Bug localization has attracted a lot of attention recently. Most existing methods focus on pinpointing single statement or function call which is very likely to contain bugs. Although such could be accurate, it usually hard for developers understand the context bug, given each bug location in isolation. In this study, we propose model software executions with graphs at two levels granularity: and basic blocks. An individual node represents method block an edge call, return transition (at...

Wall polishing is a typical and essential procedure in the interior renovation. However, such works are mainly carried out by humans, which have disadvantages of low efficiency, inconsistent quality, issues safety health. A new vision-based impedance controller proposed for robots to automate labor-intensive works. The desired model specified as control objective regulate dynamic relationship between interaction force motion robot end effector, where measured with vision feedback. use...

Purpose This paper aims to develop a climbing robot help people inspect lamps of high-mast lighting. Design/methodology/approach The consists driving mechanism, suspension mechanism and compression mechanism. is realized by link chains sprockets, which are arranged opposite each other, form dual caterpillar squeezes the caterpillar, rubber feet “grasps” steel rope generate enough adhesion forces. used compensate contraction or extension chains. equipped with DC motor rated power 250 W...

While the mechanism of Rope-Climbing provides much flexibility, it opens up challenges to development controller for Robotic Manipulator installed on robot(RCR), which is called Robot Manipulator(RCRM) here. In particular, deformable nature rope results in vibration manipulator and hence affects positioning end effector. this paper, a new adaptive vision-based proposed RCRM, enables robot carry out high-accuracy task under unknown from rope. The guarantees performance twofold. First, control...

This paper investigates a Sarsa-based visual servoing control gain tuning method and the application on manipulator. For typical servo controller, fixed gains will not provide best performance. Therefore, state action reward (SARSA) algorithm, one of learning-based methods from reinforcement learning (RL), is introduced to select in every step. The norm error used define space. positive controller discretized as actions. A function defined evaluate performance action. Both numerical test...

The ability of rope-climbing robots in aloft operation is limited by its self-supporting and locomotion ability. In many applications, a given task also too complex to be achieved single robot acting alone. solution multiple can overcome the limitations. However, existing control methods for are robot, open issue coordination between has not been systematically addressed. This paper presents new synchronization scheme position robots, such that each moves corresponding desired while...

The wall polishing is a common and important task for the interior renovation. However, current procedure of heavily dependent on manual works, which have several issues safety, efficiency, quality. In this paper, new vision-based adaptive impedance controller proposed robots to automate labor-intensive works hence systematically deal with problems associated polishing. contributions paper are twofold. First, vision feedback employed in desired model such that high resolution camera...

To solve the dynamic positioning problem of underwater vehicles for executing autonomous operation tasks, an image moments-based six degrees freedom (DOF) visual servo control method is proposed. At first, equations motion are presented, and moments objects introduced. Then Jacobian matrix derived, image- based algorithm designed, in which feedback states constructed by attitude angles vehicle. estimate pitch roll angles, a multi-layer neural network trained to approximate with moments. The...

While the development of autonomous system for dangerous high-rise cleaning is stuck by energy supplement, it opens up challenges to a simple and efficient manipulator control strategy these manipulators. In this paper, an integrated has been designed, better performance dirt removal, task-oriented impedance algorithm proposed. The mechanical design IACM not only fulfills whole steps manul surface, guarantees effects system, but also adding water recycle in makes simpler, lighter more...

Intelligent Residential District has been common life, as the digital life develops.Broadband over Power Line plays an important role in intelligent residential district, for its communication reliability and easy-constructed.The paper analyses traits of Broadband Line, introduces technology how to be used values effects.

Based on Global Positioning System (GPS), a new method to measure the zero sqeuence impedance of transmission lines by using two-terminal measured voltage and current data is proposed. The mathematical model explained in detail. hardware structure measuring system based GPS technology given. Digital simulation results with different frequencies external source are given comparied traditional method. Simulation prove that can improve measurement accuracy lines' impedances.

In order to further realize the flexibility, intelligence and human-machine friendliness, robot must have ability of flexible motion planning.This paper mainly introduces general steps manipulator path planning common algorithms.First, is reviewed from three aspects: environment modeling, search, smoothing.In addition, compared various algorithms, such as RRT algorithm, ant colony genetic etc.Finally, development trend technology summarized analyzed.

Safety and reliability are the key of smart substation, which requires transmission sampled measurement values (SMV) is in real-time accuracy. Therefore this paper analyzes all aspects SMV delay. The model set up method phase compensation delay put forward through analyzing, an engineering example given. conclusion shows that algorithm can reduce error improve performance transmission.

China is characterized by vast territory and wider distribution of strong wind easy-happening areas (typhoon, tornado squall line wind).Meteorological environment conditions are complex harsh in power transmission corridor passage (especially alpine regions).Safe operation lines threatened severely natural disaster.Traditional technology can't meet the requirement grid rapid development on anti-disaster ability.Large-area tower collapse, cable breakage other catastrophic disaster caused...