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New Kinematic Notation and Automatic Generation of Symbolic Dynamics Equations for Space Robots 33

New Kinematic Notation and Automatic Generation of Symbolic ...

引用

第三十三届中国控制会议

作者： ZHANG Hui JIA Yingmin DU Junping ZHANG Jun The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and TechnologyBeijing University of Posts and Telecommunications School of Electronic and Information Engineering Beihang University (BUAA)

ISBN: (纸本)9781479947249

To verify and evaluate the performance of a space robot controller,kinematics and dynamics of the system have to be formed beforehand for computer *** paper is devoted to develop a new kinematic notation for space robots and to come up with an open source of Matlab subroutines for the propose of obtaining the proper dynamics equations of space robots in symbolic forms *** the new kinematic notation,we will present the general form and two special *** is then demonstrated through an example the advantages such as flexible assignment of frames on space robots,being able to describe multi-DOF joint and achieve a consistent description for multi-arm space *** the second part,we adopt the Lagrangian Formulation for forming the procedures to automatically generate the dynamics equations of space robots in symbolic *** example is then provided to demonstrate the effectiveness of closed-loop simulation adopting the obtained symbolic equations.

关键词： Space Robots,Kinematics,Dynamics,Symbolic Dynamics Equations,Lagrangian

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Improving Group Recommendations by Identifying Homogenous Subgroups

Improving Group Recommendations by Identifying Homogenous Su...

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7th International Conference on Intelligent systems and Knowledge engineering, ISKE 2012

作者： Komkhao, Maytiyanin Lu, Jie Li, Zhong Halang, Wolfgang A. Chair of Computer Engineering Fernuniversität in Hagen 58084 Hagen Germany Decision Systems and e-Service Intelligence Laboratory School of Software University of Technology Sydney P.O. Box 123 Broadway NSW 2007 Australia

Recommender systems have proven their effectiveness in supporting personalised purchasing decisions and e-service intelligence. In order to support members in user groups of recommender systems, recently designed group recommender systems search for data relevant to all group members and discover the agreements between members of online communities. This paper focuses on achieving common satisfaction for groups or communities by, e.g. finding a restaurant for a family or shoes for a group of cheerleaders. It establishes an algorithm, called I-GRS, to devise group recommender systems based on incremental model-based collaborative filtering and applying the Mahalanobis distance and fuzzy membership to create groups of users with similar interests. Finally, an algorithm and related design strategy to build group recommender systems is proposed. A set of experiments is set up to evaluate the performance of the I-GRS algorithm in group recommendations. The results show its effectiveness vis-à-vis the recommendations made by classical recommender systems to single or groups of individuals. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Collaborative filtering

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Nuclear norm minimization in subspace based continuous-time Hammerstein system identification

Nuclear norm minimization in subspace based continuous-time ...

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11th IEEE International Conference on Control and Automation, IEEE ICCA 2014

作者： Dai, Mingxiang Zhang, Jingxin Chai, Li Science and Technology on Transient Physics Laboratory Nanjing University of Science and Technology Nanjing 210094 China School of Software and Electrical Engineering Swinburne University of Technology VIC3211 Australia School of Information Science and Engineering Wuhan University of Science and Technology Wuhan 430081 China Dept of Electrical and Computer Systems Engineering Monash University VIC 3800 Australia

ISBN: (纸本)9781479928378

A novel method combining the nuclear norm minimization (NNM) and continuous-time (CT) subspace identification method (CSIM) is proposed to identify the CT Hammerstein model with little priori information. The nuclear norm minimization, which is the heuristic convex relaxation of the minimum rank constraint, is applied to the CT subspace identification method, for the purpose of improving the robustness and accuracy of identification. The proposed method can perform the identification well without the priori information about the Hammerstein model, which not only reduces the complexity of the identification problem but also broaden its applications. The nonlinear block of Hammerstein model is approximated with the pseudospectral method, which replaces the nonlinear function with Lagrange basis functions. A typical numerical example is presented to verify the NNMCSI method and the identification results are compared with the refined instrumental variable method. © 2014 IEEE.

关键词： Functions

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A Model-Driven Approach to Generate Mobile Applications for Multiple Platforms

A Model-Driven Approach to Generate Mobile Applications for ...

