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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xiangbo Wang Tianran Zhang Hongze Yu Zhenwei Wen Lide Fang Huaping Liu Fuchun Sun Lixue Tang Bin Fang College of Quality and Technical Supervision Hebei University Baoding China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing China School of Mechanical Engineering & Automation Beihang University Beijing China International School Beijing University of Posts and Telecommunications Beijing China Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing China School of Biomedical Engineering Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application Capital Medical University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

关键词： Metals Grasping Bending Manipulators Stability analysis Skeleton Real-time systems

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Goal-Aware RSS for Complex Scenarios via Program Logic

Goal-Aware RSS for Complex Scenarios via Program Logic

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IEEE Symposium on Intelligent Vehicle

作者： Ichiro Hasuo Clovis Eberhart James Haydon Jérémy Dubut Rose Bohrer Tsutomu Kobayashi Sasinee Pruekprasert Xiao-Yi Zhang Erik André Pallas Akihisa Yamada Kohei Suenaga Fuyuki Ishikawa Kenji Kamijo Yoshiyuki Shinya Takamasa Suetomi National Institute of Informatics (NII) Tokyo Japan SOKENDAI (The Graduate University for Advanced Studies) Japan Japanese-French Laboratory for Informatics (IRL 3527) Tokyo Japan Dept. Computer Science Worcester Polytechnic Institute Worcester MA USA Inst. Software & Systems Engineering University of Augsburg Augsburg Germany Cyber Physical Security Research Center AIST Tokyo Japan Graduate School of Informatics Kyoto University Kyoto Japan Mazda Motor Corporation Fuchu Japan

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

We introduce a goal-aware extension of responsibility-sensitive safety (RSS), a recent methodology for rule-based safety guarantee for automated driving systems (ADS). Making RSS rules guarantee goal achievement—in addition to collision avoidance as in the original RSS—requires complex planning over long sequences of manoeuvres. To deal with the complexity, we introduce a compositional reasoning framework based on program logic, in which one can systematically develop RSS rules for smaller subscenarios and combine them to obtain RSS rules for bigger scenarios. As the basis of the framework, we introduce a program logic dFHL that accommodates continuous dynamics and safety conditions. Our framework presents a dFHL-based workflow for deriving goal-aware RSS rules; we discuss its software support, too. We conducted experimental evaluation using RSS rules in a safety architecture. Its results show that goal-aware RSS is indeed effective in realising both collision avoidance and goal achievement.

关键词： Intelligent vehicles computer architecture software Cognition Safety Planning Complexity theory

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Editorial

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International Journal of Bio-Inspired Computation 2013年第4期5卷 197-198页

作者： Camacho, David Badica, Costin Bein, Doina Warnier, Martijn Computer Science Department Escuela Politecnica Superior Universidad Autonoma de Madrid C/Francisco Tomás y Valiente 28049 Madrid Spain Software Engineering Department Faculty of Automatics Computers and Electronics University of Craiova Bvd. Decebal 107 200440 Craiova Romania Applied Research Laboratory Information Science and Technology Division Pennsylvania State University 204 V Applied Science Building University Park PA 16802 United States Systems Engineering Section Faculty of Technology Policy and Management Delft University of Technology Jaffalaan 5 2628BX Delft Netherlands

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STATISTICAL PROCESS-CONTROL FOR software IN THE MAINTENANCE PHASE

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NAVAL ENGINEERS JOURNAL 1993年第3期105卷 192-200页

