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Dissertations / Theses on the topic 'Machinery cooperatives'
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1
Lucas, Véronique. "L'agriculture en commun : Gagner en autonomie grâce à la coopération de proximité : Expériences d'agriculteurs français en CUMA à l'ère de l'agroécologie." Thesis, Angers, 2018. http://www.theses.fr/2018ANGE0020/document.
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En France depuis 2013, des initiatives collectives d'agriculteurs sont soutenues par des politiques publiques visant à développer l'agroécologie, dont la définition inclut l'enjeu d'autonomisation des exploitations. Alors que l'agriculture est traversée par des processus d'individualisation et de déterritorialisation, le législateur a fait le pari que l'organisation collective des agriculteurs au niveau local pouvait favoriser leur autonomisation et leur engagement dans la transition agroécologique. La thèse éclaire ce paradoxe par l'analyse d'expériences d'agriculteurs organisés en Coopératives d'utilisation de matériel agricole (CUMA). Ceux-ci développent des pratiques que l'on peut qualifier d'agroécologiques afin de gagner en autonomie, en particulier vis-à-vis des marchés marqués par plus de volatilité des cours. Pour cela, ils reconfigurent leurs modes de coopération de proximité, dont l'organisation de leur CUMA. Les résultats montrent qu'ils arrivent à mettre à distance des ressources et opérateurs marchands externes, grâce à une interdépendance accrue entre pairs, qu'ils acceptent parce qu'elle leur fournit des appuis pour mieux maîtriser leur contexte d'activité. Mais ils manquent de ressources adéquates de la part des autres opérateurs du secteur agricole et alimentaire pour limiter des dépendances restantes. De même, tous les agriculteurs ne bénéficient pas également de ces coopérations approfondies, qui nécessitent des conditions appropriées. Cette thèse précise ces conditions nécessaires pour que la recherche d'autonomie et la coopération de proximité favorisent des processus de transition agroécologique de la part d'une plus large diversité d'agriculteursIn France since 2013, farmers' collectives initiatives are supported by specific public policies designed to develop agroecology, whose legal definition includes the objective of farm autonomy. Although agriculture is going through processes of individualization and deterritorialization, policymakers has bet that the collective organization of farmers could promote their autonomy and their agroecological transition. The thesis sheds new light on this paradox by analysis of farmers' experiences organized in farm machinery cooperatives(CUMA). These develop practices that can be described as agroecological in order to increase their autonomy, particularly in relation to markets affected by more price volatility. In so doing, they reconfigure their local modes of cooperation, including the organization of their machinery cooperative. The results show that they manage to put at distance external resources and market operators, owing to an increased interdependency with their peers, which is accepted because it allows them to better control the conditions of activity. Nevertheless, they lack appropriate resources from other operators in the agriculture and food sector to limit the remaining dependencies. Similarly, not all farmers equally benefit from such in-depth cooperation, which requires appropriate conditions. This thesis dissertation specifies the needed conditions so that the pursuit of autonomy and the local modes of cooperation can favor agroecological transition processes of a wider diversity of farmers
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Zhang, Weijie. "Machine-human Cooperative Control of Welding Process." UKnowledge, 2014. http://uknowledge.uky.edu/ece_etds/45.
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An innovative auxiliary control system is developed to cooperate with an unskilled welder in a manual GTAW in order to obtain a consistent welding performance. In the proposed system, a novel mobile sensing system is developed to non-intrusively monitor a manual GTAW by measuring three-dimensional (3D) weld pool surface. Specifically, a miniature structured-light laser amounted on torch projects a dot matrix pattern on weld pool surface during the process; Reflected by the weld pool surface, the laser pattern is intercepted by and imaged on the helmet glass, and recorded by a compact camera on it. Deformed reflection pattern contains the geometry information of weld pool, thus is utilized to reconstruct its $3$D surface. An innovative image processing algorithm and a reconstruction scheme have been developed for (3D) reconstruction.
The real-time spatial relations of the torch and the helmet is formulated during welding. Two miniature wireless inertial measurement units (WIMU) are mounted on the torch and the helmet, respectively, to detect their rotation rates and accelerations. A quaternion based unscented Kalman filter (UKF) has been designed to estimate the helmet/torch orientations based on the data from the WIMUs. The distance between the torch and the helmet is measured using an extra structure-light low power laser pattern.
Furthermore, human welder's behavior in welding performance has been studied, e.g., a welder`s adjustments on welding current were modeled as response to characteristic parameters of the three-dimensional weld pool surface. This response model as a controller is implemented both automatic and manual gas tungsten arc welding process to maintain a consistent full penetration.
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Siriwardana, Pallege Gamini Dilupa. "Machine learning-based multi-robot cooperative transportation of objects." Thesis, University of British Columbia, 2009. http://hdl.handle.net/2429/14700.
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Multi robot cooperative transportation is an important research area in the multi robot
domain. In the process of object transportation, several autonomous robots navigate cooperatively in either a static or a dynamic environment to transport an object to a goal location and orientation. The environment may consist of both fixed and removable obstacles and it will be subject to uncertainty and unforeseen changes within the environment. Furthermore, more than one robot may be required in a cooperative mode
for handling heavy and large objects. These are some of the challenges addressed in the
present thesis.
This thesis develops a machine learning approach and investigates relevant research
issues for object transportation utilizing cooperative and autonomous multiple mobile
robots. It makes significant original contributions in distributed multi robot coordination and self deterministic learning for robot decision making, and comes up with an optimal solution to the action selection conflicts of the robots in the cooperative system. This will help to improve the real time performance and robustness of the system. Also, the thesis develops a new method for object and obstacle identification in complex environments
using a laser range finder, which is more realistic than the available methods. A new
algorithm for object pose estimation algorithm is developed, enabling a robot to identify the objects and obstacles in a multi-robot environment by utilizing the laser range finder and color blob tracking.
The thesis develops a fully distributed hierarchical multi-robot architecture for enhanced coordination among robots in a dynamic and unknown environment. It strives to improve the real time performance and robustness. The system consists with three layers. By combining two popular artificial intelligence (Al) techniques such as learning and behavior based decision making, the developed architecture is expected to facilitate effective autonomous operation of cooperative multi-robot systems in a dynamically changing, unstructured, and unknown environment.
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Hasanaj, Enis, Albert Aveler, and William Söder. "Cooperative edge deepfake detection." Thesis, Jönköping University, JTH, Avdelningen för datateknik och informatik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-53790.
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Deepfakes are an emerging problem in social media and for celebrities and political profiles, it can be devastating to their reputation if the technology ends up in the wrong hands. Creating deepfakes is becoming increasingly easy. Attempts have been made at detecting whether a face in an image is real or not but training these machine learning models can be a very time-consuming process. This research proposes a solution to training deepfake detection models cooperatively on the edge. This is done in order to evaluate if the training process, among other things, can be made more efficient with this approach. The feasibility of edge training is evaluated by training machine learning models on several different types of iPhone devices. The models are trained using the YOLOv2 object detection system. To test if the YOLOv2 object detection system is able to distinguish between real and fake human faces in images, several models are trained on a computer. Each model is trained with either different number of iterations or different subsets of data, since these metrics have been identified as important to the performance of the models. The performance of the models is evaluated by measuring the accuracy in detecting deepfakes. Additionally, the deepfake detection models trained on a computer are ensembled using the bagging ensemble method. This is done in order to evaluate the feasibility of cooperatively training a deepfake detection model by combining several models. Results show that the proposed solution is not feasible due to the time the training process takes on each mobile device. Additionally, each trained model is about 200 MB, and the size of the ensemble model grows linearly by each model added to the ensemble. This can cause the ensemble model to grow to several hundred gigabytes in size.
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Wang, Ying. "Cooperative and intelligent control of multi-robot systems using machine learning." Thesis, University of British Columbia, 2008. http://hdl.handle.net/2429/905.
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This thesis investigates cooperative and intelligent control of autonomous multi-robot systems in a dynamic, unstructured and unknown environment and makes significant original contributions with regard to self-deterministic learning for robot cooperation, evolutionary optimization of robotic actions, improvement of system robustness, vision-based object tracking, and real-time performance.
A distributed multi-robot architecture is developed which will facilitate operation of a cooperative multi-robot system in a dynamic and unknown environment in a self-improving, robust, and real-time manner. It is a fully distributed and hierarchical architecture with three levels. By combining several popular AI, soft computing, and control techniques such as learning, planning, reactive paradigm, optimization, and hybrid control, the developed architecture is expected to facilitate effective autonomous operation of cooperative multi-robot systems in a dynamically changing, unknown, and unstructured environment.
A machine learning technique is incorporated into the developed multi-robot system for self-deterministic and self-improving cooperation and coping with uncertainties in the environment. A modified Q-learning algorithm termed Sequential Q-learning with Kalman Filtering (SQKF) is developed in the thesis, which can provide fast multi-robot learning. By arranging the robots to learn according to a predefined sequence, modeling the effect of the actions of other robots in the work environment as Gaussian white noise and estimating this noise online with a Kalman filter, the SQKF algorithm seeks to solve several key problems in multi-robot learning.
As a part of low-level sensing and control in the proposed multi-robot architecture, a fast computer vision algorithm for color-blob tracking is developed to track multiple moving objects in the environment. By removing the brightness and saturation information in an image and filtering unrelated information based on statistical features and domain knowledge, the algorithm solves the problems of uneven illumination in the environment and improves real-time performance.
In order to validate the developed approaches, a Java-based simulation system and a physical multi-robot experimental system are developed to successfully transport an object of interest to a goal location in a dynamic and unknown environment with complex obstacle distribution. The developed approaches in this thesis are implemented in the prototype system and rigorously tested and validated through computer simulation and experimentation.
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Silber, Georg, Josef Fröhlich, and Manfred M. Fischer. "What Shapes Firm Networks? Cooperative Innovation in Austrian Machine-Tool and Cement Industries." WU Vienna University of Economics and Business, 1993. http://epub.wu.ac.at/4201/1/WSG_DP_3193.pdf.
