷 163-178页

作者： FATOS XHAFA JAVIER CARRETERO LEONARD BAROLLI ARJAN DURRESI Polytechnic University of Catalonia Department of Languages and Informatics Systems C/Jordi Girona 1-3 08034 Barcelona Spain . Polytechnic University of Catalonia Department of Computer Architecture C/Jordi Girona 1-3 08034 Barcelona Spain Department of Information and Communication Engineering Fukuoka Institute of Technology (FIT) 3-30-1 Wajiro-higashi Higashi-ku Fukuoka 811-0295 Japan Department of Computer Science Louisiana State University 298 Coates Hall Baton Rouge LA 70803 USA

In this paper we present a study on the requirements for the design and implementation of simulation packages for Grid systems. Grids are emerging as new distributed computing systems whose main objective is to manage and allocate geographically distributed computing resources to applications and users in an efficient and transparent manner. Grid systems are at present very difficult and complex to use for experimental studies of large-scale distributed applications. Although the field of simulation of distributed computing systems is mature, recent developments in large-scale distributed systems are raising needs not present in the simulation of the traditional distributed systems. Motivated by this, we present in this work a set of basic requirements that any simulation package for Grid computing should offer. This set of functionalities is obtained after a careful review of most important existing Grid simulation packages and includes new requirements not considered in such simulation packages. Based on the identified set of requirements, a Grid simulator is developed and exemplified for the Grid scheduling problem.

关键词： Grid systems event-based simulation requirements scheduling

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H∞ Filtering for a class of 2D systems

H∞ Filtering for a class of 2D systems

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European Signal Processing Conference (EUSIPCO)

作者： Ligang Wu James Lam Wojciech Paszke Krzysztof Gałkowski Eric Rogers Anton Kummert Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin P. R. China Department of Mechanical Engineering The University of Hong Kong Hong Kong Institute of Control and Computation Engineering University of Zielona Góra 65–246 Zielona Góra Poland Uniwersytet Zielonogorski Zielona Gora Lubuskie PL Department of Electronics and Computer Science University of Southampton Southampton U.K. Information and Media Engineering University of Wuppertal Faculty of Electrical

The unique characteristic of a repetitive process is a series of sweeps or passes through a set of dynamics defined over a finite duration known as the pass length. At the end of each pass, the process is reset and the next time through the output, or pass profile, produced on the previous pass acts as a forcing function on, an hence contributes to, the dynamics of the new pass profile. They are hence a class of systems with information propagation in two independent directions where here the dynamics over the finite pass length are described by a matrix linear differential equation and that from pass to pass has a discrete updating structure. This means that filtering/estimation theory/algorithms for, in particular, 2D discrete linear systems is not applicable. In this paper we solve a general filtering problem with a view toward use in the many applications where such action will be required.

关键词： Stability analysis Asymptotic stability Process control Signal processing Linear systems Filtering State-space methods

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Using a Grid Platform for Enabling Real Time User Modeling in On-line Campus

Using a Grid Platform for Enabling Real Time User Modeling i...

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International Conference on Complex, Intelligent and Software Intensive Systems, CISIS

作者： Santi Caballe Fatos Xhafa Thanasis Daradoumis Joan Esteve Leonard Barolli Arjan Durresi Universitat Oberta de Catalunya Barcelona Catalunya ES Dept. of Languages and Informatics Systems Polytechnic University of Catalonia Barcelona Spain Department of Computer Science Multimedia and Telecommunication Open University of Catalonia Barcelona Spain Department of Information and Communication Engineering Fukuoka Institute of Technology (FIT) Higashi-ku Fukuoka Japan Department of Computer Science Louisiana State University Baton Rouge LA USA

User modelling in on-line distance learning is an important research field focusing on two important aspects: describing and predicting students' actions and intentions as well as adapting the learning process to students' features, habits, preferences, and so on. The aim is to greatly stimulate and improve the learning experience. Indeed, on the one hand, students' intentions may change during the realization of learning activities and thus their actions evolve accordingly as the learning process moves forward. On the other hand, adaptive systems can effectively plan and design appropriate learning tasks according to students' features, habits and interests with the aim of facilitating the achievement of the learning goal. In this context, user modelling implies a continuous processing and analysis of user interaction data during long-term learning activities, which produces large and considerably complex information. As a consequence, processing this information is costly and could require computational capacity beyond that of a single computer. In this paper, we show how a grid approach can considerably decrease the processing time of log data of on-line distance educational Web-based systems. Our prototype is based on the master-worker paradigm and is implemented using a peer-to-peer platform running on the Planetlab nodes. The results of our study show the feasibility of using grid middleware to speed and scale up the processing of log data and thus achieve an efficient and dynamic user modeling in on-line distance learning

