Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy sup...Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption,we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method,which can flexibly optimize the task completion number and the resource consumption according to the application contexts.Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.展开更多
How to deal with the collaboration between task decomposition and task scheduling is the key problem of the integrated manufacturing system for complex products. With the development of manufacturing technology, we ca...How to deal with the collaboration between task decomposition and task scheduling is the key problem of the integrated manufacturing system for complex products. With the development of manufacturing technology, we can probe a new way to solve this problem. Firstly, a new method for task granularity quantitative analysis is put forward, which can precisely evaluate the task granularity of complex product cooperation workflow in the integrated manufacturing system, on the above basis; this method is used to guide the coarse-grained task decomposition and recombine the subtasks with low cohesion coefficient. Then, a multi-objective optimieation model and an algorithm are set up for the scheduling optimization of task scheduling. Finally, the application feasibility of the model and algorithm is ultimately validated through an application case study.展开更多
t In this paper an overall scheme of the task management system of ternary optical computer （TOC） is proposed, and the software architecture chart is given. The function and accomplishment of each module in the syst...t In this paper an overall scheme of the task management system of ternary optical computer （TOC） is proposed, and the software architecture chart is given. The function and accomplishment of each module in the system are described in general. In addition, according to the aforementioned scheme a prototype of TOC task management system is implemented, and the feasibility, rationality and completeness of the scheme are verified via running and testing the prototype.展开更多
A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed...A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.展开更多
In net-based collaborative design environment, design resources become more and more varied and complex. Besides common information management systems, design resources can be organized in connection with design act...In net-based collaborative design environment, design resources become more and more varied and complex. Besides common information management systems, design resources can be organized in connection with design activities. A set of activities and resources linked by logic relations can form a task. A task has at least one objective and can be broken down into smaller ones. So a design project can be separated into many subtasks forming a hierarchical structure. Task Management System (TMS) is designed to break down these tasks and assign certain resources to its related task nodes. As a result of decomposition, all design resources and activities could be managed via this system. Based on this idea, we realized a TMS which manages collaborative resources in web environment.展开更多
A new task mode, hardware logic task mode, is presented. Its architecture, schedule and implementation are described with HDI.（ Hardware Description Language ）, and the validity of the system has been proved by logi...A new task mode, hardware logic task mode, is presented. Its architecture, schedule and implementation are described with HDI.（ Hardware Description Language ）, and the validity of the system has been proved by logic simulation. It has advantage for real-time applications and overheadsaving for operating .system, so it is profitable for the controller in the embedded system. The relationship among RTOS （Real-Time Operating System）, SoC（System on Chip）, VIA （Virtual Interface Architecture） and hardware logic task is also discussed in the paper.展开更多
Harvesting energy for execution from the environment (e.g., solar, wind energy) has recently emerged as a feasible solution for low-cost and low-power distributed systems. When real-time responsiveness of a given appl...Harvesting energy for execution from the environment (e.g., solar, wind energy) has recently emerged as a feasible solution for low-cost and low-power distributed systems. When real-time responsiveness of a given application has to be guaranteed, the recharge rate of obtaining energy inevitably affects the task scheduling. This paper extends our previous works in?[1] [2] to explore the real-time task assignment problem on an energy-harvesting distributed system. The solution using Ant Colony Optimization (ACO) and several significant improvements are presented. Simulations compare the performance of the approaches, which demonstrate the solutions effectiveness and efficiency.展开更多
针对静态和动态救援场景下的多无人机协同任务调度问题,提出基于密度的噪声应用空间聚类-一致性包算法(density-based spatial clustering of applications with noise-consensus-based bundle algorithm,DBSCAN-CBBA)。首先,针对任务...针对静态和动态救援场景下的多无人机协同任务调度问题,提出基于密度的噪声应用空间聚类-一致性包算法(density-based spatial clustering of applications with noise-consensus-based bundle algorithm,DBSCAN-CBBA)。首先,针对任务执行阶段存在的场景不确定以及无人机携带物资载荷限制等问题,建立了一种更为符合救援实际的多任务分配模型。然后,优化了一致性包算法的任务包构建结构以提高算法效率和搜索最优解的能力。第1阶段通过基于密度聚类算法生成候选任务集合,并通过随机方式构建非候选任务集合;第2阶段通过无人机之间的通信,消解它们因独立构建任务包而产生的冲突。最后,将该算法分别应用于静态和实时动态任务分配场景。仿真实验结果表明,该算法可较为高效地找到合理的任务分配方案。展开更多
