44,151 research outputs found

    A Platform-independent Programming Environment for Robot Control

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    The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program development, but are mainly text-based and usually applied by experts in the field with profound knowledge of the target robot. This paper presents a graphical programming environment which aims to ease the development of robot control programs. In contrast to existing graphical robot programming environments, our approach focuses on the composition of parallel action sequences. The developed environment allows to schedule independent robot actions on parallel execution lines and provides mechanism to avoid side-effects of parallel actions. The developed environment is platform-independent and based on the model-driven paradigm. The feasibility of our approach is shown by the application of the sequencer to a simulated service robot and a robot for educational purpose

    On Secure Workflow Decentralisation on the Internet

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    Decentralised workflow management systems are a new research area, where most work to-date has focused on the system's overall architecture. As little attention has been given to the security aspects in such systems, we follow a security driven approach, and consider, from the perspective of available security building blocks, how security can be implemented and what new opportunities are presented when empowering the decentralised environment with modern distributed security protocols. Our research is motivated by a more general question of how to combine the positive enablers that email exchange enjoys, with the general benefits of workflow systems, and more specifically with the benefits that can be introduced in a decentralised environment. This aims to equip email users with a set of tools to manage the semantics of a message exchange, contents, participants and their roles in the exchange in an environment that provides inherent assurances of security and privacy. This work is based on a survey of contemporary distributed security protocols, and considers how these protocols could be used in implementing a distributed workflow management system with decentralised control . We review a set of these protocols, focusing on the required message sequences in reviewing the protocols, and discuss how these security protocols provide the foundations for implementing core control-flow, data, and resource patterns in a distributed workflow environment

    Unattended network operations technology assessment study. Technical support for defining advanced satellite systems concepts

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    The results are summarized of an unattended network operations technology assessment study for the Space Exploration Initiative (SEI). The scope of the work included: (1) identified possible enhancements due to the proposed Mars communications network; (2) identified network operations on Mars; (3) performed a technology assessment of possible supporting technologies based on current and future approaches to network operations; and (4) developed a plan for the testing and development of these technologies. The most important results obtained are as follows: (1) addition of a third Mars Relay Satellite (MRS) and MRS cross link capabilities will enhance the network's fault tolerance capabilities through improved connectivity; (2) network functions can be divided into the six basic ISO network functional groups; (3) distributed artificial intelligence technologies will augment more traditional network management technologies to form the technological infrastructure of a virtually unattended network; and (4) a great effort is required to bring the current network technology levels for manned space communications up to the level needed for an automated fault tolerance Mars communications network

    Byron Review action plan

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    A disaster resilient built environment in urban cities

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    Purpose – This research aims at making recommendations to empower the Sri Lankan local governments in creating a disaster resilient built environment. Disasters make a huge impact on the built environment. In turn, failure of the built environment can create significant impacts on social and economic activities. Thus, when moving towards safer cities, it is important to develop the built environment in such a way that it can withstand threats posed by natural disasters. Various stakeholders need to get involved in the process of making a disaster resilient built environment, of which the local governments need to play a critical role, as they are the closest government body to the local community. However, local governments are facing a number of challenges in responding to city resilience activities. Design/methodology/approach – The research adopts case studies as its research strategy and investigates three cities in Sri Lanka which are potentially vulnerable to disasters. A number of expert interviews have also been conducted to supplement the case study findings. Findings – The paper presents the challenges faced by the Sri Lankan municipalities in creating a disaster resilient built environment and provides recommendations to empower municipalities to effectively contribute to city resilience. The paper suggests amending policies related to establishment of municipal councils and disaster management to provide more authoritative powers for municipalities to effectively engage in city resilience building. Findings also revealed the importance of addressing financial and human resource issues, which were the main drivers of hindrance. Furthermore, all relevant urban development plans, risk maps, disaster resilient planning, construction and operation guidelines and resilient land use practices need to be integrated into existing planning and building regulations, and proper monitoring and control mechanisms have to be established to ensure compliance with the regulations. In doing so, it is important to raise awareness of council officials of disaster risks and resilient practices by way of organising educational programmes such as seminars and workshops. It is also suggested that municipal officials should be involved in national-level decision-making with regard to their local areas and to establish proper communication channels to exchange decision and information related to city resilience. Research limitations/implications – The paper is based on case studies in three cities and a number of expert interviews, which are limited to the Sri Lankan context. Inputs from other cities from developed countries may further validate the recommendations. Originality/value – The paper highlights the challenges faced by the local governments in creating a disaster resilient built environment within Sri Lankan cities and provides recommendations as to how the local governments could be empowered in creating a disaster resilient built environment within cities