关键词： computer aided instruction Adaptive systems computer science Predictive models Context modeling Information analysis Peer to peer computing Software systems Application software Usability

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PERFORMANCE EVALUATION OF REACTIVE AND PROACTIVE PROTOCOLS FOR AD-HOC SENSOR NETWORKS USING DIFFERENT raDIO MODELS

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Journal of Interconnection Networks 2007年第4期8卷 387-405页

作者： TAO YANG LEONARD BAROLLI MAKOTO IKEDA ARJAN DURRESI FATOS XHAFA Graduate School of Engineering Fukuoka Institute of Technology (FIT) 3-30-1 Wajiro-Higashi Higashi-Ku Fukuoka 811-0295 Japan Department of Information and Communication Engineering Fukuoka Institute of Technology (FIT) 3-30-1 Wajiro-Higashi Higashi-ku Fukuoka 811-0295 Japan Department of Computer and Information Science Indiana University Perdue University Indianapolis 723 W. Michigan Street SL 280 Indianapolis IN 46202 USA Polytechnic University of Catalonia Department of Languages and Informatics Systems C/Jordi Girona 1-3 08034 Barcelona Spain

In this paper, we consider the behavior of a wireless ad-hoc sensor network for different radio models. By means of simulations, we analyze the performance of three protocols: AODV, DSR, and DSDV considering two radio models TworayGround and Shadowing. In difference with other works, we generalize the type of radio model by allowing the path loss randomnesses to be present in the service environment of the network. We study the perceived Goodput and Depletion of the ad-hoc sensor network and compare the performance of three protocols for different scenarios. The simulation results confirm the fact that the shadowing phenomena, by destroying the regularity of the network, reduce the mean distance among nodes and at the same time increase the interference level and the latency of packet transmission. In particular, we found a maximum relative difference of 70%. On the other hand, for the proactive DSDV routing protocol the energy consumption rate seems to be independent of the radio model, at least for moderate size of the network (256 nodes). Also, we found that the packet delivery ratio of AODV and DSR routing protocols are more stable than DSDV protocol.

关键词： Sensor networks Sensor-actor networks Ad-hoc networks radio models Reactive protocols Proactive protocols

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Developing a computer science-specific learning taxonomy 07

Developing a computer science-specific learning taxonomy

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2007 Working Group Reports on ITiCSE on Innovation and technology in computer Science Education, ITiCSE-WGR 2007

作者： Fuller, Ursula Johnson, Colin G. Ahoniemi, Tuukka Cukierman, Diana Hernán-Losada, Isidoro Jackova, Jana Lahtinen, Essi Lewis, Tracy L. Thompson, Donna McGee Riedesel, Charles Thompson, Errol Computing Laboratory University of Kent CanterburyCT2 7NF United Kingdom Institute of Software Systems Tampere University of Technology Tampere Finland School of Computing Science Simon Fraser University BurnabyBC Canada Department of Lenguajes Y Sistemas Informáticos Universidad Rey Juan Carlos Madrid Spain Faculty of Management Science and Informatics University of Zilina Zilina Slovakia Department of Information Technology Radford University RadfordVA24142 United States Department of Learning Commons Simon Fraser University BurnabyBC Canada Department of Computer Science and Engineering University of Nebraska Lincoln 259 Avery Hall LincolnNE68588-0115 United States Massey University Wellington New Zealand

ISBN: (纸本)9781450378420

Bloom's taxonomy of the cognitive domain and the SOLO taxonomy are being increasingly widely used in the design and assessment of courses, but there are some drawbacks to their use in computer science. This paper reviews the literature on educational taxonomies and their use in computer science education, identifies some of the problems that arise, proposes a new taxonomy and discusses how this can be used in application-oriented courses such as programming.

