ROS2 Real-time Performance Optimization and Evaluation

Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.

A real-time performance improvement method for composite time scale

The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.

Research on the Internal Talent Training Path and Performance Evaluation Mechanism of New R&D Institutions in Zhejiang Province

New research and development(R&D)institutions are an important part of the national innovation system,playing an important role in promoting the transformation of scientific and technological achievements.In recent years,new R&D institutions have gradually become the driving force of innovation-driven development in China.Taking new R&D institutions in Zhejiang Province as the research object,this paper studies the internal talent training path and performance evaluation mechanism of new R&D institutions in Zhejiang Province by using the literature research method,comparison method,case verification method,and other methods.The investigation results show that there are problems such as lack of material and spiritual support and neglect of the absorption of local talents in the internal talent training,and there are problems such as unclear standards,insufficient data,and opaque processes in the performance evaluation mechanism,which greatly affect the establishment and improvement of the performance evaluation mechanism.Given the above problems,this paper puts forward a forward-looking,oriented,flexible,and compatible talent training path and performance evaluation mechanism,hoping to optimize the effective internal talent training path of new R&D institutions,improve the evaluation performance,and promote healthy development of new R&D institutions in Zhejiang Province.

Performance evaluation of near real-time condition monitoring in haul trucks

Strategic maintenance plays a key role in ensuring high availability and utilization of the haul trucks,and as equipment began to grow more complex towards the end of the 20th century,there was a need for a proactive maintenance strategy,which led to the development of condition-based maintenance.Realtime condition monitoring(RTCM)is the ability to perform condition monitoring in real-time and has the ability to alert maintenance and operations of abnormal conditions.These alarms can be used as an indication leading to a problem,and if a suitable corrective action is initiated in time,it could result in significant savings of equipment downtime and repair costs.This study aims to compare some maintenance performance indicators prior to and after implementation of RTCM strategy at a mine site using some tests of statistical significance.The study also indicated the presence of seasonality in the data,and thus the data was deseasonalized and detrended prior to being subjected to the statistical tests.Finally,the results indicated that RTCM strategy has proven to be successful in improving the availability for some of the failure categories chosen in this study.

Seismic performance evaluation of VCFPB isolated storage tank using real-time hybrid simulation

Variable curvature friction pendulum bearings(VCFPB)effectively reduce the dynamic response of storage tanks induced by earthquakes.Shaking table testing is used to assess the seismic performance of VCFPB isolated storage tanks.However,the vertical pressure and friction coefficient of the scaled VCFPB in the shaking table tests cannot match the equivalent values of these parameters in the prototype.To avoid this drawback,a real-time hybrid simulation(RTHS)test was developed.Using RTHS testing,a 1/8 scaled tank isolated by VCFPB was tested.The experimental results showed that the displacement dynamic magnification factor of VCFPB,peak reduction factors of the acceleration,shear force,and overturning moment at bottom of the tank,were negative exponential functions of the ratio of peak ground acceleration(PGA)and friction coefficient.The peak reduction factors of displacement,acceleration,force and overturning moment,which were obtained from the experimental results,are compared with those calculated by the Housner model.It can be concluded that the Housner model is applicable in estimation of the acceleration,shear force,and overturning moment of liquid storage tank,but not for the sliding displacement of VCFPBs.

Carbon materials toward efficient potassium storage:Rational design,performance evaluation and potassium storage mechanism

Potassium-ion batteries(PIBs)are potential“Beyond Li-ion Batteries”candidates for their resource advantage and low standard electrode potential.To date,the research on PIBs is in its early stages,the most urgent task is to develop high-performance electrode materials and reveal their potassium storage mechanism.For PIBs anode materials,carbon with tunable microstructure,excellent electrochemical activity,nontoxicity and low price is considered as one of the most promising anode materials for commercialization.Although some breakthrough works have emerged,the overall electrochemical performance of the reported carbon anode is still far away from practical application.Herein,we carry out a comprehensive overview of PIBs carbon anode in terms of three aspects of rational design of structure,performance evaluation criteria and characterization of potassium storage mechanism.First,the regulation mechanism of key structural features of carbon anode on its potassium storage performance and the representative structural regulation strategies are introduced.Then,in view of the undefined performance evaluation criteria of PIBs carbon anode,a reference principle for evaluating the potassium storage performance of carbon anode is proposed.Finally,the advanced characterization techniques for the potassium storage mechanism of carbon anode are summarize.This review aims to provide guidance for the development of practical PIBs anode.

