A state/event fault tree(SEFT)is a modeling technique for describing the causal chains of events leading to failure in software-controlled complex systems.Such systems are ubiquitous in all areas of everyday life,and ...A state/event fault tree(SEFT)is a modeling technique for describing the causal chains of events leading to failure in software-controlled complex systems.Such systems are ubiquitous in all areas of everyday life,and safety and reliability analyses are increasingly required for these systems.SEFTs combine elements from the traditional fault tree with elements from state-based techniques.In the context of the real-time safety-critical systems,SEFTs do not describe the time properties and important timedependent system behaviors that can lead to system failures.Further,SEFTs lack the precise semantics required for formally modeling time behaviors.In this paper,we present a qualitative analysis method for SEFTs based on transformation from SEFT to timed automata(TA),and use the model checker UPPAAL to verify system requirements’properties.The combination of SEFT and TA is an important step towards an integrated design and verification process for real-time safety-critical systems.Finally,we present a case study of a powerboat autopilot system to confirm our method is viable and valid after achieving the verification goal step by step.展开更多
First,the state space tree method for finding communication network overall re-liability is presented.It directly generates one disjoint tree multilevel polynomial of a networkgraph.Its advantages are smaller computat...First,the state space tree method for finding communication network overall re-liability is presented.It directly generates one disjoint tree multilevel polynomial of a networkgraph.Its advantages are smaller computational effort(its computing time complexity is O(en_l),where e is the number of edges and n_l is the number of leaves)and shorter resulting expression.Second,based on it an exact decomposition algorithm for finding communication network overallreliability is presented by applying the hypergraph theory.If we use it to carry out the m-timedecomposition of a network graph,the communication network scale which can be analyzed by acomputer can be extended to m-fold.展开更多
This study is conducted to assess the amount of carbon stored in the above-ground biomass of the tree species at the Isabela State University Wildlife Sanctuary (ISUWS). A total of 34 different tree species were found...This study is conducted to assess the amount of carbon stored in the above-ground biomass of the tree species at the Isabela State University Wildlife Sanctuary (ISUWS). A total of 34 different tree species were found with 285 individuals were identified with a total of 47.50 t/ha Carbon stock and 164.09 t/ha of accumulated CO<sub>2</sub>. It was found in the study that Alstonia scholaris contains the largest amount of above-ground biomass (AGB) with a mass of 20.97 t/ha and Carbon stock of 9.44 t/ha followed by Samanea saman with a mass of 13.40 t/ha and Carbon stock of 6.03 t/ha. Based on the result and conclusion of this investigation, the following recommendations were drawn: Conduct a study concerning the carbon emission of the area to determine the relationship with its carbon sequestration potential;and conduct tree planting activity to open areas in the study site to increase its carbon stock potential and fully serve the purpose of the area as a wildlife sanctuary.展开更多
The use of probability distribution functions for describing tree diameter at breast height provides useful information for forest resource evaluation and quantification. A series of probability distribution functions...The use of probability distribution functions for describing tree diameter at breast height provides useful information for forest resource evaluation and quantification. A series of probability distribution functions have been widely developed and applied for managing forest trees in conventional forest reserves without much consideration for trees outside forest reserves. The aim of this study is to evaluate and propose a suitable probability distribution function for trees in Agricultural landscapes. The study examined 3-parameter lognormal, Lognormal, 3-parameter Gamma, Gamma, 3-parameter Weibull and Weibull distribution functions, using the Maximum Likelihood method for fitting tree diameter at breast height. Three hundred and thirty-two temporary farmlands were randomly selected from which stem diameter of all living trees, with diameter ≥ 10.0 cm, were measured. Results of the statistical analysis showed that the 3-parameter lognormal distribution gave a superior description of the stem diameter with the least values of Anderson Darling (1.627) and Akaike Information Criterion (5962.0) statistics. Hence, the 3-parameter lognormal distribution function was found suitable for the stem diameter of trees in Agricultural landscapes in the study area.展开更多
The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing...The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.展开更多
An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties.To attain this goal,we use a task sequence tree model originally proposed for manual assembly.This model regards...An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties.To attain this goal,we use a task sequence tree model originally proposed for manual assembly.This model regards an assembly task under uncertainties as a transformation of the contact state concept.The concept may contain several contact states with probabilities but these are transformed through a series of task elements into the contact state concept having only the goal state at the end.The transformed contact state concept can be classified according to the terminal condition of each task element.Thus,the whole assembly task can be designed as a tree-shaped contingent strategy called a task sequence tree.This paper proposes a systematic approach for reconfiguring a task sequence tree model for application to a robotic assembly task.In addition,by taking a 2D peg-in-hole insertion task to be performed by a robot equipped with a force sensor as an example,we confirm that the proposed approach can provide a robust motion strategy for the task and that the robot can actually execute the task robustly under bounded uncertainty according to the strategy.展开更多
基金supported by the National Natural Science Foundation of China(11832012)
文摘A state/event fault tree(SEFT)is a modeling technique for describing the causal chains of events leading to failure in software-controlled complex systems.Such systems are ubiquitous in all areas of everyday life,and safety and reliability analyses are increasingly required for these systems.SEFTs combine elements from the traditional fault tree with elements from state-based techniques.In the context of the real-time safety-critical systems,SEFTs do not describe the time properties and important timedependent system behaviors that can lead to system failures.Further,SEFTs lack the precise semantics required for formally modeling time behaviors.In this paper,we present a qualitative analysis method for SEFTs based on transformation from SEFT to timed automata(TA),and use the model checker UPPAAL to verify system requirements’properties.The combination of SEFT and TA is an important step towards an integrated design and verification process for real-time safety-critical systems.Finally,we present a case study of a powerboat autopilot system to confirm our method is viable and valid after achieving the verification goal step by step.