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Inter-organizational linkages, often referred to as network relationships, are considered to be of
increasing importance for the competitive performance of firms, industries and nations. Two
hypotheses about the conditions for the emergence of network relationships are derived from
the transaction cost approach and discussed in view of two case studies relying on a medium
sized machine-tool firm and a medium sized cement firm in Austria. The paper clearly
illustrates the necessity to go beyond the transaction cost approach and to take into account
factors such as strategic orientation, management skills and organizational issues. (authors' abstract)Series: Discussion Papers of the Institute for Economic Geography and GIScience
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Bushman, James B. "Identification of an operator's associate model for cooperative supervisory control situations." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/30992.
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Ngo, Quang Thanh. "Online perception with machine learning for automated driving." Technische Universität Chemnitz, 2019. https://monarch.qucosa.de/id/qucosa%3A73111.
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The understanding of the environment is the critical ability not only for the living creature but also for automation fields like the robot, automated car, and intelligent system. Especially for some essential task in the domain of automotive such as autonomous driving, path planning, localization, and object detection, the more information we gather, the better the result we get. Intelligent vehicle technology relies on sensorial perception to understand the surroundings of the vehicle. The objective of the research is developing a cooperative online perception system with semantic segmentation for automated driving and improving the current semantic segmentation framework to make it more robust and more suitable for our future projects.
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Godbout, Danny. "Implementation and evaluation of neuromuscular controllers in robotic systems performing cooperative tasks with humans." Pullman, Wash. : Washington State University, 2008. http://www.dissertations.wsu.edu/Thesis/Fall2008/d_godbout_112808.pdf.
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Thesis (M.S. in mechanical engineering)--Washington State University, December 2008.Title from PDF title page (viewed on Dec. 23, 2008). "School of Mechanical and Materials Engineering." Includes bibliographical references (p. 72-76).
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Morais, Anderson. "Distributed and cooperative intrusion detection in wireless mesh networks." Phd thesis, Institut National des Télécommunications, 2012. http://tel.archives-ouvertes.fr/tel-00789724.
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Wireless Mesh Network (WMN) is an emerging technology that is gaining importance among traditional wireless communication systems. However, WMNs are particularly vulnerable to external and insider attacks due to their inherent attributes such as open communication medium and decentralized architecture. In this research, we propose a complete distributed and cooperative intrusion detection system for efficient and effective detection of WMN attacks in real-time. Our intrusion detection mechanism is based on reliable exchange of network events and active cooperation between the participating nodes. In our distributed approach, Intrusion Detection Systems (IDSs) are independently placed at each mesh node to passively monitor the node routing behavior and concurrently monitor the neighborhood behavior. Based on that, we first implement a Routing Protocol Analyzer (RPA) that accuracy generates Routing Events from the observed traffic, which are then processed by the own node and exchanged between neighboring nodes. Second, we propose a practical Distributed Intrusion Detection Engine (DIDE) component, which periodically calculates accurate Misbehaving Metrics by making use of the generated Routing Events and pre-defined Routing Constraints that are extracted from the protocol behavior. Third, we propose a Cooperative Consensus Mechanism (CCM), which is triggered among the neighboring nodes if any malicious behavior is detected. The CCM module analyzes the Misbehaving Metrics and shares Intrusion Detection Results among the neighbors to track down the source of intrusion. To validate our research, we implemented the distributed intrusion detection solution using a virtualized mesh network platform composed of virtual machines (VMs) interconnected. We also implemented several routing attacks to evaluate the performance of the intrusion detection mechanisms
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Liu, Yuan. "Studies on Designing Distributed and Cooperative Systems for Solving Constraint Satisfaction Problems of Container Loading." 京都大学 (Kyoto University), 2008. http://hdl.handle.net/2433/57262.
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Bryan, Everett A. "Cooperative Target Tracking Enhanced with the Sequence Memoizer." BYU ScholarsArchive, 2013. https://scholarsarchive.byu.edu/etd/3814.
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Target tracking is an important part of video surveillance from a UAV. Tracking a target in an urban environment can be difficult because of the number of occlusions present in the environment. If multiple UAVs are used to track a target and the target behavior is learned autonomously by the UAV then the task may become easier. This thesis explores the hypothesis that an existing cooperative control algorithm can be enhanced by a language modeling algorithm to improve over time the target tracking performance of one or more ground targets in a dense urban environment. Observations of target behavior are reported to the Sequence Memoizer which uses the observations to create a belief model of future target positions. This belief model is combined with a kinematic belief model and then used in a cooperative auction algorithm for UAV path planning. The results for tracking a single target using the combined belief model outperform other belief models and improve over the duration of the mission. Results from tracking multiple targets indicate that algorithmic enhancements may be needed to find equivalent success. Future target tracking algorithms should involve machine learning to enhance tracking performance.
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Chen, L., W. Tang, N. W. John, Tao Ruan Wan, and J. J. Zhang. "De-smokeGCN: Generative Cooperative Networks for joint surgical smoke detection and removal." IEEE, 2019. http://hdl.handle.net/10454/17544.
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YesSurgical smoke removal algorithms can improve the quality of intra-operative imaging and reduce hazards in image-guided surgery, a highly desirable post-process for many clinical applications. These algorithms also enable effective computer vision tasks for future robotic surgery. In this paper, we present a new unsupervised learning framework for high-quality pixel-wise smoke detection and removal. One of the well recognized grand challenges in using convolutional neural networks (CNNs) for medical image processing is to obtain intra-operative medical imaging datasets for network training and validation, but availability and quality of these datasets are scarce. Our novel training framework does not require ground-truth image pairs. Instead, it learns purely from computer-generated simulation images. This approach opens up new avenues and bridges a substantial gap between conventional non-learning based methods and which requiring prior knowledge gained from extensive training datasets. Inspired by the Generative Adversarial Network (GAN), we have developed a novel generative-collaborative learning scheme that decomposes the de-smoke process into two separate tasks: smoke detection and smoke removal. The detection network is used as prior knowledge, and also as a loss function to maximize its support for training of the smoke removal network. Quantitative and qualitative studies show that the proposed training framework outperforms the state-of-the-art de-smoking approaches including the latest GAN framework (such as PIX2PIX). Although trained on synthetic images, experimental results on clinical images have proved the effectiveness of the proposed network for detecting and removing surgical smoke on both simulated and real-world laparoscopic images.
Research Development Fund Publication Prize Award winner, November 2019.
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Hintze, Joshua. "Autonomous landing of a rotary unmanned aerial vehicle in a non-cooperative environment using machine vision /." Diss., CLICK HERE for online access, 2004. http://contentdm.lib.byu.edu/ETD/image/etd359.pdf.
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Hintze, Joshua Martin. "Autonomous Landing of a Rotary Unmanned Aerial Vehicle in a Non-cooperative Environment using Machine Vision." BYU ScholarsArchive, 2004. https://scholarsarchive.byu.edu/etd/120.
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Landing an Unmanned Aerial Vehicle (UAV) is a non-trivial problem. Removing the ability to cooperate with the landing site further increases the complexity. This thesis develops a multi-stage process that allows a UAV to locate the safest landing site, and then land without a georeference. Machine vision is the vehicle sensor used to locate potential landing hazards and generate an estimated UAV position. A description of the algorithms, along with validation results, are presented. The thesis shows that software-simulated landing performs adequately, and that future hardware integration looks promising.
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Chipalkatty, Rahul. "Human-in-the-loop control for cooperative human-robot tasks." Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43649.
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Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or to execute the complexities of a task that autonomous robots are not yet equipped to handle. As such, robot controllers are needed that utilize the strengths of both autonomous agents, adept at handling lower level control tasks, and humans, superior at handling higher-level cognitive tasks.
To address this need, we develop a control theoretic framework that seeks to incorporate user commands such that user intention is preserved while an automated task is carried out by the controller. This is a novel approach in that system theoretic tools allow for analytic guarantees of feasibility and convergence to goal states which naturally lead to varying levels of autonomy. We develop a model predictive controller that takes human input, infers human intent, then applies a control that minimizes deviations from the intended human control while ensuring that the lower-level automated task is being completed.
This control framework is then evaluated in a human operator study involving a shared control task with human guidance of a mobile robot for navigation. These theoretical and experimental results lay the foundation for applying this control method for human-robot cooperative control to actual human-robot tasks. Specifically, the control is applied to a Urban Search and Rescue robot task where the shared control of a quadruped rescue robot is needed to ensure static stability during human-guided leg placements in uneven terrain. This control framework is also extended to a multiple user and multiple agent system where the human operators control multiple agents such that the agents maintain a formation while allowing the human operators to manipulate the shape of the formation. User studies are also conducted to evaluate the control in multiple operator scenarios.
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Inagaki, Shinkichi, Tatsuya Suzuki, and Takahiro Ito. "Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control." IEEE, 2009. http://hdl.handle.net/2237/13978.
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Bieshaar, Maarten [Verfasser]. "Cooperative intention detection using machine learning : advanced cyclist protection in the context of automated driving / Maarten Bieshaar." Kassel : kassel university press c/o Universität Kassel - Universitätsbibliothek, 2021. http://d-nb.info/1233244175/34.
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Zayene, Mariem. "Cooperative data exchange for wireless networks : Delay-aware and energy-efficient approaches." Thesis, Limoges, 2019. http://www.theses.fr/2019LIMO0033/document.