作者： LUKE, SR JACOBS, DA REED, BM Stephen R. Luke:is a registered professional engineer in the Commonwealth of Virginia. He received his B.S. in mechanical engineering from Virginia Polytechnic Institute in 1983 and is presently pursuing a master's degree in engineering management at Old Dominion University. Mr. Luke is experienced as a test engineer at the Norfolk Naval Shipyard (1978–1989) and as a reliability/quality engineer at the Naval Undersea Warfare Center Detachment Norfolk (1989-Present). Currently he is the group leader of the RMA/QA group for the AN/SQQ-89(V) Antisubmarine Warfare System at Naval Undersea Warfare Center Detachment Norfolk. Mr. Luke is a member of ASNE IEEE (Reliability Society) and ASQC and is an ASQC certified quality engineer and reliability engineer. Derya Alasya Jacobs:is an assistant professor in the Engineering Management Department at Old Dominion University (ODU). She has a B.S. in computer science and an M.S. and Ph.D in engineering management from the University of Missouri-Rolla. Prior to joining ODU Dr. Jacobs worked as a research engineer at the Center for Technology Transfer and Economic Development at the University of Missouri-Rolla. During the same period she served as a consultant in software development for Missouri Enterprise Rolla Missouri. Dr. Jacobs' research interests are in the areas of applied artificial intelligence decision support systems operations research and computer integrated manufacturing. Billie M. Reed:is an assistant professor in the Engineering Management Department at Old Dominion University. He received a B.S. degree in mechanical engineering from Auburn University in 1971. After completing undergraduate studies Dr. Reed was commissioned as an officer in the U.S. Navy where he served in the nuclear submarine force until 1982. Following his military career Dr. Reed worked for nine years as a systems engineer and human-machine interface designer of complex interactive computer based systems for use in aircraft space and ship systems. He received his M.S. and Ph

As technology advances and our dependency on software increases, the requirement to develop the correct means to improve quality in both the deveiopment phase and the maintenance phase of software life cycle support becomes increasingly significant. The focus of this paper is on the dilemma facing software engineering in maintaining quality within the constraints of the maintenance phase. The paper further proposes that the software maintenance process can also be analvzed and improved using statistical process control (SPC) techniques. The methods discussed in this paper have been proposed for use in the software Maintenance project at NUWC Detachment Norfolk. Upon successful testing at NUWC Detachment Norfolk, they will be forwarded to the AN/SQQ-89(V) (interagencv) software quality Evaluation Committee for use by other agencies which are developing and maintaining AN/SQQ-89(V) software.

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Educational use of a microwave electromagnetic analysis of 3-D planar structures

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computer Applications in engineering Education 1993年第3期1卷 243-243页

作者： Rautio, J.C. Sonnet Software Inc. Suite 203 135 Old Cove Road Liverpool NY 13090 Dr. James C. Rautio:founded Sonnet Software a developer of 3-D planar electromagnetic microwave software in 1983 with support from the David Sarnoff Research Center Hewlett Packard General Electric and Syracuse University. He has served as a visiting member of the faculty at Syracuse University and as an adjunct faculty member at Cornell University teaching microwave and computer courses as well as pursuing research in electromagnetics. Dr. Rautio previously worked in General Electric's Space Division and Electronics Laboratory. He designed microwave circuits including filters for a Landsat receiver and various GaAs microwave integrated circuits. He also developed microwave and millimeter wave automated measurement equipment and wrote a large microwave circuit analysis program. Dr. Rautio holds a BS in Electrical Engineering from Cornell University an MS in Systems Engineering from the University of Pennsylvania and a PhD in Electrical Engineering from Syracuse University

The use of an electromagnetic analysis of 3-D planar structures is described with respect to the educational requirements of students from the college freshman level through the graduate level. The analysis is intended primarily for microwave use; however, there is also significant potential interest from the student of high speed digital design. The analysis is used for passive planar circuits with any number of layers. The third dimension is represented by vias. A mature graphical user interface is provided allowing rapid capture of structure geometry, color visualization, and animation of the resulting current distributions. The software is also explicitly designed to work in conjunction with popular circuit theory based microwave software and with SPICE.