Evaluation and prediction of earth pressure balance shield performance in complex rock strata:A case study in Dalian,China

This research explores the potential for the evaluation and prediction of earth pressure balance shield performance based on a gray system model.The research focuses on a shield tunnel excavated for Metro Line 2 in Dalian,China.Due to the large error between the initial geological exploration data and real strata,the project construction is extremely difficult.In view of the current situation regarding the project,a quantitative method for evaluating the tunneling efficiency was proposed using cutterhead rotation(R),advance speed(S),total thrust(F)and torque(T).A total of 80 datasets with three input parameters and one output variable(F or T)were collected from this project,and a prediction framework based gray system model was established.Based on the prediction model,five prediction schemes were set up.Through error analysis,the optimal prediction scheme was obtained from the five schemes.The parametric investigation performed indicates that the relationships between F and the three input variables in the gray system model harmonize with the theoretical explanation.The case shows that the shield tunneling performance and efficiency are improved by the tunneling parameter prediction model based on the gray system model.

Recent Advances in the Rapid Detection and Performance Evaluation Methods of Detergent Additives for Gasoline

Although detergent additives for gasoline have been widely commercialized,their formulas are often kept confidential and there is still no standardized method for quickly detecting the main active ingredients and evaluating their effectiveness,which makes their regulation difficult.An overview of the current state of the development and application of detergent additives for gasoline in China and other regions,as well as a review of the rapid detection and performance evaluation methods available for analyzing detergent additives are given herein.The review focuses on the convenience,cost,efficiency,and feasibility of on-site detection and the evaluation of various methods,and also looks into future research directions,such as detecting and evaluating detergent additives in ethanol gasoline and with advanced engine technologies.

A general evaluation system for optimal selection performance of radar clutter model

The optimal selection of radar clutter model is the premise of target detection,tracking,recognition,and cognitive waveform design in clutter background.Clutter characterization models are usually derived by mathematical simplification or empirical data fitting.However,the lack of standard model labels is a challenge in the optimal selection process.To solve this problem,a general three-level evaluation system for the model selection performance is proposed,including model selection accuracy index based on simulation data,fit goodness indexs based on the optimally selected model,and evaluation index based on the supporting performance to its third-party.The three-level evaluation system can more comprehensively and accurately describe the selection performance of the radar clutter model in different ways,and can be popularized and applied to the evaluation of other similar characterization model selection.

Performance evaluation of CLM5.0 in simulating liquid soil water in high mountainous area,Northwest China

The model performance in simulating soil water content(SWC) is crucial for successfully modeling earth’s system,especially in high mountainous areas.In this study,the performance of Community Land Model 5.0(CLM5.0) in simulating liquid SWC was evaluated against observations from nine in-situ sites in the upper reach of the Heihe River Watershed(HRW),Northwest China.The CLM5.0 shows reliable performance in the study area with correlation coefficients(R) ranging between 0.79–0.93,root mean standard errors(RMSE)ranging between 0.044–0.097 m^(3)/m^(3),and the mean bias(BIAS) ranging between-0.084–0.061 m^(3)/m^(3).The slightly worse performance of CLM5.0 than CLM4.5 on alpine meadow and grassland is mainly caused by the revised canopy interception parameterization.The CLM5.0 overestimates interception and underestimates evapotranspiration(ET) on both alpine meadow and grassland during the growth period.The systematical overestimations at all the grassland sites indicate that the underestimation of ET is much larger than the overestimation of interception on grassland during growth period,while the errors of simulated interception and ET are partially canceled out on alpine meadow.Moreover,the underestimation of ET is more responsible for the overestimation of SWC than the overestimation of interception in the high mountainous area.It is necessary to estimate reasonable empirical parameter α(proportion of leaf water collection area) in interception parameterization scheme and further improve the dry surface layerbased soil evaporation resistance parameterization introduced in CLM5.0 in future researches.The performance of CLM5.0 is better under completely frozen stage than thawing stage and freezing stage,because of low variations of liquid SWC caused by extremely low hydraulic conductivity of soils.The underestimation of liquid SWC under frozen state is caused by underestimation of soil temperature,which leads to more ice mass and less liquid water in total water content.

