Purpose–The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.Design/...Purpose–The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.Design/methodology/approach–The TML language combines a task-based hierarchical approach together with a more flexible representation,rule-based reactive planning,to facilitate adaptability.This approach includes additional notions that abstract programming details.The authors built an interpreter integrated in the software framework Aerostack.The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.Findings–The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments.The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms.The TML interpreter is able to verify the mission plan before its execution,which increases robustness and safety,avoiding the execution of certain plans that are not feasible.Originality/value–One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans,integrated in an active open-source project with periodic releases.To the best knowledge of the authors,there are not solutions similar to this in other active open-source projects.As additional contributions,TML uses an original combination of representations for adaptive mission plans(i.e.task trees with original abstract notions and rule-based reactive planning)together with the demonstration of its adequacy for aerial robotics.展开更多
New technological advancements combined with powerful computer hardware and high-speed network make big data available.The massive sample size of big data introduces unique computational challenges on scalability and ...New technological advancements combined with powerful computer hardware and high-speed network make big data available.The massive sample size of big data introduces unique computational challenges on scalability and storage of statistical methods.In this paper,we focus on the lack of fit test of parametric regression models under the framework of big data.We develop a computationally feasible testing approach via integrating the divide-and-conquer algorithm into a powerful nonparametric test statistic.Our theory results show that under mild conditions,the asymptotic null distribution of the proposed test is standard normal.Furthermore,the proposed test benefits fromthe use of data-driven bandwidth procedure and thus possesses certain adaptive property.Simulation studies show that the proposed method has satisfactory performances,and it is illustrated with an analysis of an airline data.展开更多
Due to the complex,uncertainty and dynamics in the modern manufacturing environment,a flexible and robust shop floor scheduler is essential to achieve the production goals.A design framework of a shop floor dynamical ...Due to the complex,uncertainty and dynamics in the modern manufacturing environment,a flexible and robust shop floor scheduler is essential to achieve the production goals.A design framework of a shop floor dynamical scheduler is presented in this paper.The workflow and function modules of the scheduler are discussed in detail.A multi-step adaptive scheduling strategy and a process specification language,which is an ontology-based representation of process plan,are utilized in the proposed scheduler.The scheduler acquires the dispatching rule from the knowledge base and uses the build-in on-line simulator to evaluate the obtained rule.These technologies enable the scheduler to improve its fine-tune ability and effectively transfer process information into other heterogeneous information systems in a shop floor.The effectiveness of the suggested structure will be demonstrated via its application in the scheduling system of a manufacturing enterprise.展开更多
基金This research work has been partially supported by the Spanish Ministry of Economy and Competitiveness through the project VA4UAV(Visual autonomy for UAV in Dynamic Environments),reference DPI2014-60139-RThe authors would like to thank the members of our research group CVAR(Computer Vision and Aerial Robotics)for their help in software programming and evaluation with real flights:David Palacios,Adrian Diaz-Moreno,Guillermo de Fermin,Alberto Camporredondo and Carlos Valencia.
文摘Purpose–The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.Design/methodology/approach–The TML language combines a task-based hierarchical approach together with a more flexible representation,rule-based reactive planning,to facilitate adaptability.This approach includes additional notions that abstract programming details.The authors built an interpreter integrated in the software framework Aerostack.The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.Findings–The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments.The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms.The TML interpreter is able to verify the mission plan before its execution,which increases robustness and safety,avoiding the execution of certain plans that are not feasible.Originality/value–One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans,integrated in an active open-source project with periodic releases.To the best knowledge of the authors,there are not solutions similar to this in other active open-source projects.As additional contributions,TML uses an original combination of representations for adaptive mission plans(i.e.task trees with original abstract notions and rule-based reactive planning)together with the demonstration of its adequacy for aerial robotics.
基金This paper was supported by the National Natural Science Foundation of China[grant number 11431006][grant num-ber 11690015]+1 种基金[grant number 11371202][grant number 11622104].
文摘New technological advancements combined with powerful computer hardware and high-speed network make big data available.The massive sample size of big data introduces unique computational challenges on scalability and storage of statistical methods.In this paper,we focus on the lack of fit test of parametric regression models under the framework of big data.We develop a computationally feasible testing approach via integrating the divide-and-conquer algorithm into a powerful nonparametric test statistic.Our theory results show that under mild conditions,the asymptotic null distribution of the proposed test is standard normal.Furthermore,the proposed test benefits fromthe use of data-driven bandwidth procedure and thus possesses certain adaptive property.Simulation studies show that the proposed method has satisfactory performances,and it is illustrated with an analysis of an airline data.
基金National Defense Fund(No.20030119)NSFC(No.60775060)the Foundation Research Fund of Harbin Engineering University(No.HEUFT07027)
文摘Due to the complex,uncertainty and dynamics in the modern manufacturing environment,a flexible and robust shop floor scheduler is essential to achieve the production goals.A design framework of a shop floor dynamical scheduler is presented in this paper.The workflow and function modules of the scheduler are discussed in detail.A multi-step adaptive scheduling strategy and a process specification language,which is an ontology-based representation of process plan,are utilized in the proposed scheduler.The scheduler acquires the dispatching rule from the knowledge base and uses the build-in on-line simulator to evaluate the obtained rule.These technologies enable the scheduler to improve its fine-tune ability and effectively transfer process information into other heterogeneous information systems in a shop floor.The effectiveness of the suggested structure will be demonstrated via its application in the scheduling system of a manufacturing enterprise.