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CAD CAM MANUFACTURING OF PROTOTYPE SHIPBOARD COMPONENTS

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 93-99页

作者： CALVERT, TE RODRIGUEZ, FA SLEBZAK, JS Thomas E. Calvert P.E.: is a senior project engineer with the Propulsion and Auxiliary Systems Department David Taylor Research Center Annapolis Md. His interests include application of computers to all aspects of engineering with particular emphasis on utilization of small computers. Mr. Calvert is a licensed professional engineer in Maryland. He received a BSEE from Drexel University in 1969 and since that time has completed a number of graduate courses related to machinery acoustics. Francisco A. Rodriguez:is an engineer with the Propulsion and Auxiliary Systems Department David Taylor Research Center. He was formerly with the Computer-Aided Design/Interactive Graphics Group of the Division of Engineering and Weapons U.S. Naval Academy. His interests include interfacing the computer aided design to the computer aided manufacturing along with related software and hardware development. Mr. Rodriguez received a BSEEfrom the University of Virginia in 1968. James S. Slebzak:is a mechanical engineering technician with the Propulsion and Auxiliary Systems Department David Taylor Research Center. He received his machinists papers in 1971 after serving his apprenticeship at David Taylor Research Center. He continued his education and became the senior numerical control programmer at the Annapolis Laboratory. He completed his mechanical technology degree from Anne Arundel Community College in 1986. His interests are in the application of numerically controlled manufacturing techniques to prototype machinery components.

The machine shop at the Annapolis laboratory of the David Taylor Research Center (DTRC) provides model making and prototype support to a large variety of naval ship related engineering projects. In order to meet these challenging requirements, computer aided design/computer aided manufacturing (CAD/CAM) techniques are being used to produce “one of a kind” prototypes or very low volume production parts. The use of computer aides in these cases is to facilitate the accurate manufacture of a difficult part, rather than to improve manufacturing efficiencies. In addition, the approach provides the flexibility required to support research and development projects. Several examples of prototype shipboard components manufactured using CAD/CAM techniques are presented in this paper. The hardware and software that facilitated these projects are discussed. The examples described have met the requirements to produce a wide variety of prototype shipboard machinery components quickly and accurately.

关键词： Ship Equipment

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Multi-Agent Reinforcement Learning based Edge Content Caching for Connected Autonomous Vehicles in IoV

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ACM Transactions on Autonomous and Adaptive systems 1000年

作者： Xiaolong Xu Linjie Gu Muhammad Bilal Maqbool Khan Yiping Wen Guoqiang Liu Yuan Yuan School of Software Jiangsu Province Engineering Research Center of Advanced Computing and Intelligent Services Nanjing University of Information Science and Technology China Changwang School of Honors Nanjing University of Information Science and Technology China Department of Computer and Electronics Systems Engineering Hankuk University of Foreign Studies Korea Department of IT and Computer Science Pak-Austria Fachhochschule-Institute of Applied Sciences and Technology Pakistan School of Computer Science and Engineering Hunan University of Science and Technology China School of Software Nanjing University of Information Science and Technology China School of Computer Science and Engineering Beihang University State Key Laboratory of Software Development Environment Zhongguancun Laboratory China

Connected Autonomous Vehicle (CAV) Driving, as a data-driven intelligent driving technology within the Internet of Vehicles (IoV), presents significant challenges to the efficiency and security of real-time data management. The combination of Web3.0 and edge content caching holds promise in providing low-latency data access for CAVs’ real-time applications. Web3.0 enables the reliable pre-migration of frequently requested content from content providers to edge nodes. However, identifying optimal edge node peers for joint content caching and replacement remains challenging due to the dynamic nature of traffic flow in IoV. Addressing these challenges, this article introduces GAMA-Cache, an innovative edge content caching methodology leveraging Graph Attention Networks (GAT) and Multi-Agent Reinforcement Learning (MARL). GAMA-Cache conceptualizes the cooperative edge content caching issue as a constrained Markov decision process. It employs a MARL technique predicated on cooperation effectiveness to discern optimal caching decisions, with GAT augmenting information extracted from adjacent nodes. A distinct collaborator selection mechanism is also developed to streamline communication between agents, filtering out those with minimal correlations in the vector input to the policy network. Experimental results demonstrate that, in terms of service latency and delivery failure, the GAMA-Cache outperforms other state-of-the-art MARL solutions for edge content caching in IoV.