Flow control performance evaluation of a tri-electrode sliding discharge plasma actuator

Tri-electrode sliding discharge(TED)plasma actuators are formed by adding a direct current(DC)exposed electrode to conventional dielectric barrier discharge(DBD)plasma actuators.There are three TED modes depending on the polarity and amplitude of the DC supply:DBD discharge,extended discharge and sliding discharge.This paper evaluates the electrical,aerodynamic and mechanical characteristics of a TED plasma actuator based on energy analysis,particle image velocimetry experiments and calculations using the Navier-Stokes equation.The flow control performances of different discharge modes are quantitatively analyzed based on characteristic parameters.The results show that flow control performance in both extended discharge and sliding discharge is more significant than that of DBD,mainly because of the significantly higher(up to 141%)body force of TED compared with DBD.However,conductivity loss is the primary power loss caused by the DC polarity for TED discharge.Therefore,power consumption can be reduced by optimizing the dielectric material and thickness,thus improving the flow control performance of plasma actuators.

A Nationwide Evaluation of the State of Practice of Performance Measurements for Intelligent Transportation Systems

State departments of transportation’s (DOTs) decisions to invest resources to expand or implement intelligent transportation systems (ITS) programs or even retire existing infrastructure need to be based on performance evaluations. Nonetheless, an apparent gap exists between the need for ITS performance measurements and the actual implementation. The evidence available points to challenges in the ITS performance measurement processes. This paper evaluated the state of practice of performance measurement for ITS across the US and provided insights. A comprehensive literature review assessed the use of performance measures by DOTs for monitoring implemented ITS programs. Based on the gaps identified through the literature review, a nationwide qualitative survey was used to gather insights from key stakeholders on the subject matter and presented in this paper. From the data gathered, performance measurement of ITS is fairly integrated into ITS programs by DOTs, with most agencies considering the process beneficial. There, however, exist reasons that prevent agencies from measuring ITS performance to greater detail and quality. These include lack of data, fragmented or incomparable data formats, the complexity of the endeavor, lack of data scientists, and difficulty assigning responsibilities when inter-agency collaboration is required. Additionally, DOTs do not benchmark or compare their ITS performance with others for reasons that include lack of data, lack of guidance or best practices, and incomparable data formats. This paper is relevant as it provides insights expected to guide DOTs and other agencies in developing or reevaluating their ITS performance measurement processes.

Performance evaluation of ecological compensation policy for cultivated land in China

The paper evaluates the changes in the ecological environment of cultivated land in the major crop-producing areas major crop-producing areas in the past 20 years by constructing an ecological pollution index;and quantitatively analyzes the effects of the existing policies and their main influencing factors by applying the PSM-DID method based on the frequency of policy enactment.The results are as follows:first,the existing ecological compensation policies for cultivated land are effective but not significant in improving the ecological environment in the major crop-producing areas.The economic development level and grain cultivation area of the major crop-producing areas are significantly and positively correlated with the improvement of the arable land ecological environment,while the level of agricultural infrastructure construction is significantly and negatively correlated with the improvement of the arable land ecological environment.Second,the reason for the ineffectiveness of the current arable ecological land compensation policy in protecting the arable land ecological environment in the main grain-producing regions is that the existing arable ecological land compensation policy in China has its own institutional defects and needs to be further improved.At the same time,the level of environmental pollution of cultivated land in the main grain-producing regions is positively correlated with the level of income from cultivated land and cultivated area.

Analysis of Highway Roadbed Performance Evaluation Technology

With the continuous development of China,the requirements for road construction are also increasing.Among them,strengthening the performance of roadbed test can effectively improve road construction.Besides,it is also crucial to perform suitable tests in a timely manner.Therefore,highway inspection technology should be improved for the continuous development of highway construction,which will be explained in this paper,in hopes of improving the construction of highway in China.

Assessment of Dependent Performance Shaping Factors in SPAR-H Based on Pearson Correlation Coefficient

With the improvement of equipment reliability,human factors have become the most uncertain part in the system.The standardized Plant Analysis of Risk-Human Reliability Analysis(SPAR-H)method is a reliable method in the field of human reliability analysis(HRA)to evaluate human reliability and assess risk in large complex systems.However,the classical SPAR-H method does not consider the dependencies among performance shaping factors(PSFs),whichmay cause overestimation or underestimation of the risk of the actual situation.To address this issue,this paper proposes a new method to deal with the dependencies among PSFs in SPAR-H based on the Pearson correlation coefficient.First,the dependence between every two PSFs is measured by the Pearson correlation coefficient.Second,the weights of the PSFs are obtained by considering the total dependence degree.Finally,PSFs’multipliers are modified based on the weights of corresponding PSFs,and then used in the calculating of human error probability(HEP).A case study is used to illustrate the procedure and effectiveness of the proposed method.

