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Despite perfect functioning of its internal components, a robot can be unsuccessful in performing its tasks because of unforeseen situations. These situations occur when the behavior of the objects in the robot’s environment deviates from its expected values. For robots, such deviations are exhibited in the form of unknown external faults which prohibit them from performing their tasks successfully. In this work we propose to use naive physics knowledge to reason about such faults in the robotics domain. We propose an approach that uses naive physics concepts to find information about the situations which result in a detected unknown fault. The naive physics knowledge is represented by the physical properties of objects which are formalized in a logical framework. The proposed approach applies a qualitative version of physical laws to these properties for reasoning about the detected fault. By interpreting the reasoning results the robot finds the information about the situations which can cause the fault. We apply the proposed approach to the scenarios in which a robot performs manipulation tasks of picking and placing objects. Results of this application show that naive physics holds great promise for reasoning about unknown ex- ternal faults in robotics.
Nowadays, we input text not only on stationary devices, but also on handheld devices while walking, driving, or commuting. Text entry on the move, which we term as nomadic text entry, is generally slower. This is partially due to the need for users to move their visual focus from the device to their surroundings for navigational purposes and back. To investigate if better feedback about users' surroundings on the device can improve performance, we present a number of new and existing feedback systems: textual, visual, textual & visual, and textual & visual via translucent keyboard. Experimental comparisons between the conventional and these techniques established that increased ambient awareness for mobile users enhances nomadic text entry performance. Results showed that the textual and the textual & visual via translucent keyboard conditions increased text entry speed by 14% and 11%, respectively, and reduced the error rate by 13% compared to the regular technique. The two methods also significantly reduced the number of collisions with obstacles.
This paper picks up on one of the ways reported in the literature to represent hybrid models of engineering systems by bond graphs with static causalities. The representation of a switching device by means of a modulated transformer (MTF) controlled by a Boolean variable in conjunction with a resistor has been used so far to build a model for simulation. In this paper, it is shown that it can also constitute an approach to bond graph based quantitative fault detection and isolation in hybrid system models. Advantages are that Analytical Redundancy Relations (ARRs) do not need to be derived again after a switch state has changed. ARRs obtained from the bond graph are valid for all system modes. Furthermore, no adaption of the standard sequential causality assignment procedure (SCAP) with respect to fault detection and isolation (FDI) is needed.
The small and remote households in Northern regions demand thermal energy rather than electricity. Wind turbine in such places can be used to convert wind energy into thermal energy directly using a heat generator based on the principle of the Joule machine. The heat generator driven by a wind turbine can reduce the cost of energy for heating system. However the optimal performance of the system depends on the torque-speed characteristics of the wind turbine and the heat generator. To achieve maximum efficiency of operation both characteristics should be matched. In the article the condition of optimal performance is developed and an example of the system operating at maximum efficiency is simulated.
The usage of link quality based routing metrics significantly improves the quality of the chosen paths and by that the performance of the network. But, attackers may try to exploit link qualities for their purposes. Especially in tactical multi-hop networks, routing may fall prey to an attacker. Such routing attacks are a serious threat to communication. TOGBAD is a centralised approach, using topology graphs to detect routing attacks. In this paper, we enhance TOGBAD with the capability to detect fake link qualities. We use a Challenge/Response method to estimate the link qualities in the network. Based on this, we perform plausibility checks for the link qualities propagated by the nodes in the network. Furthermore, we study the impact of attackers propagating fake link qualities and present simulation results showing TOGBAD's detection rate.
The Web has become an indispensable prerequisite of everyday live and the Web browser is the most used application on a variety of distinct devices. The content delivered by the Web has changed drastically from static pages to media-rich and interactive Web applications offering nearly the same functionality as native applications, a trend which is further pushed by the Cloud and more specifically the Cloud’s SaaS layer. In the light of this development, security and performance of Web browsing has become a crucial issue.
Based on our reconfigurable FPGA spectrometer technology, we have developed a read-out system, operating in the frequency domain, for arrays of Microwave Kinetic Inductance Detectors (MKIDs). The readout consists of a combination of two digital boards: A programmable DAC-/FPGA-board (tone-generator) to stimulate the MKIDs detectors and an ADC-/FPGA-unit to analyze the detectors response. Laboratory measurement show no deterioration of the noise performance compared to low noise analog mixing. Thus, this technique allows capturing several hundreds of detector signals with just one pair of coaxial cables.
The smart home of the future is typically researched in lab settings or apartments that have been built from scratch. However, comparing the lifecycle of buildings and information technology, it is evident that modernization strategies and technologies are needed to empower residents to modify and extend their homes to make it smarter. In this paper, we describe a case study about the deployment, adaption to and adoption of tailorable home energy management systems in 7 private households. Based on this experience, we want to discuss how hardware and software technologies should be designed so that people could build their own smart home with a high usability and user experience.
In diesem Beitrag wird der interaktive Volumenrenderer Volt für die NVIDIA CUDA Architektur vorgestellt. Die Beschleunigung wird durch das Ausnutzen der technischen Eigenschaften des CUDA Device, durch die Partitionierung des Algorithmus und durch die asynchrone Ausführung des CUDA Kernels erreicht. Parallelität wird auf dem Host, auf dem Device und zwischen Host und Device genutzt. Es wird dargestellt, wie die Berechnungen durch den gezielten Einsatz der Ressourcen effizient durchgeführt werden. Die Ergebnisse werden zurückkopiert, so dass der Kernel nicht auf dem zur Anzeige bestimmten Device ausgeführt werden muss. Synchronisation der CUDA Threads ist nicht notwendig.