文摘First,the state space tree method for finding communication network overall re-liability is presented.It directly generates one disjoint tree multilevel polynomial of a networkgraph.Its advantages are smaller computational effort(its computing time complexity is O(en_l),where e is the number of edges and n_l is the number of leaves)and shorter resulting expression.Second,based on it an exact decomposition algorithm for finding communication network overallreliability is presented by applying the hypergraph theory.If we use it to carry out the m-timedecomposition of a network graph,the communication network scale which can be analyzed by acomputer can be extended to m-fold.
文摘This study is conducted to assess the amount of carbon stored in the above-ground biomass of the tree species at the Isabela State University Wildlife Sanctuary (ISUWS). A total of 34 different tree species were found with 285 individuals were identified with a total of 47.50 t/ha Carbon stock and 164.09 t/ha of accumulated CO<sub>2</sub>. It was found in the study that Alstonia scholaris contains the largest amount of above-ground biomass (AGB) with a mass of 20.97 t/ha and Carbon stock of 9.44 t/ha followed by Samanea saman with a mass of 13.40 t/ha and Carbon stock of 6.03 t/ha. Based on the result and conclusion of this investigation, the following recommendations were drawn: Conduct a study concerning the carbon emission of the area to determine the relationship with its carbon sequestration potential;and conduct tree planting activity to open areas in the study site to increase its carbon stock potential and fully serve the purpose of the area as a wildlife sanctuary.
文摘The use of probability distribution functions for describing tree diameter at breast height provides useful information for forest resource evaluation and quantification. A series of probability distribution functions have been widely developed and applied for managing forest trees in conventional forest reserves without much consideration for trees outside forest reserves. The aim of this study is to evaluate and propose a suitable probability distribution function for trees in Agricultural landscapes. The study examined 3-parameter lognormal, Lognormal, 3-parameter Gamma, Gamma, 3-parameter Weibull and Weibull distribution functions, using the Maximum Likelihood method for fitting tree diameter at breast height. Three hundred and thirty-two temporary farmlands were randomly selected from which stem diameter of all living trees, with diameter ≥ 10.0 cm, were measured. Results of the statistical analysis showed that the 3-parameter lognormal distribution gave a superior description of the stem diameter with the least values of Anderson Darling (1.627) and Akaike Information Criterion (5962.0) statistics. Hence, the 3-parameter lognormal distribution function was found suitable for the stem diameter of trees in Agricultural landscapes in the study area.
基金Acknowledgement This work was supported by the National Basic Research Program of China （2006CB705402）, the Na- tional Natural Science Foundation of China （30770538, 50821003）, and the Joint Research Fund for Overseas Natural Science of China.
文摘The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.
基金Project (No.19GS0208) supported by the Grant-in-Aid for Creative Scientific Research 2007–2011 funded by the Ministry of Education,Culture,Sports,Science and Technology,Japan
文摘An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties.To attain this goal,we use a task sequence tree model originally proposed for manual assembly.This model regards an assembly task under uncertainties as a transformation of the contact state concept.The concept may contain several contact states with probabilities but these are transformed through a series of task elements into the contact state concept having only the goal state at the end.The transformed contact state concept can be classified according to the terminal condition of each task element.Thus,the whole assembly task can be designed as a tree-shaped contingent strategy called a task sequence tree.This paper proposes a systematic approach for reconfiguring a task sequence tree model for application to a robotic assembly task.In addition,by taking a 2D peg-in-hole insertion task to be performed by a robot equipped with a force sensor as an example,we confirm that the proposed approach can provide a robust motion strategy for the task and that the robot can actually execute the task robustly under bounded uncertainty according to the strategy.
