6449965
Development of a snake-like robot adapting to the ground
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.
206600042
Multiagent Reinforcement Learning for a Planetary Exploration Multirobot System
In a planetary rover system called “SMC rover”, the motion coordination between robots is a key problem to be solved. Multiagent reinforcement learning methods for multirobot coordination strategy learning are investigated. A reinforcement learning based coordination mechanism is proposed for the exploration system. Four-robot climbing a slope is studied in detail as an instance. The actions of the robots are divided into two layers and realized respectively, which simplified the complexity of the climbing task. A Q-Learning based multirobot coordination strategy mechanism is proposed for the climbing mission. An OpenGL 3D simulation platform is used to verify the strategy and the learning results.
14083445
Network-based reconfiguration routes for a self-reconfigurable robot
This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named “AMOEBA-I” has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots’ configuration control and reconfiguration planning.
21075507
BP Networks Based Trajectory Planning and Inverse Kinematics of a Reconfigurable Mars Rover
The inverse kinematics of series manipulators presents an inherent complexity due to their various structures and kinematics constraints. To a novel reconfigurable Mars rover's arm, the inverse kinematics had been solved by numerical method combined with space geometry relations, but the complex calculating process can not be utilized in real-time control. In this paper, some actions in common use are programmed in the child rover, and the BP neural network was used to solve the inverse kinematics and trajectory planning. To a desired trajectory, some solutions by direct kinematics algorithms and geometry relations corresponding to the trajectory were used as the BP network's training data set, and the non-linear mapping from joint-variable space to operation-variable space was obtained with iterative training and learning method. The results show the output of training is consistent with the desired path, and the obtained reference trajectory is smooth.
206544153
Analysis of creeping locomotion of a snake robot on a slope
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forward direction driving force. To enlarge the environment-adaptable ability of our robot, in this study we discuss the creeping locomotion of our snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of our snake-like robot on a slope, and the environment-adaptable body shape for the creeping locomotion of the snake-like robot on slope is also derived through this simulator.
152660
Gaits-transferable CPG controller for a snake-like robot
With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.
8359291
Polaris: A System-Level Roadmap for On-Chip Interconnection Networks
Technology trends are driving parallel on-chip architectures in the form of multi-processor systems-on-a-chip (MPSoCs) and chip multi-processors (CMPs). In these systems the increasing on-chip communication demand among the computation elements necessitates the use of scalable, nigh-bandwidth network-on-chip (NoC) fabrics. As transistor feature sizes are further miniaturized leading to rapidly increasing amounts of on-chip resources, more complicated and powerful NoC architectures become feasible that can support more sophisticated and demanding applications. Given the myriad emerging software-hardware combinations, for cost-effectiveness, a system designer critically needs to prune this widening NoC design space to identify the architecture(s) that best balance(s) cost/performance, before the actual design process begins. This prompted us to develop Polaris 1, a system-level roadmap for on-chip interconnection networks that guides designers towards the most suitable network design(s) tailored to their performance needs and power/silicon area constraints with respect to a range of applications that will run over this network(s). Polaris explores the plethora of NoC designs based on projections of network traffic, architectures, and process characteristics. While the Polaris roadmapping toolchain is extensible so new traffic, network designs, and processes can be added, the current version of the roadmap already incorporates 7,872 NoC design points. Polaris is rapid and iterates over all these NoC architectures within a tractable run time of 125 hours on a typical desktop machine, while maintaining high relative and absolute accuracies when validated against detailed NoC synthesis results.
29250801
The Case of Interactive Web-Based Course Development
Development of the web-based learning technology supports strong enhancement to the lifelong education. This paper introduces how to design and implement web-based courses by network technology. To adapt the learning custom of the online learner, we adopt interactive and easy-sharing instructional mode and pay more attention to the display attribute of the multimedia during the process of designing and development web-based courses. In the "Civil Law" instructional practice, we divide the learning process into five parts: independent learning, online question-answering, test and examination, case study and discussion, and mock trial.
12108467
Tracking Anomalous Behaviors of Name Servers by Mining DNS Traffic
This paper seeks to quantitatively understand the nature of the current threat towards the common name servers. A new tracking technique based on statistical model is proposed to locate the anomalous name servers by analyzing the real-world DNS traffic. After summarizing the attacks towards DNS, the detection method based on associative feature analysis is presented. Experiments are conducted which highlighting both the payload anomaly and the data flow anomaly, and the experimental results reveal the efficiency of our method in detecting the anomalous behaviors of name servers.
7822301
A web-based aggregated platform for user-contributed interactive media broadcasting
In this paper, we present a web-based aggregated platform, DJ DreamFactory, which enables average users to effortlessly participate in and contribute to interactive media broadcasting over the Internet. The platform overcomes several shortcomings of existing Internet-based broadcasting systems, such as inconvenience in channel surfing and content browsing due to the scattering and isolating of broadcasting stations, difficulties in setting up a broadcasting station, lack of communications between broadcasters and audience, and little support for personalized experience. The proposed platform facilitates users' media access by seamlessly aggregating sporadic broadcasting stations run by individual hosts, and enables a virtual community where grassroots users can contribute to media broadcasting, sharing, organizing and annotating through social networking. In addition, it supports real-time multimodal interaction between audience and hosts, provides customized services for both broadcasters and audience, supports personalized media experiences by mining and managing audience's preferences, and facilitates the organization of unstructured media data collections as well as collective human intelligence on the Web.
2524422
Versatile prediction and fast estimation of Architectural Vulnerability Factor from processor performance metrics
The shrinking processor feature size, lower threshold voltage and increasing clock frequency make modern processors highly vulnerable to transient faults. Architectural Vulnerability Factor (AVF) reflects the possibility that a transient fault eventually causes a visible error in the program output, and it indicates a system's susceptibility to transient faults. Therefore, the awareness of the AVF especially at early design stage is greatly helpful to achieve a trade-off between system performance and reliability. However, tracking the AVF during program execution is extremely costly, which makes accurate AVF prediction extraordinarily attractive to computer architects. In this paper, we propose to use Boosted Regression Trees, a nonparametric tree-based predictive modeling scheme, to identify the correlation across workloads, execution phases and processor configurations between a key processor structure's AVF and various performance metrics. The proposed method not only makes an accurate prediction but quantitatively illustrates individual performance variable's importance to the AVF. Moreover, to reduce the prediction complexity, we also utilize a technique named Patient Rule Induction Method to extract some simple selecting rules on important metrics. Applying these rules during run time can fast identify execution intervals with a relatively high AVF.