Construction of Tourist Satisfaction Degree Evaluation Model in Western Tourist Area by Performance Prism and Fuzzy Comprehensive Evaluation Method——with Lijiang in Yunnan Province as the Study Case

Starting from the utilization and protection of local knowledge, with the performance prism as the framework, the evaluation index system of tourist satisfaction degree was established. The weight was determined by using AHP method. Finally, the investigating result was judged with fuzzy comprehensive evaluation method, the evaluation model of tourist satisfaction degree in western tourist area was built, and the case study was carried out. With Lijiang in Yunnan Province as example, according to AHP method, five dimensions weight of the performance prism, various KPI weight and consistency were obtained, fuzzy evaluation on tourist satisfaction degree was conducted. The results showed that the overall was satisfactory, but there were still some problems. Aiming at the utilization and protection of local knowledge, some corresponding countermeasures were put forward which will benefit for further development of tourism in Lijiang of Yunnan Province.

Evaluation of a Rapid Diagnostic Test, Boson Biotech SARS CoV-2 Ag, for the Detection of SARS-CoV-2 in Gabon

1) Background: Rapid and acurate diagnostic testing for case identification, quarantine, and contact tracing is essential for managing the COVID 19 pandemic. Rapid antigen detection tests are available, however, it is important to evaluate their performances before use. We tested a rapid antigen detection of SARS-CoV-2, based on the immunochromatography (Boson Biotech SARS-CoV-2 Ag Test (Xiamen Boson Biotech Co., Ltd., China)) and the results were compared with the real time reverse transcriptase-Polymerase chain reaction (RT-PCR) (Gold standard) results;2) Methods: From November 2021 to December 2021, samples were collected from symptomatic patients and asymptomatic individuals referred for testing in a hospital during the second pandemic wave in Gabon. All these participants attending “CTA Angondjé”, a field hospital set up as part of the management of COVID-19 in Gabon. Two nasopharyngeal swabs were collected in all the patients, one for Ag test and the other for RT-PCR;3) Results: A total of 300 samples were collected from 189 symptomatic and 111 asymptomatic individuals. The sensitivity and specificity of the antigen test were 82.5% [95%CI 73.8 - 89.3] and 97.9 % [95%CI 92.2 - 98.2] respectively, and the diagnostic accuracy was 84.4% (95% CI: 79.8 - 88.3%). The antigen test was more likely to be positive for samples with RT-PCR Ct values ≤ 32, with a sensitivity of 89.8%;4) Conclusions: The Boson Biotech SARS-CoV-2 Ag Test has good sensitivity and can detect SARS-CoV-2 infection, especially among symptomatic individuals with low viral load. This test could be incorporated into efficient testing algorithms as an alternative to PCR to decrease diagnostic delays and curb viral transmission.

Simplified stiffness-based approach for seismic performance evaluation of moment-resisting frame

Based on the concept of stiffness degradation, a damage index of the whole frame and the storey is proposed for the frame seismic performance evaluation. The index is compatible with the non-linear static analysis （e. g. the pushover analysis）, and the structural damage is considered via plastic hinges. Simultaneously, a practical approach is developed to obtain the relationships between the proposed index and earthquake intensities based on the capacity spectrum method. The proposed index is then illustrated through two low-rise reinforced concrete frames, and it is also compared with some other indices. The results indicate that the proposed index is on the safe side and not sensitive to the lateral load pattern. The storey index is helpful to reflect the storey damage and to uncover the position of the weak storey. Finally, the relationship between performance levels and damage index values is also proposed through statistical analysis for the performance-based seismic evaluation.

Modeling and performance evaluation of QoS-aware job scheduling of computational grids

To achieve high quality of service （QoS） on computational grids, the QoS-aware job scheduling is investigated for a hierarchical decentralized grid architecture that consists of multilevel schedulers. An integrated QoS-aware job dispatching policy is proposed, which correlates priorities of incoming jobs used for job selecting at the local scheduler of the grid node with the job dispatching policies at the global scheduler for computational grids. The stochastic high-level Petri net （SHLPN） model of a two-level hierarchy computational grid architecture is presented, and a model refinement is made to reduce the complexity of the model solution. A performance analysis technique based on the SHLPN is proposed to investigate the QoS-aware job scheduling policy. Numerical results show that the QoS-aware job dispatching policy outperforms the QoS-unaware job dispatching policy in balancing the high-priority jobs, and thus enables priority-based QoS.

Evaluation of Chinese Learning Efficiency of International Students in China

This paper investigates the related factors of Chinese learning engagement and performance of 377 students from three universities in Guangzhou of China,employs the value engineering method,and calculates the value coefficient of learning efficiency.From the value coefficient of Chinese language learning,it proves that over 60%of international students studying in China have a higher efficiency in learning Chinese.