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Avec le nombre croissant d’appareils intelligents à faible puissance, au cours ces dernières années, la question de l’efficacité énergétique a joué un rôle de plus en plus indispensable dans la conception des systèmes de communication. Cette thèse vise à concevoir des schémas de transmission distribués à faible consommation d’énergie pour les réseaux sans fil, utilisant la théorie des jeux et le codage réseau instantanément décodable (IDNC), qui est une sous-classe prometteuse du codage réseau. En outre, nous étudions le modèle de l'échange coopératif de donnée (CDE) dans lequel tous les périphériques coopèrent en échangeant des paquets codés dans le réseau, jusqu’à ce qu’ils récupèrent tous l’ensemble des informations requises. En effet, la mise en œuvre du CDE basé sur l’IDNC soulève plusieurs défis intéressants, notamment la prolongation de la durée de vie du réseau et la réduction du nombre de transmissions afin de répondre aux besoins des applications temps réel. Par conséquent, contrairement à la plupart des travaux existants concernant l’IDNC, nous nous concentrons non seulement sur le délai, mais également sur l’énergie consommée. En premier lieu, nous étudions le problème de minimisation de l’énergie consommée et du délai au sein d’un petit réseau IDNC coopératif, entièrement connecté et à faible puissance. Nous modélisons le problème en utilisant la théorie des jeux coopératifs de formation de coalitions. Nous proposons un algorithme distribué (appelé “merge and split“) permettant aux nœuds sans fil de s’auto-organiser, de manière distribuée, en coalitions disjointes et indépendantes. L’algorithme proposé garantit une consommation d’énergie réduite et minimise le délai de complétion dans le réseau clustérisé résultant. Par ailleurs, nous ne considérons pas seulement l'énergie de transmission, mais aussi la consommation de l'énergie de calcul des nœuds. De plus, nous nous concentrons sur la question de la mobilité et nous analysons comment, à travers la solution proposée, les nœuds peuvent s’adapter à la topologie dynamique du réseau. Par la suite, nous étudions le même problème au sein d’un réseau large et partiellement connecté. En effet, nous examinons le modèle de CDE multi-sauts. Dans un tel modèle, nous considérons que les nœuds peuvent choisir la puissance d’émission et change ainsi de rayon de transmission et le nombre de voisin avec lesquels il peut entrer en coalition. Pour ce faire, nous modélisons le problème avec un jeu à deux étages; un jeu non-coopératif de contrôle de puissance et un jeu coopératif de formation de coalitions. La solution optimale du premier jeu permet aux joueurs de coopérer à travers des rayons de transmission limités en utilisant la théorie des jeux coopérative. En outre, nous proposons un algorithme distribué “merge and split“ afin de former des coalitions dans lesquelles les joueurs maximisent leurs utilités en termes de délai et de consommation d’énergie. La solution proposée permet la création d’une partition stable avec une interférence réduite et une complexité raisonnable. Nous démontrons que la coopération entre les nœuds au sein du réseau résultant, permet de réduire considérablement la consommation d’énergie par rapport au modèle coopératif optimal qui maintient le rayon de transmission maximalWith significantly growing number of smart low-power devices during recent years, the issue of energy efficiency has taken an increasingly essential role in the communication systems’ design. This thesis aims at designing distributed and energy efficient transmission schemes for wireless networks using game theory and instantly decodable network coding (IDNC) which is a promising network coding subclass. We study the cooperative data exchange (CDE) scenario in which all devices cooperate with each other by exchanging network coded packets until all of them receive all the required information. In fact, enabling the IDNC-based CDE setting brings several challenges such us how to extend the network lifetime and how to reduce the number of transmissions in order to satisfy urgent delay requirements. Therefore, unlike most of existing works concerning IDNC, we focus not only on the decoding delay, but also the consumed energy. First, we investigate the IDNC-based CDE problem within small fully connected networks across energy-constrained devices and model the problem using the cooperative game theory in partition form. We propose a distributed merge-and-split algorithm to allow the wireless nodes to self-organize into independent disjoint coalitions in a distributed manner. The proposed algorithm guarantees reduced energy consumption and minimizes the delay in the resulting clustered network structure. We do not only consider the transmission energy, but also the computational energy consumption. Furthermore, we focus on the mobility issue and we analyse how, in the proposed framework, nodes can adapt to the dynamic topology of the network. Thereafter, we study the IDNC-based CDE problem within large-scale partially connected networks. We considerate that each player uses no longer his maximum transmission power, rather, he controls his transmission range dynamically. In fact, we investigate multi-hop CDE using the IDNC at decentralized wireless nodes. In such model, we focus on how these wireless nodes can cooperate in limited transmission ranges without increasing the IDNC delay nor their energy consumption. For that purpose, we model the problem using a two-stage game theoretical framework. We first model the power control problem using non-cooperative game theory where users jointly choose their desired transmission power selfishly in order to reduce their energy consumption and their IDNC delay. The optimal solution of this game allows the players at the next stage to cooperate with each other through limited transmission ranges using cooperative game theory in partition form. Thereafter, a distributed multihop merge-and-split algorithm is defined to form coalitions where players maximize their utilities in terms of decoding delays and energy consumption. The solution of the proposed framework determines a stable feasible partition for the wireless nodes with reduced interference and reasonable complexity. We demonstrate that the co-operation between nodes in the multihop cooperative scheme achieves a significant minimization of the energy consumption with respect to the most stable cooperative scheme in maximum transmission range without hurting the IDNC delay
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Kamel, Joseph. "Misbehavior detection for cooperative intelligent transport systems (C-ITS)." Electronic Thesis or Diss., Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAT024.
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Les systèmes de transport intelligents coopératifs (STI-C) est une technologie qui changera notre expérience de conduite. Dans ce système, les véhicules coopèrent en échangeant des messages de communication Vehicle-to-X (V2X) sur le réseau véhiculaire. Les applications de sécurité routière utilisent les données de ces messages pour détecter et éviter à temps les situations dangereuses. Par conséquent, il est crucial que les données des messages V2X soient sécurisées et précises. Dans le système STI-C actuel, les messages sont signés avec des clés digitales pour garantir leur authenticité. Cependant, l'authentification ne garantit pas l'exactitude des données. Un véhicule authentifié pourrait avoir un capteur défectueux et donc envoyer des informations inexactes. Un attaquant pourrait également obtenir des clés légitimes en piratant l'unité embarquée de son véhicule et donc transmettre des messages malveillants signés. La détection des mauvais comportements dans les STI-C est un sujet de recherche visant à garantir l'exactitude des messages V2X échangés. Il consiste à surveiller la sémantique des données des messages échangés pour détecter et identifier des entités à comportement suspect. Le processus de détection est divisé en plusieurs étapes. La détection locale consiste à effectuer d'abord des vérifications de plausibilité et de cohérence sur les messages V2X reçus. Les résultats de ces vérifications sont ensuite fusionnés à l'aide d'une application de fusion locale. L'application est capable d'identifier diverses anomalies V2X. Si une anomalie est détectée, le véhicule collectera les preuves nécessaires et créera un rapport de mauvais comportement. Ce rapport est ensuite envoyé à une autorité cloud de mauvais comportement. Cette autorité a pour objectif d'assurer le bon fonctionnement du système C-ITS et d'atténuer les effets des attaques. Elle recueillera d'abord les rapports des véhicules, puis enquêtera sur l'événement et décidera de la réaction appropriée. Dans cette thèse, nous évaluons et contribuons aux différents composants du processus de détection des comportements malveillants : la détection locale, le reporting et la détection globaleCooperative Intelligent Transport Systems (C-ITS) is an upcoming technology that will change our driving experience in the near future. In such systems, vehicles cooperate by exchanging Vehicle-to-X communication (V2X) messages over the vehicular network. Safety applications use the data in these messages to detect and avoid dangerous situations on time. Therefore, it is crucial that the data in V2X messages is secure and accurate.In the current C-ITS system, the messages are signed with digital keys to ensure authenticity. However, authentication does not ensure the correctness of the data. A genuine vehicle could have a faulty sensor and therefore send inaccurate information. An attacker could also obtain legitimate keys by hacking into the on-board unit of his vehicle and therefore transmit signed malicious messages.Misbehavior Detection in C-ITS is an active research topic aimed at ensuring the correctness of the exchanged V2X messages. It consists of monitoring data semantics of the exchanged messages to detect and identify potential misbehaving entities. The detection process is divided into multiple steps. Local detection consists of first performing plausibility and consistency checks on the received V2X messages. The results of these checks are then fused using a local detection application. The application is able to identify various V2X anomalies. If an anomaly is detected, the vehicle will collect the needed evidence and create a misbehavior report. This report is then sent to a cloud based misbehavior authority.This authority has a goal of ensuring the correct operation of the C-ITS system and mitigating the effects of attacks. It will first collect the misbehavior reports from vehicles and would then investigate the event and decide on the suitable reaction.In this thesis, we evaluate and contribute to the local, reporting and global steps of the misbehavior detection process
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Baur, Tobias [Verfasser], and Elisabeth [Akademischer Betreuer] André. "Cooperative and transparent machine learning for the context-sensitive analysis of social interactions / Tobias Baur ; Betreuer: Elisabeth André." Augsburg : Universität Augsburg, 2018. http://d-nb.info/1170582982/34.
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Lallée, Stéphane. "Towards a distributed, embodied and computational theory of cooperative interaction." Thesis, Lyon 1, 2012. http://www.theses.fr/2012LYO10052/document.
