Método de desvio de obstáculos aplicado em veículo autônomo.

A operação de veículos autônomos necessita de meios para evitar colisões quando obstáculos não conhecidos previamente são interpostos em sua trajetória. Algoritmos para executar o desvio e sensores apropriados para a detecção destes obstáculos são essenciais para a operação destes veículos. Esta dissertação apresenta estudos sobre quatro algoritmos de desvio de obstáculos e tecnologia de três tipos de sensores aplicáveis à operação de veículos autônomos. Após os estudos teóricos, um dos algoritmos foi testado para a comprovação da aplicabilidade ao veículo de teste. A etapa experimental foi a realização de um programa, escrito em linguagem de programação Java, que aplicou o algoritmo Inseto 2 para o desvio de obstáculos em uma plataforma robótica (Robodeck) com o uso de sensores ultrassônicos embarcados na referida plataforma. Os experimentos foram conduzidos em ambiente fechado (indoor), bidimensional e horizontal (plano), fazendo o Robodeck executar uma trajetória. Para os testes, obstáculos foram colocados para simular situações variadas e avaliar a eficácia do algoritmo nestas configurações de caminho. O algoritmo executou o desvio dos obstáculos com sucesso e, quando havia solução para a trajetória, ela foi encontrada. Quando não havia solução, o algoritmo detectou esta situação e parou o veículo.

Desenvolvimento de algoritmo de controle de tração para regeneração de energia metroviária - ACTREM: melhoria da eficiência energética de sistemas de tração metroviária.

Esta tese propõe um modelo de regeneração de energia metroviária, baseado no controle de paradas e partidas do trem ao longo de sua viagem, com o aproveitamento da energia proveniente da frenagem regenerativa no sistema de tração. O objetivo é otimizar o consumo de energia, promover maior eficiência, na perspectiva de uma gestão sustentável. Aplicando o Algoritmo Genético (GA) para obter a melhor configuração de tráfego dos trens, a pesquisa desenvolve e testa o Algoritmo de Controle de Tração para Regeneração de Energia Metroviária (ACTREM), usando a Linguagem de programação C++. Para analisar o desempenho do algoritmo de controle ACTREM no aumento da eficiência energética, foram realizadas quinze simulações da aplicação do ACTREM na linha 4 - Amarela do metrô da cidade de São Paulo. Essas simulações demonstraram a eficiência do ACTREM para gerar, automaticamente, os diagramas horários otimizados para uma economia de energia nos sistemas metroviários, levando em consideração as restrições operacionais do sistema, como capacidade máxima de cada trem, tempo total de espera, tempo total de viagem e intervalo entre trens. Os resultados mostram que o algoritmo proposto pode economizar 9,5% da energia e não provocar impactos relevantes na capacidade de transporte de passageiros do sistema. Ainda sugerem possíveis continuidades de estudos.

Hādhihi Taqrīrāt rāʼiqah wa-taḥqīqāt fāʼiqah

nammaqahā Muḥammad al-Azharī najl al-Ḥasan al-ʻAdawī al-Ḥamzāwī. Washshaḥa bihā ḥawāshī Muḥammad al-Ḥifnī ʻalá Sharḥ al-Risālah al-waḍʻīyah al-ʻAḍudīyah / li-Abī al-Qāsim al-Samarqandī wa-bi-hāmishihā al-ḥawāshī al-madhkūrah maʻa al-sharḥ al-madhkūr.

Ḥāshiyat al-Kaffawī ʻalá ʻIṣām al-waḍʻīyah

Muḥammad al-Kaffawī ibn al-Ḥājj Ḥumayd.

Hādhihi Ḥawāshī ʻalá Sharḥ al-Risālah al-waḍʻīyah al-ʻAḍudīyah / li-shaykhinā al-Shaykh Ismāʻīl al-ʻAjlūnī : manuscript, undated

Written in one column, 19 lines per page, in black.

Joy and freude; a comparative study of the linguistic field of pleasurable emotions in English and German,

Bibliography; p. 134-141.

Using the R package Shiny to create web applications that facilitate quantitative gene expression analysis

Thesis (Master's)--University of Washington, 2016-06

SimuMap: a computational system for spatial modelling

The paper presents a computational system based upon formal principles to run spatial models for environmental processes. The simulator is named SimuMap because it is typically used to simulate spatial processes over a mapped representation of terrain. A model is formally represented in SimuMap as a set of coupled sub-models. The paper considers the situation where spatial processes operate at different time levels, but are still integrated. An example of such a situation commonly occurs in watershed hydrology where overland flow and stream channel flow have very different flow rates but are highly related as they are subject to the same terrain runoff processes. SimuMap is able to run a network of sub-models that express different time-space derivatives for water flow processes. Sub-models may be coded generically with a map algebra programming language that uses a surface data model. To address the problem of differing time levels in simulation, the paper: (i) reviews general approaches for numerical solvers, (ii) considers the constraints that need to be enforced to use more adaptive time steps in discrete time specified simulations, and (iii) scaling transfer rates in equations that use different time bases for time-space derivatives. A multistep scheme is proposed for SimuMap. This is presented along with a description of its visual programming interface, its modelling formalisms and future plans. (C) 2003 Elsevier Ltd. All rights reserved.