关键词： Content Caching Reinforcement Learning Connected Autonomous Driving

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INNOVATIONS IN computer-AIDED-DESIGN OF MARINE TURBINES USING INTERACTIVE GRAPHICS

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NAVAL ENGINEERS JOURNAL 1980年第2期92卷 207-217页

作者： GINGRICH, JK WINTER, RL Mr. John K. Gingrich joined the General Electric Company after his graduation from Lafayette College in 1948. His early assignments were with the General Engineering Laboratory and the Knolls Atomic Power Laboratory in Schenectady. N. Y. He joined the Marine Turbine and Gear Department in 1968 as Manager Engineering Administration. and assumed his present assignment as Manager Engineering Resource Planning & Administration in 1976. Mr. Gingrich was instrumental in procuring the Interactive Graphics System for the Medium Steam Department. having headed up the Study Team and is now responsible for the Interactive Graphics Systems management including new procurements. He is a member of the American Institute of Design Drafting and is currently the Chairman of the Computer-Aided Drafting Committee in that organization. Mr. Reinhold L. Winter is a graduate of the General Electric Apprentice Program and Salem State College from which he received his B.S. degree in Business Administration. He has nineteen years experience with the General Electric Company including eight years in Business Systems and Programming two years in Computer Operations Management and six years in his present position as Manager Engineering Business Systems. He was a member of the original Study Team that investigated and selected the present Applicon Interactive Graphics (IAG) equipment and currently is responsible for the management of software and hardware support for the ZAG Facility.

This paper discusses the Interactive Graphics System used by the General Electric Company, Medium Steam Turbine Department (engineering & Manufacturing) for designing, drafting, and manufacturing applications. A brief overview of the hardware malting up the system is described, followed by a more detailed description of the actual applications. Two-dimensional applications described include a Heat Balance Analysis, Flow Diagrams, and Electrical Schematics. A more fruitful area for increased productivity gains is described in the three-dimensional or mechanical applications including turbine design & layout and bucket design. coordination of the design with manufacturing for numerical control tape generation is described through CAM and Plate Frame Cutting applications. Finally, a short review of the engineering design work using Interactive Graphics is discussed. Productivity gains of 2.6 to 1 are being realized, and the overall savings to the Medium Steam Department are outlined.

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Fine-grained image analysis with deep learning: A survey

arXiv

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arXiv 2021年

作者： Wei, Xiu-Shen Song, Yi-Zhe Aodha, Oisin Mac Wu, Jianxin Peng, Yuxin Tang, Jinhui Yang, Jian Belongie, Serge PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology China University of Surrey United Kingdom The University of Edinburgh United Kingdom The State Key Laboratory for Novel Software Technology Nanjing University China Peking University China Nanjing University of Science and Technology China The University of Copenhagen The Pioneer Centre for AI Denmark

Fine-grained image analysis (FGIA) is a longstanding and fundamental problem in computer vision and pattern recognition, and underpins a diverse set of real-world applications. The task of FGIA targets analyzing visual objects from subordinate categories, e.g., species of birds or models of cars. The small inter-class and large intra-class variation inherent to fine-grained image analysis makes it a challenging problem. Capitalizing on advances in deep learning, in recent years we have witnessed remarkable progress in deep learning powered FGIA. In this paper we present a systematic survey of these advances, where we attempt to re-define and broaden the field of FGIA by consolidating two fundamental fine-grained research areas – fine-grained image recognition and fine-grained image retrieval. In addition, we also review other key issues of FGIA, such as publicly available benchmark datasets and related domain-specific applications. We conclude by highlighting several research directions and open problems which need further exploration from the community. © 2021, CC BY.

关键词： Image recognition

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A Method based on Sentence Embeddings for the Sub-Topics Detection

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Journal of Physics: Conference Series 2019年第5期1168卷

作者： Yu Xie Bin Zhou Yang Ou National University of Defense Technology Department of Computer Hunan 410005 China Laboratory of Software Engineering for Complex Systems Hunan 410005 China China Satellite Launch and Tracking Control General Beijing 100720 China

Weibo topics are characterized by diversity and complexity, and often contain different sub-topics even for the same topic. Therefore, how to classify sub-topics effectively and accurately is of great significance. Due to the strong similarity between sub-topics belonging to the same topic, most existing methods cannot be directly applied to the task of sub-topic discovery. In this paper, a new technique based on sentence embeddings for detecting sub-topics of weibo is proposed. The information of blogs is represented by sentence embeddings containing semantic information and the results are verified by clustering.

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