The study evaluated the impact of digital health tools, task sharing, capacity building, and maternal health financing on Maternal, Newborn, and Child Health (MNCH) systems in Kisii, Kajiado, and Migori counties in Ke...The study evaluated the impact of digital health tools, task sharing, capacity building, and maternal health financing on Maternal, Newborn, and Child Health (MNCH) systems in Kisii, Kajiado, and Migori counties in Kenya, under the Tekeleza project1. It aimed to assess how these interventions influenced MNCH service uptake, outcomes, and referral systems, using a mixed-methods approach with data from healthcare providers, community health promoters, and mothers. Findings showed that digital tools like the LUCY App improved coordination and maternal care but highlighted the need for better app features and wider access. Task sharing in areas like sonography enhanced service delivery but required stronger stakeholder engagement. Capacity-building through training was crucial for skill development, though additional training on emerging health issues was needed. Financial interventions, such as the Linda Mama program, boosted service uptake, but reimbursement processes needed improvement. Strengthening referral systems between lower- and higher-level facilities was identified as essential for timely access to care. The study concludes that integrating digital tools, expanding task sharing, enhancing training, and reinforcing health financing and referral systems are critical for strengthening MNCH services in rural Kenya, with broader implications for similar low-resource settings.展开更多
目前,多核实时系统中同步任务的节能调度研究主要针对的是同构多核处理器平台,而异构多核处理器架构能够更有效地发挥系统性能。将现有的研究直接应用于异构多核系统,在保证可调度性的情况下会导致能耗变高。对此,通过使用动态电压与频...目前,多核实时系统中同步任务的节能调度研究主要针对的是同构多核处理器平台,而异构多核处理器架构能够更有效地发挥系统性能。将现有的研究直接应用于异构多核系统,在保证可调度性的情况下会导致能耗变高。对此,通过使用动态电压与频率调节(Dynamic Voltage Frequency Scaling,DVFS)技术,研究异构多核实时系统中基于任务同步的节能调度问题,提出同步感知的最大能耗节省优先算法(Synchronization Aware-Largest Energy Saved First,SA-LESF)。该算法针对所有任务的速度配置进行迭代优化,直至所有任务均达到其最大限度节能的速度配置。此外,进一步提出基于动态松弛时间回收的同步感知最大能耗节省优先算法(Synchronization Aware-Largest Energy Saved First with Dynamic Reclamation,SA-LESF-DR)。该算法在保证实时任务可调度的同时,实施相应的回收策略,进一步降低系统能耗。实验结果表明,SA-LESF与SA-LESF-DR算法在能耗表现上具有优势,在相同任务集下,相比其他算法可节省高达30%的能耗。展开更多
基金supported by the National High Technology Research and Development Program of China(863 Program)(2015AA015403)the National Natural Science Foundation of China(61404069,61401185)the Project of Education Department of Liaoning Province(LJYL052)
文摘Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption,we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method,which can flexibly optimize the task completion number and the resource consumption according to the application contexts.Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.
基金supported by the National Natural Science Foundation of China(71401131)the MOE(Ministry of Education in China)Project of Humanities and Social Sciences(13XJC630011)the Ministry of Education Research Fund for the Doctoral Program of Higher Education(20120184120040)
文摘How to deal with the collaboration between task decomposition and task scheduling is the key problem of the integrated manufacturing system for complex products. With the development of manufacturing technology, we can probe a new way to solve this problem. Firstly, a new method for task granularity quantitative analysis is put forward, which can precisely evaluate the task granularity of complex product cooperation workflow in the integrated manufacturing system, on the above basis; this method is used to guide the coarse-grained task decomposition and recombine the subtasks with low cohesion coefficient. Then, a multi-objective optimieation model and an algorithm are set up for the scheduling optimization of task scheduling. Finally, the application feasibility of the model and algorithm is ultimately validated through an application case study.
基金Project supported by the National Natural Science Foundation of China(Grant No.61073049)the Ph D Programs Foundation of the Ministry of Education of China(Grant No.20093108110016)the Shanghai Leading Academic Discipline Project(Grant No.J50103)
文摘t In this paper an overall scheme of the task management system of ternary optical computer （TOC） is proposed, and the software architecture chart is given. The function and accomplishment of each module in the system are described in general. In addition, according to the aforementioned scheme a prototype of TOC task management system is implemented, and the feasibility, rationality and completeness of the scheme are verified via running and testing the prototype.
文摘A theoretical approach of ordered emergency tasks generation is proposed for dealing with a specific emergency event rapidly, exactly and effectively. According to the general principles of an emergency plan developed to response to an emergency management, a workflow model is employed to complete the formal modeling of concrete emergency plan firstly. Then the HTN planning system SHOP2 is introduced, the transformation method of domain knowledge from emergency domain to SHOP2 domain is studied. At last, the general procedure to solve the emergency decision prob-lems and to generate executive emergency tasks is set up drawing support from SHOP2 planning system, which will combine the principles (or knowledge) of emergency plan and the real emergency situations.