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Les robots vont peu à peu intégrer nos foyers sous la forme d’assistants et de compagnons,humanoïdes ou non. Afin de remplir leur rôle efficacement ils devront s’adapter àl’utilisateur, notamment en apprenant de celui-ci le savoir ou les capacités qui leur fontdéfaut. Dans ce but, leur manière d’interagir doit être naturelle et évoquer les mêmesmécanismes coopératifs que ceux présent chez l’homme. Au centre de ces mécanisme setrouve le concept d’action : qu’est-ce qu’une action, comment les humains les reconnaissent,comment les produire ou les décrire ? La modélisation de toutes ces fonctionnalitésconstituera la fondation de cette thèse et permettra la mise en place de mécanismescoopératifs de plus haut niveau, en particulier les plan partagés qui permettent à plusieursindividus d’oeuvrer de concert afin d’atteindre un but commun. Finalement, je présenteraiune différence fondamentale entre la représentation de la connaissance chez l’homme etchez la machine, toujours dans le cadre de l’interaction coopérative : la dissociation possibleentre le corps d’un robot et sa cognition, ce qui n’est pas imaginable chez l’homme. Cettedissociation m’amènera notamment à explorer le « shared experience framework », unesituation dans laquelle une cognition artificielle centrale gère l’expérience partagée demultiples individus ayant chacun une identité propre. Cela m’amènera finalement àquestionner les différentes philosophies de l’esprit du point de vue de l’attribution d’unesprit à une machine et de ce que cela impliquerai quant à l’esprit humainRobots will gradually integrate our homes wielding the role of companions, humanoids ornot. In order to cope with this status they will have to adapt to the user, especially bylearning knowledge or skills from him that they may lack. In this context, their interactionshould be natural and evoke the same cooperative mechanisms that humans use. At thecore of those mechanisms is the concept of action: what is an action, how do humansrecognize them, how they produce or describe them? The modeling of aspects of thesefunctionalities will be the basis of this thesis and will allow the implementation of higherlevel cooperative mechanisms. One of these is the ability to handle “shared plans” whichallow two (or more) individuals to cooperate in order to reach a goal shared by all.Throughout the thesis I will attempt to make links between the human development ofthese capabilities, their neurophysiology, and their robotic implementation. As a result ofthis work, I will present a fundamental difference between the representation of knowledgein humans and machines, still in the framework of cooperative interaction: the possibledissociation of a robot body and its cognition, which is not easily imaginable for humans.This dissociation will lead me to explore the “shared experience framework, a situationwhere a central artificial cognition manages the shared knowledge of multiple beings, eachof them owning some kind of individuality. In the end this phenomenon will interrogate thevarious philosophies of mind by asking the question of the attribution of a mind to amachine and the consequences of such a possibility regarding the human mind
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Nguyen, Minh Ha Information Technology & Electrical Engineering Australian Defence Force Academy UNSW. "Cooperative coevolutionary mixture of experts : a neuro ensemble approach for automatic decomposition of classification problems." Awarded by:University of New South Wales - Australian Defence Force Academy. School of Information Technology and Electrical Engineering, 2006. http://handle.unsw.edu.au/1959.4/38752.
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Artificial neural networks have been widely used for machine learning and optimization. A neuro ensemble is a collection of neural networks that works cooperatively on a problem. In the literature, it has been shown that by combining several neural networks, the generalization of the overall system could be enhanced over the separate generalization ability of the individuals. Evolutionary computation can be used to search for a suitable architecture and weights for neural networks. When evolutionary computation is used to evolve a neuro ensemble, it is usually known as evolutionary neuro ensemble. In most real-world problems, we either know little about these problems or the problems are too complex to have a clear vision on how to decompose them by hand. Thus, it is usually desirable to have a method to automatically decompose a complex problem into a set of overlapping or non-overlapping sub-problems and assign one or more specialists (i.e. experts, learning machines) to each of these sub-problems. An important feature of neuro ensemble is automatic problem decomposition. Some neuro ensemble methods are able to generate networks, where each individual network is specialized on a unique sub-task such as mapping a subspace of the feature space. In real world problems, this is usually an important feature for a number of reasons including: (1) it provides an understanding of the decomposition nature of a problem; (2) if a problem changes, one can replace the network associated with the sub-space where the change occurs without affecting the overall ensemble; (3) if one network fails, the rest of the ensemble can still function in their sub-spaces; (4) if one learn the structure of one problem, it can potentially be transferred to other similar problems. In this thesis, I focus on classification problems and present a systematic study of a novel evolutionary neuro ensemble approach which I call cooperative coevolutionary mixture of experts (CCME). Cooperative coevolution (CC) is a branch of evolutionary computation where individuals in different populations cooperate to solve a problem and their fitness function is calculated based on their reciprocal interaction. The mixture of expert model (ME) is a neuro ensemble approach which can generate networks that are specialized on different sub-spaces in the feature space. By combining CC and ME, I have a powerful framework whereby it is able to automatically form the experts and train each of them. I show that the CCME method produces competitive results in terms of generalization ability without increasing the computational cost when compared to traditional training approaches. I also propose two different mechanisms for visualizing the resultant decomposition in high-dimensional feature spaces. The first mechanism is a simple one where data are grouped based on the specialization of each expert and a color-map of the data records is visualized. The second mechanism relies on principal component analysis to project the feature space onto lower dimensions, whereby decision boundaries generated by each expert are visualized through convex approximations. I also investigate the regularization effect of learning by forgetting on the proposed CCME. I show that learning by forgetting helps CCME to generate neuro ensembles of low structural complexity while maintaining their generalization abilities. Overall, the thesis presents an evolutionary neuro ensemble method whereby (1) the generated ensemble generalizes well; (2) it is able to automatically decompose the classification problem; and (3) it generates networks with small architectures.
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Thévin, Lauren. "Un système-multi agent normatif pour le soutien évaluatif à la collaboration humain-machine : application à la gestion de crise." Thesis, Université Grenoble Alpes (ComUE), 2016. http://www.theses.fr/2016GREAM081/document.
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Nous abordons dans cette thèse le problème de la conception d’un système informatique de soutien évaluatif, pour soutenir et évaluer en temps réel l’activité collaborative dans le cas particulier "d'une activité régie par des process issus d'organisations différentes". Nous définissons un process comme un ensemble de règles, de politiques, de plans, de normes ayant pour vocation de guider et de servir de référence à la réalisation d’une activité collaborative. Nous positionnons notre recherche dans le cadre applicatif de l’entrainement à la gestion de crise, et dans le cadre technologique de l’interaction tangible.Pour mettre en place un soutien évaluatif flexible et intelligible, nous proposons un système socio-technique capable d’apporter aux acteurs une conscience organisationnelle partagée et distribuée.Dans ce cadre, trois verrous essentiels sont considérés : (1) représentation et gestion de contextes liés à l’activité soutenue et aux interactions entre acteurs, (2) représentation et gestion des différents process liés à l’activité soutenue et à l’interaction, et (3) articulation entre l'activité soutenue et l'interaction.Pour répondre à ces verrous, nous proposons le système OrA s’appuyant sur trois groupes de principes relatif à l'activité soutenue et à l’interaction : modularité et représentation des process et contextes, gestion autonome et faiblement couplée des process et des éléments de contexte, coordination flexible entre ces mécanismes de gestion de process et de contextes.Ces principes sont mis en oeuvre au sein d’un système informatique s’appuyant sur les modèles des collecticiels, et en particulier CLOVER, des modèles de traces, des systèmes multi-agents normatifs.Ce système est évalué en démontrant la possibilité de modéliser les process d’un cas pratique d’exercice de gestion de crise, puis en proposant une utilisation en situation d’un exercice réel d’entrainement à la gestion de criseWe discuss in this thesis about designing an computer system for an evaluative support , to support and evaluate in real-time the collaborative activity in the particular case of "an activity governed by processes from different organizations". We define a process as a set of rules, policies, plans, standards which aim to guide and be a reference for the realization of a collaborative activity. Our research is applied to training in crisis management, and situated in the technological context of tangible interaction.To implement a flexible and comprehensible evaluative support, we propose a socio-technical systemfor bringing the actors shared and distributed organizational consciousness.In this context, three key issues are considered: (1) representation and management of the contexts associated with the sustained activity and the interactions between the involved stakeholders, (2) representation and management of various processes associated with the sustained activity and the interaction and (3) the articulation between the sustained activity and the interaction.To answer these issues, we offer the OrA system based on three groups of principles, both about sutained activiy and interaction : modularity and representation of processes and contexts, autonomous management and loosely coupled processes and contextual elements, flexible coordination between these process and context management mechanisms.These principles are implemented in a computer system based on the model of groupware, especially CLOVER, a traces models, and normative multi-agent systems.This system is evaluated by demonstrating the ability to model the process of a practical case of crisis management exercise, and by providing a use situation of a real exercise training in crisis management
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Hadj, Kacem Ahmed. "Systèmes à base de connaissances coopératifs : modélisation des connaissances et étude du contrôle." Toulouse 3, 1995. http://www.theses.fr/1995TOU30037.
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Les systemes a base de connaissances (sbc) sont generalement vus comme la mise en uvre d'un resolveur automatique sur des connaissances humaines dans un domaine d'expertise limite. Nos travaux s'inscrivent dans le cadre de la conception des sbc dits cooperatifs dans lesquels on depasse largement la simple interaction avec l'utilisateur final pour instaurer une reelle cooperation. La cooperation se justifie par la complementarite entre un savoir-faire humain et des capacites de traitement artificielles. Les progres realises dans les methodes de conception des sbc apportent des elements en termes de modelisation, qui permettent de mieux apprehender l'aspect cooperatif dans l'activite de resolution. La cooperation, de notre point de vue, ne vise pas a automatiser la resolution du probleme mais plutot a optimiser la performance globale du couple homme/systeme. Cette forme de cooperation est basee sur la notion de distribution des taches a resoudre entre les partenaires cooperants. Nous avancons, dans un premier temps, une description des aspects conceptuels lies a la cooperation par la definition du modele de cooperation homme/systeme (mchs). Il s'agit, non seulement d'une modelisation de la competence cognitive des intervenants de la resolution conjointe (utilisateur et expert) mais aussi des differents elements qui conditionnent l'instauration d'une interaction entre les deux partenaires, en particulier les contraintes environnementales. Ces dernieres permettent de tracer les limites d'une activite cooperative. Dans un deuxieme temps, nous proposons une architecture logicielle prenant en compte le mchs dont la mission, au sein du systeme, consiste a controler le processus de resolution cooperative. Il fait intervenir une distribution des taches de controle qui induit, de facon reflexive, une distribution des taches du domaine. On formalise les concepts du controle dans une perspective de generalisation des notions de role, de strategie et de mode de cooperation non seulement dans le cadre des sbc cooperatifs mais aussi au sein des systemes multi-agents cooperatifs
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Benloucif, Mohamed Amir. "Coopération homme-machine multi-niveau entre le conducteur et un système d'automatisation de la conduite." Thesis, Valenciennes, 2018. http://www.theses.fr/2018VALE0012/document.