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Asia-Pacific Conference on software engineering

作者： Muhammad Usman Muhammad Zohaib Iqbal Muhammad Uzair Khan Software Quality Engineering & Testing Laboratory National University of Computer and Emerging Sciences Islamabad Pakistan 2SnT Centre University of Luxembourg Luxembourg

Mobile application development has emerged as one of the most focused areas in software industry due to exponential growth of mobile users and applications. The focus of the current mobile industry is on direct implementation, rather than analysis and design. Model-driven engineering practices are ignored, which results in low reusability and lack of portability along with other challenges. In addition, mobile applications also have to support multiple platforms, as an application written for one platform (e.g., Android) cannot run on another platform (e.g., Windows Phone). Each of the platforms in turn suffers from fragmentation. This results in multiple versions of an application that need to be simultaneously maintained. This is a huge burden on the development team, both in terms of cost and effort, due to various platforms that an application supports. This paper proposes a model-driven approach to generate mobile applications for multiple platforms. We carefully identify a subset of UML and propose a modeling methodology for this purpose. We use real use-cases for requirement gathering, class diagram for structural modeling, while state machine are used for behavioral modeling. We focus on modeling business logic layer for the mobile application. We also propose a UML profile for modeling mobile domain specific concepts. Our approach uses Action Language for Foundational Subset of UML (ALF) to specify actions in the state machines. Our approach allows the modeler to automatically generate business logic code for multiple platforms. The approach is supported by an automated tool MAG (Mobile Application Generator). We apply our model-driven approach on an industrial case study 'Scramble' app developed by 'Next In' to demonstrate its viability.

关键词： Unified modeling language Mobile communication Application programming interfaces Smart phones Business Graphical user interfaces Games

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Odor plume source localization with a Pioneer 3 Mobile Robot in an indoor airflow environment

Odor plume source localization with a Pioneer 3 Mobile Robot...

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IEEE Southeastcon

作者： Hai-feng Jiu Shuo Pang Jin-long Li Bing Han National Key Laboratory of AUV Technology Harbin Engineering University Harbin China Computer Software Systems Engineering Dept Embry-Riddle Aeronautical University Daytona Beach FL

Olfactory-based mobile robots use odors as a guide to navigate and track in the unknown environments. The key issue of localizing the odor plume source is how to trace odor plume effectively. This paper presents an effective olfactory-based planning and search algorithms for using on mobile robots. The algorithms are based on Bayesian inference theory and artificial potential field methods. The Bayesian inference theory is used to construct the probability map of plume source based on the flow records and plume detection information collected from sensors. Then the Artificial Potential Field (APF) method is used for planning a plume tracking path. The robot follows the path to trace odor plume until the source is detected. The algorithms were implemented on a Pioneer 3 Mobile Robot in an indoor airflow environment. Experiment results show that the search algorithms are effective and feasible to odor plume source localization problem.

关键词： Biology Robot sensing systems Mobile communication Robustness

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Data Avenue: Remote Storage Resource Management in WS-PGRADE/gUSE

Data Avenue: Remote Storage Resource Management in WS-PGRADE...

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International Workshop on Science Gateways (IWSG)

作者： Ákos Hajnal Zoltán Farkas Péter Kacsuk Laboratory of Parallel and Distributed Systems Hungarian Academy of Sciences Budapest Hungary Computer Science and Software Engineering Department University of Westminster London United Kingdom

State-of-the-art gateways are connected to several distributed computing infrastructures (DCIs) and are able to run jobs and workflows simultaneously in all those different DCIs. However, the flexibility of accessing data storages belonging to different DCIs is a missing feature of current gateways. SZTAKI (Institute for computer Science and Control) has developed a Data Avenue Blacktop service and aLiferay-based Data Avenue port let that open the door for integrating such features into science gateways. The paper explains the design considerations of the Data Avenue Blacktop service and its usage scenarios in science gateways through the Data Avenue port let.

