67,882 research outputs found
Zero-gravity movement studies
The use of computer graphics to simulate the movement of articulated animals and mechanisms has a number of uses ranging over many fields. Human motion simulation systems can be useful in education, medicine, anatomy, physiology, and dance. In biomechanics, computer displays help to understand and analyze performance. Simulations can be used to help understand the effect of external or internal forces. Similarly, zero-gravity simulation systems should provide a means of designing and exploring the capabilities of hypothetical zero-gravity situations before actually carrying out such actions. The advantage of using a simulation of the motion is that one can experiment with variations of a maneuver before attempting to teach it to an individual. The zero-gravity motion simulation problem can be divided into two broad areas: human movement and behavior in zero-gravity, and simulation of articulated mechanisms
Verification of interlocking systems using statistical model checking
In the railway domain, an interlocking is the system ensuring safe train
traffic inside a station by controlling its active elements such as the signals
or points. Modern interlockings are configured using particular data, called
application data, reflecting the track layout and defining the actions that the
interlocking can take. The safety of the train traffic relies thereby on
application data correctness, errors inside them can cause safety issues such
as derailments or collisions. Given the high level of safety required by such a
system, its verification is a critical concern. In addition to the safety, an
interlocking must also ensure that availability properties, stating that no
train would be stopped forever in a station, are satisfied. Most of the
research dealing with this verification relies on model checking. However, due
to the state space explosion problem, this approach does not scale for large
stations. More recently, a discrete event simulation approach limiting the
verification to a set of likely scenarios, was proposed. The simulation enables
the verification of larger stations, but with no proof that all the interesting
scenarios are covered by the simulation. In this paper, we apply an
intermediate statistical model checking approach, offering both the advantages
of model checking and simulation. Even if exhaustiveness is not obtained,
statistical model checking evaluates with a parametrizable confidence the
reliability and the availability of the entire system.Comment: 12 pages, 3 figures, 2 table
Markov Decision Processes with Applications in Wireless Sensor Networks: A Survey
Wireless sensor networks (WSNs) consist of autonomous and resource-limited
devices. The devices cooperate to monitor one or more physical phenomena within
an area of interest. WSNs operate as stochastic systems because of randomness
in the monitored environments. For long service time and low maintenance cost,
WSNs require adaptive and robust methods to address data exchange, topology
formulation, resource and power optimization, sensing coverage and object
detection, and security challenges. In these problems, sensor nodes are to make
optimized decisions from a set of accessible strategies to achieve design
goals. This survey reviews numerous applications of the Markov decision process
(MDP) framework, a powerful decision-making tool to develop adaptive algorithms
and protocols for WSNs. Furthermore, various solution methods are discussed and
compared to serve as a guide for using MDPs in WSNs
A flexible architecture for modeling and simulation of diffusional association
Up to now, it is not possible to obtain analytical solutions for complex
molecular association processes (e.g. Molecule recognition in Signaling or
catalysis). Instead Brownian Dynamics (BD) simulations are commonly used to
estimate the rate of diffusional association, e.g. to be later used in
mesoscopic simulations. Meanwhile a portfolio of diffusional association (DA)
methods have been developed that exploit BD.
However, DA methods do not clearly distinguish between modeling, simulation,
and experiment settings. This hampers to classify and compare the existing
methods with respect to, for instance model assumptions, simulation
approximations or specific optimization strategies for steering the computation
of trajectories.
To address this deficiency we propose FADA (Flexible Architecture for
Diffusional Association) - an architecture that allows the flexible definition
of the experiment comprising a formal description of the model in SpacePi,
different simulators, as well as validation and analysis methods. Based on the
NAM (Northrup-Allison-McCammon) method, which forms the basis of many existing
DA methods, we illustrate the structure and functioning of FADA. A discussion
of future validation experiments illuminates how the FADA can be exploited in
order to estimate reaction rates and how validation techniques may be applied
to validate additional features of the model
MoMo: a group mobility model for future generation mobile wireless networks
Existing group mobility models were not designed to meet the requirements for
accurate simulation of current and future short distance wireless networks
scenarios, that need, in particular, accurate, up-to-date informa- tion on the
position of each node in the network, combined with a simple and flexible
approach to group mobility modeling. A new model for group mobility in wireless
networks, named MoMo, is proposed in this paper, based on the combination of a
memory-based individual mobility model with a flexible group behavior model.
MoMo is capable of accurately describing all mobility scenarios, from
individual mobility, in which nodes move inde- pendently one from the other, to
tight group mobility, where mobility patterns of different nodes are strictly
correlated. A new set of intrinsic properties for a mobility model is proposed
and adopted in the analysis and comparison of MoMo with existing models. Next,
MoMo is compared with existing group mobility models in a typical 5G network
scenario, in which a set of mobile nodes cooperate in the realization of a
distributed MIMO link. Results show that MoMo leads to accurate, robust and
flexible modeling of mobility of groups of nodes in discrete event simulators,
making it suitable for the performance evaluation of networking protocols and
resource allocation algorithms in the wide range of network scenarios expected
to characterize 5G networks.Comment: 25 pages, 17 figure
Early Turn-taking Prediction with Spiking Neural Networks for Human Robot Collaboration
Turn-taking is essential to the structure of human teamwork. Humans are
typically aware of team members' intention to keep or relinquish their turn
before a turn switch, where the responsibility of working on a shared task is
shifted. Future co-robots are also expected to provide such competence. To that
end, this paper proposes the Cognitive Turn-taking Model (CTTM), which
leverages cognitive models (i.e., Spiking Neural Network) to achieve early
turn-taking prediction. The CTTM framework can process multimodal human
communication cues (both implicit and explicit) and predict human turn-taking
intentions in an early stage. The proposed framework is tested on a simulated
surgical procedure, where a robotic scrub nurse predicts the surgeon's
turn-taking intention. It was found that the proposed CTTM framework
outperforms the state-of-the-art turn-taking prediction algorithms by a large
margin. It also outperforms humans when presented with partial observations of
communication cues (i.e., less than 40% of full actions). This early prediction
capability enables robots to initiate turn-taking actions at an early stage,
which facilitates collaboration and increases overall efficiency.Comment: Submitted to IEEE International Conference on Robotics and Automation
(ICRA) 201
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