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Les récentes percées technologiques dans les domaines de l’actionnement, de la perception et de l’intelligence artificielle annoncent une nouvelle ère pour l’assistance à la conduite et les véhicules hautement automatisés. Toutefois, dans un contexte où l’automatisation demeure imparfaite, il est primordial de s’assurer que le système d’automatisation de la conduite puisse maintenir la conscience de la situation du conducteur afin que ce dernier puisse accomplir avec succès son rôle de supervision des actions du système. En même temps, le système doit pouvoir assurer la sécurité du véhicule et prévenir les actions du conducteur qui risqueraient de compromettre sa sécurité et celle des usagers de la route. Il est donc nécessaire d’intégrer dès la conception du système automatisé de conduite, la problématique des interactions avec le conducteur en réglant les problèmes de partage de tâche et de degré de liberté, d’autorité et de niveau d’automatisation du système. S’inscrivant dans le cadre du projet ANR-CoCoVeA (Coopération Conducteur-Véhicule Automatisé), cette thèse se penche de plus près sur la question de la coopération entre l’automate de conduite et le conducteur. Notre objectif est de fournir au conducteur un niveau d’assistance conforme à ses attentes, capable de prendre en compte ses intentions tout en assurant un niveau de sécurité important. Pour cela nous proposons un cadre général qui intègre l’ensemble des fonctionnalités nécessaires sous la forme d’une architecture permettant une coopération à plusieurs niveaux de la tâche de conduite. Les notions d’attribution des tâches et de gestion d’autorité avec leurs différentes nuances sont abordées et l’ensemble des fonctions du système identifiées dans l’architecture ont été étudiées et adaptées pour ce besoin de coopération. Ainsi, nous avons développé des algorithmes de décision de la manœuvre à effectuer, de planification de trajectoire et de contrôle qui intègrent des mécanismes leur permettant de s’adapter aux actions et aux intentions du conducteur lors d’un éventuel conflit. En complément de l’aspect technique, cette thèse étudie les notions de coopération sous l’angle des facteurs humains en intégrant des tests utilisateur réalisés sur le simulateur de conduite dynamique SHERPA-LAMIH. Ces tests ont permis à la fois de valider les développements réalisés et d’approfondir l’étude grâce à l’éclairage qu’ils ont apporté sur l’intérêt de chaque forme de coopérationThe recent technological breakthroughs in the actuation, perception and artificial intelligence domains herald a new dawn for driving assistance and highly automated driving. However, in a context where the automation remains imperfect and prone to error, it is crucial to ensure that the automated driving system maintains the driver’s situation awareness in order to be able to successfully and continuously supervise the system’s actions. At the same time, the system must be able to ensure the safety of the vehicle and prevent the driver’s actions that would compromise his safety and that of other road users. Therefore, it is essential that the issue of interaction and cooperation with the driver is addressed throughout the whole system design process. This entails the issues of task allocation, authority management and levels of automation. Conducted in the scope of the projet ANR-CoCoVeA (French acronym for: "Cooperation between Driver and Automated Vehicle"), this thesis takes a closer look at the question of cooperation between the driver and automated driving systems. Our main objective is to provide the driver with a suitable assistance level that accounts for his intentions while ensuring global safety. For this matter, we propose a general framework that incorporates the necessary features for a successful cooperation at the different levels of the driving task in the form of a system architecture. The questions of task allocation and authority management are addressed under their different nuances and the identified system functionalities are studied and adapted to match the cooperation requirements. Therefore, we have developed algorithms to perform maneuver decision making, trajectory planning, and control that include the necessary mechanisms to adapt to the driver’s actions and intentions in the case of potential conflicts. In addition to the technical aspects, this thesis studies the cooperation notions from the human factor perspective. User test studies conducted on the SHERPA-LAMIH dynamic simulator allowed for the validation of the different developments while shedding light on the benefits of different cooperation forms
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Bidart, Damien. "Commande Coopérative des Systèmes Monoconvertisseurs Multimachines Synchrones." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2011. http://tel.archives-ouvertes.fr/tel-00662181.
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Afin de rendre les machines synchrones à aimants permanents plus attractives pour l'aéronautique (actionneurs de commande de vol, systèmes de freinage, train d'atterrissage ...), il peut être intéressant de réduire le nombre de modules d'électronique de puissance utilisés en les mutualisant. De nombreuses études ont été réalisées pour des systèmes composés de plusieurs machines asynchrones et principalement en traction ferroviaire, mais peu concernent les machines synchrones. Après avoir étudié différentes structures envisageables, les travaux développés lors de cette thèse présentent une étude originale d'un système composé de deux machines synchrones à aimants permanents connectées en parallèle sur un onduleur unique mutualisé. Ces machines ont des caractéristiques identiques ou proches et doivent être pilotées à la même vitesse. La structure de commande retenue lors de cette thèse est de type maître-esclave: seule une des deux machines est autopilotée (la machine maître), l'autre (la machine esclave) fonctionnant en boucle ouverte. Afin d'assurer la stabilité d'un tel système, le synchronisme des deux moteurs doit toujours être respecté. Une stratégie de commande, qui choisit quel est le moteur maître, en prenant en compte la variation des paramètres internes et externes du système, est alors instaurée. Dans ces conditions, les évolutions théoriques des différentes variables sont déterminées. Pour valider ces résultats, un processus expérimental est mis en place. Les nombreux résultats obtenus en simulation et expérimentalement permettent alors de confirmer les résultats théoriques: que ce soient les paramètres mécaniques ou électriques qui varient, la stabilité du système est toujours garantie. Le cas supplémentaire où les deux machines déplacent une charge mécanique commune avec une liaison mécanique rigide entre les deux machines, est finalement développé. Une autre stratégie de commande, dont la structure et les résultats sont également présentés dans cette thèse, est alors nécessaire.
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Casarin, Julien. "Proposition d'un protocole web pour la collaboration multi-support en environnement 3D : UMI3D." Thesis, Strasbourg, 2019. http://www.theses.fr/2019STRAD031.
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Les récentes avancées technologiques dans les domaines de la Réalité Virtuelle (RV) et de la Réalité Augmentée (RA) ont donné naissance à un ensemble varié de supports permettant, de visualiser des médias 3D, et d'interagir avec eux. Cette grande diversité d'outils, permettant de manipuler le contenu 3D, apporte des perspectives nouvelles pour le support du travail collaboratif par la RA et la RV. En effet, le travail collaboratif implique couramment des acteurs ayant des métiers et des rôles différents. Leurs besoins en termes de visualisation, et surtout d'interaction avec le contenu 3D sont donc différents. S’il existe aujourd'hui des outils permettant la conception d’expériences collaboratives multi-supports, ceux-ci demandent aux concepteurs de médias 3D une expertise importante en développement d’applications de RV/RA. Ils doivent d'une part connaître les bonnes pratiques de conception propres à chaque support. Il faut d'autre part que les concepteurs aient une certaine expérience en développement d'interfaces plastiques. Si ce n'est pas le cas, une application différente est nécessaire pour chaque support.Le point de vue défendu dans cette thèse est qu'une nouvelle architecture des applications collaboratives en RV/RA est nécessaire de sorte à permettre leur conception sans connaissance par les développeurs des spécificités des supports. Après avoir présenté les outils existants pour créer des applications multi-supports en RV/RA, nous proposons une nouvelle architecture des applications 3D. Cette architecture sépare le média 3D du dispositif utilisateur. Pour permettre la communication entre le média et les différents supports, nous introduisons le protocole web UMI3D qui permet au dispositif de se connecter, grâce à un navigateur, à tout média 3D utilisant ce protocole. Le navigateur permet d'une part, le chargement du contenu 3D du média, et génère d'autre part dynamiquement une interface utilisateur ayant une ergonomie adaptée au support. Cette interface utilisateur permet la réalisation par l'utilisateur de contrats d'interaction établis par le média grâce au protocole. Le principal apport de la méthode de conception des médias 3D proposée est de ne pas demander au concepteur du média de compétences techniques spécifiques aux dispositifs de RV/RA. Par ailleurs, dans le cas où les navigateurs UMI3D sont existants pour les dispositifs utilisés, la conception d'un média 3D multi-support demande le même effort de développement que la conception d'une application 3D mono-supportRecent technological advances in the fields of Virtual Reality (VR) and Augmented Reality (RA) provide a new infrastructure for the visualization of 3D media, and to interact with them. This diversity of tools, allowing to manipulate 3D content, brings new perspectives for the support of cooperative work by AR and VR. Indeed, collaborative work involves actors with different roles and trades. Their needs in terms of visualization, and especially of interaction with 3D content are therefore different. If there are nowadays tools allowing the design of collaborative experiences for multiple devices, these tools require designers to have significant expertise in developing AR/VR applications. First, they must be aware of the design best-practices for each device. Second, the designers must have some experience in developing plastic interfaces. If it is not the case, designing a different application is needed for each device. The point of view we defend in this thesis is that a new architecture is needed for collaborative AR/VR applications to allow their conception without to enquire the developers to have a knowledge of each device specificities. After presenting the existing tools for creating AR/VR applications for multiple devices, we propose a new architecture for 3D applications. This architecture separates the 3D media from the user device. To allow communication between the media and the different devices, we introduce the UMI3D web protocol which allows the device to connect to any 3D media using a UMI3D browser. The browser allows the loading of 3D content from the media, and dynamically generates an adapted user interface for a given device. This user interface allows the user to draw up interaction contracts established by the media using the protocol. The main contribution of the proposed 3D media architecture is to avoid asking the media designer for technical skills about specific AR/VR devices. Furthermore, in the case where UMI3D browsers are existing for the devices used, the design of a cross-devices 3D media requires the same development effort as the design of a single-device 3D application
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Guerra, Andrea Luigi. "Multi-users computer tools in early design phases : assessing their effect on design teams performances during co-located design-thinking activities." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2296/document.