关键词： Taxonomies

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An Information Theoretic Framework for Ontology-based Bioinformatics

An Information Theoretic Framework for Ontology-based Bioinf...

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Information Theory and Applications Workshop, ITA

作者： Gil Alterovitz Michael Xiang Marco F. ramoni Harvard Partners Center for Genetics and Genomics Harvard Medical School Boston MA USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Department of Biology Massachusetts Institute of Technology Cambridge MA USA Division of Health Sciences and Technology Harvard Medical School and Massachusetts Institute of Technology Boston MA Children's Hospital Informatics Program Boston MA Harvard Partners Center for Genetics and Genomics Harvard Medical School Boston MA.

With myriad information being generated from high-throughput experiments such as microarrays and sequencing technologies, an ever-increasing amount of data is being recorded and analyzed with the help of hierarchical ontologies, such as the gene ontology (GO). We have developed a novel framework- based on the well established foundations of information theory- that allows for the evaluation of new types of hypotheses. The framework, encapsulated in open biomedical ontology-based exploration and search (OBOES), has already been applied in the investigation of different kinds of questions. The resulting framework enables the new field of information theoretic ontology-based analysis. We have applied this framework to create methods to re-engineer ontologies, explore fundamental questions on the evolution of biological complexity, determine optimal ontology terms for bioinformatics analysis, and quantify the usefulness of biofluids as proxies for tissues/diseases. In each case, we found that our methods provide novel, significant findings. An open source Java implementation of OBOES is available at: http://***.

关键词： Ontologies Bioinformatics Genomics Information analysis Biological information theory Information theory Genetic communication Humans Biochemistry Frequency

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AN EXPERIMENTAL STUDY ON GENETIC ALGORITHMS FOR RESOURCE ALLOCATION ON GRID SYSTEMS

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Journal of Interconnection Networks 2007年第4期8卷 427-443页

作者： FATOS XHAFA LEONARD BAROLLI ARJAN DURRESI Polytechnic University of Catalonia Department of Languages and Informatics Systems C/Jordi Girona 1-3 08034 Barcelona Spain Department of Information and Communication Engineering Fukuoka Institute of Technology (FIT) 3-30-1 Wajiro-higashi Higashi-ku Fukuoka 811-0295 Japan Department of Computer and Information Science Purdue University School of Science Indianapolis 723 W. Michigan St. SL 280M Indianapolis IN 46202 USA

Computational Grid (CG) is an emerging paradigm in which geographically distributed resources are logically unified as a computational unit. A challenging problem in such systems is the allocation of jobs to resources that minimizes both makespan and flowtime parameters. In this paper, we present an experimental study on Genetic Algorithms (GAs) for scheduling independents jobs to Grid resources based on two replacement strategies: Steady-State GA (SSGA) and Struggle GA (SGA). SSGA distinguishes for its accentuated convergence of the population that rapidly reaches good solutions though it is soon stagnated. The SGA is based on struggle replacement and adaptively maintains diverse population, reducing thus convergence rapidity. The experimental results, based on a benchmark simulation model, showed that SGA outperforms SSGA for moderate size instances. On the other hand, the time needed by the SGA to reach makespan values obtained by the SSGA rapidly increases as more jobs and machines are added to the Grid. Thus, for larger size instances, SGA is not able to improve the results of the SSGA. Finally, we also report and analyze flowtime values for the considered benchmark.

关键词： Resource allocation Genetic Algorithm Job Scheduling Computational Grids ETC Simulation model

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PastryStrings: A comprehensive content-based publish/subscribe DHT network

PastryStrings: A comprehensive content-based publish/subscri...

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26th IEEE Internationa26th IEEE International Conference on Distributed Computing Systems, ICDCS 2006

作者： Aekaterinidis, Ioannis Triantafillou, Peter RA Computer Technology Institute Dept. of Computer Engineering and Informatics University of Patras Greece

ISBN: (纸本)0769525407

In this work we propose and develop a comprehensive infrastructure, coined PastryStrings, for supporting rich queries on both numerical (with range, and comparison predicates) and string attributes, (accommodating equality, prefix, suffix, and containment predicates) over DHT networks utilising prefix-based routing. As event-based, publish/subscribe information systems are a champion application class, we formulate our solution in terms of this environment. © 2006 IEEE.

关键词： Distributed computer systems

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