关键词： Conferences Logic gates

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Mining contrast subspaces

Mining contrast subspaces

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18th Pacific-Asia Conference on Advances in Knowledge Discovery and Data Mining, PAKDD 2014

作者： Duan, Lei Tang, Guanting Pei, Jian Bailey, James Dong, Guozhu Campbell, Akiko Tang, Changjie School of Computer Science Sichuan University China School of Computing Science Simon Fraser University Canada Dept. of Computing and Information Systems University of Melbourne Australia Dept. of Computer Sci. and Engr. Wright State University United States Pacific Blue Cross Canada State Key Laboratory of Software Engineering Wuhan University China

ISBN: (纸本)9783319066073

In this paper, we tackle a novel problem of mining contrast subspaces. Given a set of multidimensional objects in two classes C+ and C - and a query object o, we want to find top-k subspaces S that maximize the ratio of likelihood of o in C+ against that in C -. We demonstrate that this problem has important applications, and at the same time, is very challenging. It even does not allow polynomial time approximation. We present CSMiner, a mining method with various pruning techniques. CSMiner is substantially faster than the baseline method. Our experimental results on real data sets verify the effectiveness and efficiency of our method. © 2014 Springer International Publishing.

关键词： Mining

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software process simulation—at a crossroads?

Software process simulation—at a crossroads?

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作者： Zhang, He Raffo, David Birkhöltzer, Thomas Houston, Dan Madachy, Raymond Münch, Jürgen Sutton, Stanley M State Key Laboratory of Novel Software Technology Software Institute Nanjing University NanjingJiangsu China School of Business Administration Portland State University PortlandOR United States University of Applied Sciences Konstanz Germany Computer & Software Division The Aerospace Corporation El SegundoCA United States Department of Systems Engineering Naval Postgraduate School MontereyCA United States Department of Computer Science University of Helsinki Helsinki Finland IBM T.J. Watson Research Center Yorktown HeightsNY United States Software Institute Nanjing University China

software process simulation (SPS) has been evolving over the past two decades after being introduced to the software engineering community in the 1980s. At that time the SPS technology attracted a great deal of interest from both academics and practitioners in the software process community—even to the extent of being one of the recommended techniques for achieving multiple Key Process Areas of Level 4 of the Capability Maturity Model Integration. However, in recent years, the growth of SPS seems to have slowed along with the number of reported applications in industry. This article summarizes the special panel that was held during ICSSP 2012 whose goals were to assess whether this technology remains applicable to today's software engineering projects and challenges and to point out the most beneficial opportunities for future research and industry application. Copyright © 2014 John Wiley & Sons, Ltd. Copyright © 2014 John Wiley & Sons, Ltd.

关键词： Application programs

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Web information mining and decision support platform for the modern service industry 52

Web information mining and decision support platform for the...

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52nd Annual Meeting of the Association for Computational Linguistics, ACL 2014

作者： Li, Binyang Zhou, Lanjun Wei, Zhongyu Wong, Kam-Fai Xu, Ruifeng Xia, Yunqing Dept. of Information Science and Technology University of International Relations China Dept. of Systems Engineering and Engineering Management The Chinese University of Hong Kong N.T. Shatin Hong Kong MoE Key Laboratory of High Confidence Software Technologies China Shenzhen Research Institute The Chinese University of Hong Kong Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Department of Computer Science and Technology TNList Tsinghua University China

ISBN: (纸本)9781941643006

This demonstration presents an intelligent information platform MODEST. MODEST will provide enterprises with the services of retrieving news from websites, extracting commercial information, exploring customers' opinions, and analyzing collaborative/competitive social networks. In this way, enterprises can improve the competitive abilities and facilitate potential collaboration activities. At the meanwhile, MODEST can also help governments to acquire information about one single company or the entire board timely, and make prompt strategies for better support. Currently, MODEST is applied to the pillar industries of Hong Kong, including innovative finance, modem logistics, information technology, etc. © 2014 Association for Computational Linguistics.

关键词： Decision support systems

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Sentiment Analysis on Weibo Data

Sentiment Analysis on Weibo Data

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2014 IEEE computers,Communications and IT Applications Conference(ComComAp)

作者： Di Li Jianwei Niu Meikang Qiu Meiqin Liu State Key Laboratory of Software Development Environment Beihang University Department of Computer Science Pace UniversityManhattan NYCNY 10038USA Department of Systems Science and Engineering Zhejiang University

ISBN: (纸本)9781479948109

With the development of the Internet,people share their emotion statuses or attitudes on online social websites,leading to an explosive rise on the scale of *** sentiment information behind these data helps people know about public opinions and social *** this paper a sentiment analysis algorithm adapting to Weibo(Microblog) data is *** that a Weibo post is usually short,LDA model is used to generate text features based on semantic information instead of text *** decide the sentiment polar and degree,SVR model is used *** shows the algorithm performs well on Weibo data.

关键词： public opinion monitoring sentiment analysis text classification

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