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Les phases préliminaires du processus de conception sont celles qui influencent le plus le résultat. Elles sont caractérisées par l’incertitude : le processus ne peut être précisément défini à l’avance. L’approche Design Thinking est particulièrement adaptée pour gérer cette spécificité. L’introduction de supports numérique pendant ces phases de conception préliminaire a été identifiée comme une piste de recherche à fort potentiel. L’analyse de ces phases amont a permis de définir des postulats à partir desquels construire ces nouveaux supports numériques. Ces dispositifs sont constitués de deux surfaces tactiles, multi-utilisateurs ; une orientée horizontalement pour favoriser le foisonnement, l’autre orientée verticalement pour favoriser la focalisation. Par conséquence, ces plateformes ont été identifiées avec l’acronyme HOVER (HORizontale VERticale). La méthodologie de recherche comporte deux phases. Lors de la première phase, des expérimentations ont permis de comparer les dispositifs numériques avec les dispositifs actuels. Cette phase avait pour objectif de déterminer si les dispositifs numériques étaient acceptables dans la situation d’usage préconisée. Lors de la deuxième phase, les dispositifs numériques ont été testés dans des situations de travail réelles, afin de déterminer s’ils améliorent ces situations de travail. Ces expérimentations, ont été faites sur une spécifique plateforme HOVER, dénommés plateforme TATIN-PIC (Table Tactile Interactive –Plateforme Intelligente de Conception), construite à l’Université de Technologie de Compiègne. Les quatre expérimentations de la première phase ont révélées un niveau d’acceptabilité satisfaisant. En outre, cette phase permis d’identifier plusieurs pistes d’amélioration notamment au niveau des interactions homme-machines. La prise en compte des données collectées lors de cette phase a conduit à la conception d’une nouvelle version des dispositifs numériques. Cette nouvelle version, dénommée plateforme Digital Project Space (DPS), a été utilisée pour tester le dispositif dans des situations d’utilisation réelles. Les résultats de ces tests préliminaires montrent que les utilisateurs sont satisfaits des améliorations apportées par la plateforme DPS, et que ses performances, sont au pire, comparable aux meilleures prestations des supports papier actuellement disponibles. Des tests complémentaires sont néanmoins nécessaires pour avoir des résultats généralisables. Les perspectives sont de continuer la dissémination des dispositifs DPS dans la sphère productive afin d’obtenir des données quantitatives sur l’efficacité et l’efficience. L’objectif étant d’identifier des modèles prescriptifs de l’impact des dispositifs sur le processus de conception préliminaireThe early preliminary phases of the design process are the most impactful on the final outcomes. However, they are ill defined, the path to follow is not clear. Design-thinking approaches are a good solution to tackle the incertitude of these phases. The introduction of computer tools during these phases has been identified as an interesting research path to explore. Through the analysis of these early preliminary design phases, a list of high-level assumptions has been made. These high-level assumptions delimited the perimeter of action for the design of a new kind of computer supported design platforms. These platforms are composed of two multi-touch, multi-users surfaces; one is horizontal to favor divergent thinking, while the other is vertical to favor convergent thinking. By this fact, I identified them with then name “HOVER” (HORizontal - VERtical) platforms. The preconized research methodology has two steps. The first step consists in the experimental comparison of the new tool with existing ones. The aim of this evaluation is to determine if HOVER platforms are applicable to the situation for which they have been designed. The second step consists in ethnographic observations of real case studies to establish if HOVER platforms have successfully improved the existing situation. This study has been conducted on a specific HOVER platform, the TATIN-PIC platform (French acronym for Table Tactile Interactive – Plateforme Intelligente de Conception) built at the Université de Technologie de Compiègne. The first step, composed of four quasi-experimental observations, showed a satisfying level of applicability. Besides, it provided multiple indications for the improvement of the HOVER platforms regarding Human Machine interactions. For example, it has confirmed the need for an interconnected vertical and horizontal surface, the need for a natural manipulation of intermediary objects, the need for a smooth circulation among design methods and, as well, the need for new design methods to be implemented. Thanks to these indications, a second version of a HOVER platform has been made. This improved platform, called Digital Project Space (DPS) platform, has been used for success evaluation in a real context. From these preliminary tests emerged that users are satisfied by the support of the DPS platform. Performances are in the worst-case scenario, as good as actual tools. Further and more accurate real case studies are needed to generalize these findings. This outlines the future perspectives, such as the definition of prescriptive models of the impact of such device on the early preliminary design phases
Le fasi preliminari del processo di progettazione sono caratterizzate dall’incertezza, sia in termini di conoscenza che di azioni da compiere. Al contempo, pero, sono le fasi cruciali per il risultato globale del processo di progettazione. L’approccio Design Thinking è particolarmente adatto per le caratteristiche di queste fasi. L’introduzione di strumenti digitali durante il processo di progettazione preliminare è stata identificata come una pista di ricerca interessante da esplorare. L’analisi di queste fasi ha permesso di emettere una lista di postulati su cui progettare nuovi strumenti digitali. Questa classe di strumenti ha le sembianze di una piattaforma composta da due superfici tattili multi-utilizzatore; una è orizzontale per favorire il pensiero divergente, mentre l’altra è verticale per favorire il processo convergente. A causa di ciò, abbiamo deciso di identificare queste piattaforme con l’acronimo HOVER (HORizontal and VERtical). Il forte divario in termini di curva d’apprendimento tra i dispositivi esistenti (principalmente basati su carta) e le piattaforme HOVER, ha richiesto la definizione di una metodologia di ricerca adeguata. Questa metodologia ha inoltre il compito di garantire un rigore metodologico nell’approccio di ricerca. Due fasi di questa metodologia sono state eseguite. Nella prima fase, il nuovo dispositivo è comparato sperimentalmente con i dispositivi esistenti al fine di determinare se è applicabile alla situazione per cui è stato concepito. Nella seconda fase, il dispositivo è valutato in una situazione reale al fine di determinare se ha apportato, con successo, un miglioramento alla situazione esistente. Questi studi sono stati condotti su una specifica HOVER platform chiamata TATIN-PIC (acronimo francese per Table Tactile Interactive – Plateforme Intelligente de Conception), progettata e construita all’Université de Technologie de Compiègne. La prima fase, che ha visto quattro esperimenti, ha mostrato un livello di applicabilità soddisfacente, ha inoltre fornito molteplici piste di miglioramento in termini d’interazione uomo macchina. Grazie a questi feedback una seconda versione del dispositivo è stata creata. Tale versione, chiamata piattaforma Digital Project Space (DPS) è stata utilizzata per testare il successo del dispositivo in situazioni di reale utilizzo. Da questi test preliminari è emerso che gli utilizzatori sono rimasti soddisfatti dell’apporto fornito dal dispositivo, e che le performance sono nel caso peggiore equivalenti alla situazione attuale. Ulteriori e approfondite osservazioni di uso in situazioni reale sono necessarie per avere dei riscontri generalizzabili. Questo traccia gli scenari per il futuro; continuando la disseminazione nell’ambito industriale del dispositivo, sarà possibile ottenere dei riscontri quantitativi in termini diefficienza ed efficacia, grazie ai quali, estrapolare dei modelli prescrittivi dell’impatto del dispositivo sul processo di progettazione preliminare
30
Long, Garret Lee. "Feasibility of machinery cooperatives in Oklahoma." 2007. http://digital.library.okstate.edu/etd/umi-okstate-2554.pdf.
Full text
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Antão, Liliana Patricia Saldanha. "Cooperative Human-Machine Interaction in Industrial Environments." Dissertação, 2017. https://repositorio-aberto.up.pt/handle/10216/106047.
Full textAbstract:
Until the present days, there has been little advances in the relation between the shop-floor operator in an industrial environment and the machines execution the manufacturing processes. Normally, the semi-automatic processes for collaborative assembly in industry are composed of a human and non-human elements. In the human perspective, one or more persons can be working in the same cell directly or indirectly with a non-human entity. In a cell can exist several machines, normally robotic arms that perform very specific collaborative tasks with the operators. However, the latest advances are mostly related with security issues and regulations, like immediately stopping the machine if a human touches it, and not much related with operative issues like adjusting the process velocity (within a certain window of cycle time) or give preference to some tasks over another in the beginning of the shift, to benefit the operator's working conditions. Therefore, a step forward to a more advanced interaction between machine and operator should be taken, towards a more adaptive and rich symbiosis. The main goal of the present Dissertation is to explore the relation between the shop-floor operator and the machine in a cyber physical system. For that purpose, biometric sensors will be used (ECG, EMG, EDA, PZT, wearables and others) to monitor the operators physiology during the operative times, and based on that, explore how a collaborative process can be adapted to minimize the operator's stress and fatigue. First, the correct set of sensors should be explored to understand how stress and fatigue metrics can be calculated. Secondly, optimization techniques need to be studied in order to, e.g. finds the correct machine's process parameterization that, on one hand, minimizes the operator's fatigue and stress, and on the other, do not jeopardizes the process requirements in terms of timing and quality. Therefore, this can be stated as a multivariate optimization problem.
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Antão, Liliana Patricia Saldanha. "Cooperative Human-Machine Interaction in Industrial Environments." Master's thesis, 2017. https://repositorio-aberto.up.pt/handle/10216/106047.
Full textAbstract:
Until the present days, there has been little advances in the relation between the shop-floor operator in an industrial environment and the machines execution the manufacturing processes. Normally, the semi-automatic processes for collaborative assembly in industry are composed of a human and non-human elements. In the human perspective, one or more persons can be working in the same cell directly or indirectly with a non-human entity. In a cell can exist several machines, normally robotic arms that perform very specific collaborative tasks with the operators. However, the latest advances are mostly related with security issues and regulations, like immediately stopping the machine if a human touches it, and not much related with operative issues like adjusting the process velocity (within a certain window of cycle time) or give preference to some tasks over another in the beginning of the shift, to benefit the operator's working conditions. Therefore, a step forward to a more advanced interaction between machine and operator should be taken, towards a more adaptive and rich symbiosis. The main goal of the present Dissertation is to explore the relation between the shop-floor operator and the machine in a cyber physical system. For that purpose, biometric sensors will be used (ECG, EMG, EDA, PZT, wearables and others) to monitor the operators physiology during the operative times, and based on that, explore how a collaborative process can be adapted to minimize the operator's stress and fatigue. First, the correct set of sensors should be explored to understand how stress and fatigue metrics can be calculated. Secondly, optimization techniques need to be studied in order to, e.g. finds the correct machine's process parameterization that, on one hand, minimizes the operator's fatigue and stress, and on the other, do not jeopardizes the process requirements in terms of timing and quality. Therefore, this can be stated as a multivariate optimization problem.