基金Supported by National Hi-Tch Research and Development Program of China
文摘In net-based collaborative design environment, design resources become more and more varied and complex. Besides common information management systems, design resources can be organized in connection with design activities. A set of activities and resources linked by logic relations can form a task. A task has at least one objective and can be broken down into smaller ones. So a design project can be separated into many subtasks forming a hierarchical structure. Task Management System (TMS) is designed to break down these tasks and assign certain resources to its related task nodes. As a result of decomposition, all design resources and activities could be managed via this system. Based on this idea, we realized a TMS which manages collaborative resources in web environment.
基金Supported bythe National Basic Research Programof China (973 Program2004CB318201) the National Natural Sci-ence Foundation of China (60273074)
文摘A new task mode, hardware logic task mode, is presented. Its architecture, schedule and implementation are described with HDI.（ Hardware Description Language ）, and the validity of the system has been proved by logic simulation. It has advantage for real-time applications and overheadsaving for operating .system, so it is profitable for the controller in the embedded system. The relationship among RTOS （Real-Time Operating System）, SoC（System on Chip）, VIA （Virtual Interface Architecture） and hardware logic task is also discussed in the paper.
文摘Harvesting energy for execution from the environment (e.g., solar, wind energy) has recently emerged as a feasible solution for low-cost and low-power distributed systems. When real-time responsiveness of a given application has to be guaranteed, the recharge rate of obtaining energy inevitably affects the task scheduling. This paper extends our previous works in?[1] [2] to explore the real-time task assignment problem on an energy-harvesting distributed system. The solution using Ant Colony Optimization (ACO) and several significant improvements are presented. Simulations compare the performance of the approaches, which demonstrate the solutions effectiveness and efficiency.
文摘针对静态和动态救援场景下的多无人机协同任务调度问题,提出基于密度的噪声应用空间聚类-一致性包算法(density-based spatial clustering of applications with noise-consensus-based bundle algorithm,DBSCAN-CBBA)。首先,针对任务执行阶段存在的场景不确定以及无人机携带物资载荷限制等问题,建立了一种更为符合救援实际的多任务分配模型。然后,优化了一致性包算法的任务包构建结构以提高算法效率和搜索最优解的能力。第1阶段通过基于密度聚类算法生成候选任务集合,并通过随机方式构建非候选任务集合;第2阶段通过无人机之间的通信,消解它们因独立构建任务包而产生的冲突。最后,将该算法分别应用于静态和实时动态任务分配场景。仿真实验结果表明,该算法可较为高效地找到合理的任务分配方案。
文摘The study evaluated the impact of digital health tools, task sharing, capacity building, and maternal health financing on Maternal, Newborn, and Child Health (MNCH) systems in Kisii, Kajiado, and Migori counties in Kenya, under the Tekeleza project1. It aimed to assess how these interventions influenced MNCH service uptake, outcomes, and referral systems, using a mixed-methods approach with data from healthcare providers, community health promoters, and mothers. Findings showed that digital tools like the LUCY App improved coordination and maternal care but highlighted the need for better app features and wider access. Task sharing in areas like sonography enhanced service delivery but required stronger stakeholder engagement. Capacity-building through training was crucial for skill development, though additional training on emerging health issues was needed. Financial interventions, such as the Linda Mama program, boosted service uptake, but reimbursement processes needed improvement. Strengthening referral systems between lower- and higher-level facilities was identified as essential for timely access to care. The study concludes that integrating digital tools, expanding task sharing, enhancing training, and reinforcing health financing and referral systems are critical for strengthening MNCH services in rural Kenya, with broader implications for similar low-resource settings.
文摘目前,多核实时系统中同步任务的节能调度研究主要针对的是同构多核处理器平台,而异构多核处理器架构能够更有效地发挥系统性能。将现有的研究直接应用于异构多核系统,在保证可调度性的情况下会导致能耗变高。对此,通过使用动态电压与频率调节(Dynamic Voltage Frequency Scaling,DVFS)技术,研究异构多核实时系统中基于任务同步的节能调度问题,提出同步感知的最大能耗节省优先算法(Synchronization Aware-Largest Energy Saved First,SA-LESF)。该算法针对所有任务的速度配置进行迭代优化,直至所有任务均达到其最大限度节能的速度配置。此外,进一步提出基于动态松弛时间回收的同步感知最大能耗节省优先算法(Synchronization Aware-Largest Energy Saved First with Dynamic Reclamation,SA-LESF-DR)。该算法在保证实时任务可调度的同时,实施相应的回收策略,进一步降低系统能耗。实验结果表明,SA-LESF与SA-LESF-DR算法在能耗表现上具有优势,在相同任务集下,相比其他算法可节省高达30%的能耗。