Two empirical hydrocyclone models revisited

There has been an abundance of literature on the modelling of hydrocyclones over the past 30 years. However, in the comminution area at least, the more popular commercially available packages (e.g. JKSimMet, Limn, MODSIM) use the models developed by Nageswararao and Plitt in the 1970s, either as published at that time, or with minor modification. With the benefit of 30 years of hindsight, this paper discusses the assumptions and approximations used in developing these models. Differences in model structure and the choice of dependent and independent variables are also considered. Redundancies are highlighted and an assessment made of the general applicability of each of the models, their limitations and the sources of error in their model predictions. This paper provides the latest version of the Nageswararao model based on the above analysis, in a form that can readily be implemented in any suitable programming language, or within a spreadsheet. The Plitt model is also presented in similar form. (C) 2004 Elsevier Ltd. All rights reserved.

Mutation-based exploration of a method for verifying concurrent Java components

Summary form only given. The Java programming language supports concurrency. Concurrent programs are harder to verify than their sequential counterparts due to their inherent nondeterminism and a number of specific concurrency problems such as interference and deadlock. In previous work, we proposed a method for verifying concurrent Java components based on a mix of code inspection, static analysis tools, and the ConAn testing tool. The method was derived from an analysis of concurrency failures in Java components, but was not applied in practice. In this paper, we explore the method by applying it to an implementation of the well-known readers-writers problem and a number of mutants of that implementation. We only apply it to a single, well-known example, and so we do not attempt to draw any general conclusions about the applicability or effectiveness of the method. However, the exploration does point out several strengths and weaknesses in the method, which enable us to fine-tune the method before we carry out a more formal evaluation on other, more realistic components.

Incorporating level set methods in Geographical Information Systems (GIS) for land-surface process modelling

Land-surface processes include a broad class of models that operate at a landscape scale. Current modelling approaches tend to be specialised towards one type of process, yet it is the interaction of processes that is increasing seen as important to obtain a more integrated approach to land management. This paper presents a technique and a tool that may be applied generically to landscape processes. The technique tracks moving interfaces across landscapes for processes such as water flow, biochemical diffusion, and plant dispersal. Its theoretical development applies a Lagrangian approach to motion over a Eulerian grid space by tracking quantities across a landscape as an evolving front. An algorithm for this technique, called level set method, is implemented in a geographical information system (GIS). It fits with a field data model in GIS and is implemented as operators in map algebra. The paper describes an implementation of the level set methods in a map algebra programming language, called MapScript, and gives example program scripts for applications in ecology and hydrology.

An efficient algorithm for partitioning parameterized polygons into rectangles

In this paper, we propose an algorithm for partitioning parameterized orthogonal polygons into rectangles. The algorithm is based on the plane-sweep technique and can be used for partitioning polygons which contain holes. The input to the algorithm consists of the contour of a parameterized polygon to be partitioned and the constraints for those parameters which reside in the contour. The algorithm uses horizontal cuts only and generates a minimum number of rectangles whose union is the original orthogonal polygon. The proposed algorithm can be used as the basis to build corner stitching data structure for parameterized VLSI layouts and has been implemented in Java programming language. Copyright © 2010 ACM, Inc.

Reasoning about timeouts

In real-time programming a timeout mechanism allows exceptional behaviour, such as a lack of response, to be handled effectively, while not overly affecting the programming for the normal case. For. example, in a pump controller if the water level has gone below the minimum level and the pump is on and hence pumping in more water, then the water level should rise above the minimum level within a specified time. If not, there is a fault in the system and it should be shut down and an alarm raised. Such a situation can be handled by normal case code that determines when the level has risen above the minimum, plus a timeout case handling the situation when the specified time to reach the minimum has passed. In this paper we introduce a timeout mechanism, give it a formal definition in terms of more basic real-time commands, develop a refinement law for introducing a timeout clause to implement a specification, and give an example of using the law to introduce a timeout. The framework used is a machine-independent real-time programming language, which makes use of a deadline command to represent timing constraints in a machine-independent fashion. This allows a more abstract approach to handling timeouts.

Extending the theory of Owicki and Gries with asynchronous message passing

We describe an extension of the theory of Owicki and Gries (1976) to a programming language that supports asynchronous message passing based on unconditional send actions and conditional receive actions. The focus is on exploring the fitness of the extension for distributed program derivation. A number of experiments are reported, based on a running example problem, and with the aim of exploring design heuristics and of streamlining derivations and progress arguments.

A classification of concurrency failures in java components

The Java programming language supports concurrency. Concurrent programs are hard to test due to their inherent non-determinism. This paper presents a classification of concurrency failures that is based on a model of Java concurrency. The model and failure classification is used to justify coverage of synchronization primitives of concurrent components. This is achieved by constructing concurrency flow graphs for each method call. A producer-consumer monitor is used to demonstrate how the approach can be used to measure coverage of concurrency primitives and thereby assist in determining test sequences for deterministic execution.