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Wang, Hsiao-Yu, and 王孝裕. "Natures of Supply Chain Cooperative in the Machine Tool Industry." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/24412870523710742644.
Full textAbstract:
碩士逢甲大學
科技管理研究所
95
Facing the era of modern machinery technologies in the machine tool industry, a much shorter product life cycle and abundent requirments from end users increase the competitive market for those machinery entrepreneurs to ponder the future suviving and how to take the lead among new and developing companies, which mostly adopt low price strategies, especially for those machinery entrepreneurs in Taiwan. However, under the circumstances of limited resources and capabilities, companies seeking for strategic cooperations to enhance competitive advantages and issues of supply chain management become particularly important. Therefore, during the entire cooperative period, the starting stage of cooperation type and motive, the middle stage of supply-chain capability and strategy, and the final stage of coorperative performence are the key stages to evaluate modern supply chain cooperation and performance in the machine tool industry in Taiwan. These stages are focused and investigated in this study. Many scholars mainly concentrated on the studies of comptetive strategies, managerial fuctions, or effects of forming alliances to evaluate the supply-chain peformance. However, the studies of evaluating cooperative peformances are relevant to relationships among supply chain capabilities, strategies, coorperation motives, and cooperation types; therefore, this study explores the above effects and factors of supply chain performances during the entire period of coorperation. In this study, the machine tool companies in the middle area of Taiwan are selected as the research samples, and the research data is collected by questionnaires. Also, factor analysis, correlation analysis, discriminant analysis, regression analysis, and ANOVA are adapted to analyze the collected data, and the research results are briely listed as below: *The cooperative motive has distinctive influence on the cooprtative type *The defferent cooperative type has distinctive differentiability on selecting supply chain capability. *The defferent cooperative type has distinctive differentiability on selecting supply chain strategy. * Supply chain strategy produces the postive impact on supply-chain capability. *The congruence of competitive strategy and supply chain capability produces the postive impact on supply chain performance. *The congruence of competitive capability and cooperative type produce postive impact on supply chain performance. *The congruence of competitive strategy and cooperative type produce postive impact on supply chain performance.
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Tsai, Nian-Ying, and 蔡念穎. "A Machine Learning Figure-ground Segmentation Method Based on Cooperative Game." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/21273851277203500688.
Full textAbstract:
碩士國立清華大學
資訊工程學系
101
Image segmentation is an important and challenging task in image processing, and it is widely discussed in recent years. The main goal of figure-ground image segmentation is to separate foreground objects from their background. But, it is not a simple task to defining the foreground object sections from background in an image. Before, figure-ground segmentation has been addressed successfully by interactive segmentation works. However, it is not an ideal method in accuracy and convenience. Unlike previous methods, in this paper, we present a novel method for figure-ground segmentation with machine learning Mechanism (SVM classifier) to separate the foreground objects from background. Furthermore, in order to improve the accuracy of figure-ground segmentation, we also use a cooperative game theory which proposed by Lloyd Shapley to estimate the weight of image features in the training step. In this game, each image feature represents a rational player, and the weight of image features represents the contribution of each player. According to our experiment result, our approach obtains very competitive results on Oxford Flowers 17 and Caltech-UCSD Birds-200 data sets in comparison with other state-of-the-art techniques.
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Ibrahim, Ahmed Fakhri. "Cooperative Based Software Clustering on Dependency Graphs." Thesis, 2014. http://hdl.handle.net/10012/8543.
Full textAbstract:
The organization of software systems into subsystems is usually based on the
constructs of packages or modules and has a major impact on the maintainability of
the software. However, during software evolution, the organization of the system is
subject to continual modification, which can cause it to drift away from the original
design, often with the effect of reducing its quality.
A number of techniques for evaluating a system's maintainability and for controlling
the effort required to conduct maintenance activities involve software clustering.
Software clustering refers to the partitioning of software system components
into clusters in order to obtain both exterior and interior connectivity between these
components. It helps maintainers enhance the quality of software modularization
and improve its maintainability.
Research in this area has produced numerous algorithms with a variety of
methodologies and parameters. This thesis presents a novel ensemble approach
that synthesizes a new solution from the outcomes of multiple constituent clustering
algorithms. The main principle behind this approach derived from machine
learning, as applied to document clustering, but it has been modified, both conceptually
and empirically, for use in software clustering. The conceptual modifications
include working with a variable number of clusters produced by the input algorithms
and employing graph structures rather than feature vectors. The empirical
modifications include experiments directed at the selection of the optimal cluster merging criteria. Case studies based on open source software systems show that
establishing cooperation between leading state-of-the-art algorithms produces better
clustering results compared with those achieved using only one of any of the
algorithms considered.
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廖建春. "The research on the satisfaction of the machinery department students in the rotary cooperative education in senior vocational schools." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/27575203095612004910.
Full textAbstract:
碩士國立臺灣師範大學
工業教育學系在職進修碩士班
96
Abstract The learning satisfaction of students is an important index on learning motion, will, attitude, and fruitage. This study aims to examine the degree of satisfaction either in school or in factory for the students from The Rotary Co-operative Education Program in Senior Vocational High school. By using references, interviews, onference of specialists, and questionnaire, we can understand the payback information from the degree of learning satisfaction. This study uses self-edited questionnaire distributed to country-wide 2nd and 3rd grade students from the Rotary Cooperative Education Program in Senior Vocational High school.There were 630 sample questionnaires issued in total, and 577 copies of them were effective. The effective rate is 91.58%. The following conclusions are completed by frequency distribution, mean value, standard deviation, percentile, ANOVA, and single sample and independent sample T test: 1. The main reason of the northern students choosing to study in the Rotary Cooperative Education Program is caused by their scores problem, while for the southern students is by their consideration of the families’ burden. The students from this program have high will to advance to a higher education. 2. The result of satisfaction level is positive on “school’s program and education,” “the studying circumstance of school,” “the skill and learning circumstance of the factory.” On the other hand, the result of 4 small topics on “the daily activity care in the factory” doesn’t achieve the satisfactory level, even falling to the negative side. 3. The statistics of learning satisfaction: A. The best performance on the satisfactory level is “the real experience of the practice teacher.” And the second are “the ability to be independent which is fostered in the factory” and “the dealing and social ability that gaining in the factory”. B. The worse performance on the satisfactory level is “the benefit that student get from the factory”. And the second worse are “the quality of meal in the factory” and “the arrangement of living space and equipment”. 4. Different backgrounds have significant difference in the analysis: A. Students from private schools have higher satisfaction than the students from public schools on “the contents of professional classes” and “the scoring method used by the teachers”. B. Students in the 2nd grade have higher satisfaction than the students in the 3rd grade on “the learning of skill in the work” and “the rotation of works.” C. In “school’s program and education,” “the studying circumstance of school,” and “the daily activity care in the factory” students have higher satisfaction when the teachers are liberal than the teachers are authoritative, still than the teachers are indifferent. According to the conclusions, this study will give relative advices to government, schools, cooperative factories, parents, teachers, students, and following researchers. Keywords：The Rotary Cooperative Education Program in Senior Vocational High School，Cooperative factories，Satisfaction
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Chen, Shiang Ling, and 陳湘玲. "A Study on Critical Success Factors of Cooperative R&D in Manufacturing Industry --A Case for General Machinery." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/23200362198579518779.
Full textAbstract:
碩士國立中山大學
企業管理研究所
81
The ANOVA anong different groups show that:(1)Firms and scholars have significantly different opinions in five important factors, including"accelerating new product development","integrating different firms'' technologies and accelerating creation","establishing new product prototype" ,"partner has high cultural compatibility with the firm", and "research in stitutions should devote resources into industry survey".(2)Firms choosing active R&D strategies put signficantly more emphasis on "partner has high cultural compatibility with the firm "than those choosing conservative strategies do.(3)Strength and following firms have significantly different opinions in "partner should have good credibility".(4)Leading firms and challenging firms have significantly different opinions in "partner should have good credibility". (5)Challenging firms and niche firms have significantly different opinions in "partner has high cultural compatibility with the firm". So is the case between challenging firms and following firms.
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Barnett, Tristan Darrell. "A distributed affective cognitive architecture for cooperative multi-agent learning systems." Thesis, 2012. http://hdl.handle.net/10210/8055.