    Communications and tracking expert systems study

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    The original objectives of the study consisted of five broad areas of investigation: criteria and issues for explanation of communication and tracking system anomaly detection, isolation, and recovery; data storage simplification issues for fault detection expert systems; data selection procedures for decision tree pruning and optimization to enhance the abstraction of pertinent information for clear explanation; criteria for establishing levels of explanation suited to needs; and analysis of expert system interaction and modularization. Progress was made in all areas, but to a lesser extent in the criteria for establishing levels of explanation suited to needs. Among the types of expert systems studied were those related to anomaly or fault detection, isolation, and recovery

    Beam Loss Monitors at LHC

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    One of the main functions of the LHC beam loss measurement system is the protection of equipment against damage caused by impacting particles creating secondary showers and their energy dissipation in the matter. Reliability requirements are scaled according to the acceptable consequences and the frequency of particle impact events on equipment. Increasing reliability often leads to more complex systems. The downside of complexity is a reduction of availability; therefore, an optimum has to be found for these conflicting requirements. A detailed review of selected concepts and solutions for the LHC system will be given to show approaches used in various parts of the system from the sensors, signal processing, and software implementations to the requirements for operation and documentation.Comment: 16 pages, contribution to the 2014 Joint International Accelerator School: Beam Loss and Accelerator Protection, Newport Beach, CA, USA , 5-14 Nov 201

    Success in tutoring electronic troubleshooting

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    Two years ago Dr. Sherrie Gott of the Air Force Human Resources Laboratory described an avionics troubleshooting tutor being developed under the Basic Job Skills Research Program. The tutor, known as Sherlock, is directed at teaching the diagnostic procedures necessary to investigate complex test equipment used to maintain F-15 fighter aircraft. Since Dr. Gott's presentation in 1987, the tutor has undergone field testing at two Air Force F-15 flying wings. The results of the field test showed that after an average of 20 hours on the tutor, the 16 airmen in the experimental group (who average 28 months of experience) showed significant performance gains when compared to a control group (having a mean experience level of 37 months) who continued participating in the existing on-the-job training program. Troubleshooting performance of the tutored group approached the level of proficiency of highly experienced airmen (averaging approximately 114 months of experience), and these performance gains were confirmed in delayed testing six months following the intervention. The tutor is currently undergoing a hardware and software conversion form a Xerox Lisp environment to a PC-based environment using an object-oriented programming language. Summarized here are the results of the successful field test. The focus is on: (1) the instructional features that contributed to Sherlock's success; and (2) the implementation of these features in the PC-based version of the avionics troubleshooting tutor

    Building capacity for dissemination and implementation research: One university’s experience

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    Abstract Background While dissemination and implementation (D&I) science has grown rapidly, there is an ongoing need to understand how to build and sustain capacity in individuals and institutions conducting research. There are three inter-related domains for capacity building: people, settings, and activities. Since 2008, Washington University in St. Louis has dedicated significant attention and resources toward building D&I research capacity. This paper describes our process, challenges, and lessons with the goal of informing others who may have similar aims at their own institution. Activities An informal collaborative, the Washington University Network for Dissemination and Implementation Research (WUNDIR), began with a small group and now has 49 regular members. Attendees represent a wide variety of settings and content areas and meet every 6 weeks for half-day sessions. A logic model organizes WUNDIR inputs, activities, and outcomes. A mixed-methods evaluation showed that the network has led to new professional connections and enhanced skills (e.g., grant and publication development). As one of four, ongoing, formal programs, the Dissemination and Implementation Research Core (DIRC) was our first major component of D&I infrastructure. DIRC’s mission is to accelerate the public health impact of clinical and health services research by increasing the engagement of investigators in later stages of translational research. The aims of DIRC are to advance D&I science and to develop and equip researchers with tools for D&I research. As a second formal component, the Washington University Institute for Public Health has provided significant support for D&I research through pilot projects and a small grants program. In a third set of formal programs, two R25 training grants (one in mental health and one in cancer) support post-doctoral scholars for intensive training and mentoring in D&I science. Finally, our team coordinates closely with D&I functions within research centers across the university. We share a series of challenges and potential solutions. Conclusion Our experience in developing D&I research at Washington University in St. Louis shows how significant capacity can be built in a relatively short period of time. Many of our ideas and ingredients for success can be replicated, tailored, and improved upon by others
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