Full textAbstract:
M.Sc. (Computer Science)General machine intelligence represents the principal ambition of artificial intelligence research: creating machines that readily adapt to their environment. Machine learning represents the driving force of adaptation in artificial intelligence. However, two pertinent dilemmas emerge from research into machine learning. Firstly, how do intelligent agents learn effectively in real-world environments, in which randomness, perceptual aliasing and dynamics complicate learning algorithms? Secondly, how can intelligent agents exchange knowledge and learn from one another without introducing mathematical anomalies that might impede on the effectiveness of the applied learning algorithms? In a robotic search and rescue scenario, for example, the control system of each robot must learn from its surroundings in a fast-changing and unpredictable environment while at the same time sharing its learned information with others. In well-understood problems, an intelligent agent that is capable of solving task-specific problems will suffice. The challenge behind complex environments comes from fact that agents must solve arbitrary problems (Kaelbling et al. 1996; Ryan 2008). General problem-solving abilities are hence necessary for intelligent agents in complex environments, such as robotic applications. Although specialized machine learning techniques and cognitive hierarchical planning and learning may be a suitable solution for general problem-solving, such techniques have not been extensively explored in the context of cooperative multi-agent learning. In particular, to the knowledge of the author, no cognitive architecture has been designed which can support knowledge-sharing or self-organisation in cooperative multi-agent learning systems. It is therefore social learning in real-world applications that forms the basis of the research presented in this dissertation. This research aims to develop a distributed cognitive architecture for cooperative multi-agent learning in complex environments. The proposed Multi-agent Learning through Distributed Adaptive Contextualization Distributed Cognitive Architecture for Multi-agent Learning (MALDAC) Architecture comprises a self-organising multi-agent system to address the communication constraints that the physical hardware imposes on the system. The individual agents of the system implement their own cognitive learning architecture. The proposed Context-based Adaptive Empathy-deliberation Agent (CAEDA) Architecture investigates the applicability of emotion, ‘consciousness’, embodiment and sociability in cognitive architecture design. Cloud computing is proposed as a method of service delivery for the learning system, in which the MALDAC Architecture governs multiple CAEDA-based agents. An implementation of the proposed architecture is applied to a simulated multi-robot system to best emulate real-world complexities. Analyses indicate favourable results for the cooperative learning capabilities of the proposed MALDAC and CAEDA architectures.
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Romano, Pedro Sousa. "A cooperative active perception approach for swarm robotics." Master's thesis, 2018. http://hdl.handle.net/10071/17143.
Full textAbstract:
More than half a century after modern robotics first emerged, we still face
a landscape in which most of the work done by robots is predetermined, rather
than autonomous. A strong understanding of the environment is one of the key
factors for autonomy, enabling the robots to make correct decisions based on the
environment surrounding them.
Classic methods for obtaining robotic controllers are based on manual specification, but become less trivial as the complexity scales. Artificial intelligence
methods like evolutionary algorithms were introduced to synthesize robotic controllers by optimizing an artificial neural network to a given fitness function that
measures the robots’ performance to solve a predetermined task.
In this work, a novel approach to swarm robotics environment perception is
studied, with a behavior model based on the cooperative identification of objects
that fly around an environment, followed by an action based on the result of the
identification process. Controllers are obtained via evolutionary methods. Results
show a controller with a high identification and correct decision rates.
The work is followed by a study on scaling up that approach to multiple environments. Experiments are done on terrain, marine and aerial environments,
as well as on ideal, noisy and hybrid scenarios. In the hybrid scenario, different
evolution samples are done in different environments. Results show the way these
controllers are able to adapt to each scenario and conclude a hybrid evolution is
the best fit to generate a more robust and environment independent controller to
solve our task.Mais de um século após a robótica moderna ter surgido, ainda nos deparamos com um cenário onde a maioria do trabalho executado por robôs é pré-determinado, ao invés de autónomo. Uma forte compreensão do ambiente é um dos pontos chave para a autonomia, permitindo aos robôs tomarem decisões corretas baseadas no ambiente que os rodeia. Abordagens mais clássicas para obter controladores de robótica são baseadas na especificação manual, mas tornam-se menos apropriadas à medida que a complexidade aumenta. Métodos de inteligência artificial como algoritmos evolucionários foram introduzidos para obter controladores de robótica através da otimização de uma rede neuronal artificial para uma função de fitness que mede a aptidão dos robôs para resolver uma determinada tarefa. Neste trabalho, é apresentada uma nova abordagem para perceção do ambiente por um enxame de robôs, com um modelo de comportamento baseado na identificação cooperativa de objetos que circulam no ambiente, seguida de uma atuação baseada no resultado da identificação. Os controladores são obtidos através de métodos evolucionários. Os resultados apesentam um controlador com uma alta taxa de identificação e de decisão. Segue-se um estudo sobre o escalonamento da abordagem a múltiplos ambientes. São feitas experiencias num ambiente terrestre, marinho e aéreo, bem como num contexto ideal, ruidoso e híbrido. No contexto híbrido, diferentes samples da evolução ocorrem em diferentes ambientes. Os resultados demonstram a forma como cada controlador se adapta aos restantes ambientes e concluem que a evolução híbrida foi a mais capaz de gerar um controlador robusto e transversal aos diferentes ambientes. Palavras-chave: Robótica evolucionária, Sistemas multi-robô, Cooperação, Perceção, Identificação de objetos, Inteligência artificial, Aprendizagem automática, Redes neuronais, Múltiplos ambientes.
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Lu, Hsuan-Hsuan, and 呂瑄瑄. "An Interactive and Cooperative Problem-Solving Online Assessment for Intermediate Elementary Students with One on Two,Human-Agent Machine." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/72344172399046264958.
Full textAbstract:
碩士國立臺中教育大學
教育資訊與測驗統計研究所碩士在職專班
103
The main purpose of this study is based on PISA 2015 cooperative problem- solving assessment framework, aims to establish interactive and cooperative problem-solving online assessment questions for one on two, human- agent machine, and find out what collaborative skills that elementary school students are lack of. The results of the research can be provided as a reference in teaching, which are as bellow. 1. This study successfully builds the online cooperative problem-solving assessment for elementary school students. 2. The results have shown that among the three core competencies in cooperation performance for students, students performed better in “Establishing and maintaining shared understanding” and “Establishing and maintaining team organization” , but has a relatively poor performance in “Taking appropriate action to solve the problem.” The result indicates that students should strengthen the abilities to set up a plan and act it out when they encounter problems. 3. The results have shown that in the course of the four problem-solving performance, students performed best in “Represent and articulate”; the second is “Explore and understand”; the third is “Plan and execute”, and the worst is the part of “Monitor and reflect”. Therefore, it suggests that the training of “Monitor and reflect” needs to be strengthened. 4. The results have shown that the CPS’s ability of elementary school students in the city is much more than“better” than that of the rural areas, but there are significant gap and differences. This research confirms that there is indeed the existence of the Urban-Rural differences.
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Wang, Shu-Chao, and 王淑昭. "A Study on the Implementation of Flipped Classroom and Cooperative Learning for Mechanics Students in the Machine Elements at Technological High Schools." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/fq9c36.
Full textAbstract:
碩士國立彰化師範大學
工業教育與技術學系
108
With the evolution of the times and the ever-changing technology Teaching methods and models also strive for progress, in order to meet the needs of today's students. .in recent years the terms of “Flipped Classroom”and “Flipped Teaching” have attracted everyone's attention in Taiwan. This thesis focused on the influences aimed Flipped Classroom combined with cooperative learning for The students major in mechanical Elements at Technical high school. By analyzing the pretest, the posttest, questionnaire, intewiews with students and , we can get the following nclusions: (1) there is significant progressn learning effect of mechanical Elements when collaborative loaming and Flipped classroom teaching methods are plied in class; (2) there is significant progress in learning attitude toward mechanical Elements when collaborative learning and Flipped Classroom teaching methods are applied in class;(3)students' acceptance held a moderately positive perception toward collaborative learning and Flipped Classroom teaching methods. Key words:Flipped classroom,Collaborative learning,learing effectiveness,learning attitude
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Portugal, David Bina Siassipour. "MRsensing: environmental monitoring and context recognition with cooperative mobile robots in catastrophic incidents." Master's thesis, 2013. http://hdl.handle.net/10316/27061.
Full textAbstract:
Dissertação de Mestrado em Engenharia Electrotécnica e de Computadores, apresentada à Faculdade de Ciências e Tecnologia da Universidade de CoimbraMulti-sensor information fusion theory concerns the environmental perception activities to combine data from multiple sensory resources. Humans, as any other animals, gather information from the environment around them using different biological sensors. Combining them allows structuring the decisions and actions when interacting with the environment. Under disaster conditions, effective mult-robot information sensor fusion can yield a better situation awareness to support the collective decision-making. Mobile robots can gather information from the environment by combining data from different sensors as a way to organize decisions and augment human perception. The is especially useful to retrieve contextual environmental information in catastrophic incidents where human perception may be limited (e.g., lack of visibility). To that end, this work proposes a specific configuration of sensors assembled in a mobile robot, which can be used as a proof of concept to measure important environmental variables in an urban search and rescue (USAR) mission, such as toxic gas density, temperature gradient and smoke particles density. This data is processed through a support vector machine classifier with the purpose of detecting relevant contexts in the course of the mission. The outcome provided by the experiments conducted with TraxBot and Pioneer-3DX robots under the Robot Operating System framework opens the door for new multi-robot applications on USAR scenarios. This work was developed within the CHOPIN research project1 which aims at exploiting the cooperation between human and robotic teams in catastrophic accidents.
O tema da fusão sensorial abrange a perceção ambiental para combinar dados de vários recursos naturais. Os seres humanos, como todos os outros animais, recolhem informações do seu redor, utilizando diferentes sensores biológicos. Combinando-se informação dos diferentes sensores é possível estruturar decisões e ações ao interagir com o meio ambiente. Sob condições de desastres, a fusão sensorial de informação eficaz proveniente de múltiplos robôs pode levar a um melhor reconhecimento da situação para a tomada de decisão coletiva. Os robôs móveis podem extrair informações do ambiente através da combinação de dados de diferentes sensores, como forma de organizar as decisões e aumentar a perceção humana. Isto é especialmente útil para obter informações de contexto ambientais em cenários de catástrofe, onde a perceção humana pode ser limitada (por exemplo, a falta de visibilidade). Para este fim, este trabalho propõe uma configuração específica de sensores aplicados num robô móvel, que pode ser usado como prova de conceito para medir variáveis ambientais importantes em missões de busca e salvamento urbano (USAR), tais como a densidade do gás tóxico, gradiente de temperatura e densidade de partículas de fumo. Esta informação é processada através de uma máquina de vetores de suporte com a finalidade de classificar contextos relevantes no decorrer da missão. O resultado fornecido pelas experiências realizadas com os robôs TraxBot e Pioneer 3DX usando a arquitetura Robot Operating System abre a porta para novas aplicações com múltiplos robôs em cenários USAR.