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ieee-RAS international conference on Humanoid Robots

作者： Ill-woo Park Jung-yup Kim Jun-ho Oh HUBO Laboratory Humanoid Robot Research CenterDepartment of Mechanical Engineering KAIST Daejeon South Korea

ISBN: (纸本)1424401992

This paper describes an algorithm about online walking pattern generation method, sensory feedback controllers for walking of humanoid robot platform KHR-3 (KAIST Humanoid Robot-3: HUBO) and experimental results. The walking pattern trajectories have continuity, smoothness in varying walking period and stride, and it has simple mathematical form which can be implemented easily. The gait trajectory algorithm is composed of two kinds of function trajectory. The first one is cycloid function which is used for ankle position in Cartesian coordinate space. Because this profile is made by superposition of linear and sinusoidal function, which has a property of slow start, fast moving, and slow stop. This characteristics can reduce the over drive at high speed motion of the actuator. The second one is 3rd order polynomial function. It is continuous in the defined time interval, easy to use when the boundary condition is well defined, and has standard values of coefficients when the time scale is normalized. Position and velocity values are used for its boundary condition. F/T (Force and Torque) sensors at the ankles of the robot and accelerometers at soles are used to compensate the input position profiles (in joint angle space and Cartesian coordinate space) for keeping its dynamic balance. They are to reduce unexpected external forces such as landing shock, and vibration induced by compliances of the F/T sensor structures, link frames and reduction gears, because they can affect seriously on the walking stability. We use real-time controllers such as ZMP (zero moment point), vibration reduction, landing orientation, damping, landing timing and landing position controller according to its objectives. This trajectory and control algorithm is implemented for the free-walking of KHR-3

关键词： Humanoid robots Legged locomotion Robot sensing systems Robot kinematics Boundary conditions Adaptive control Actuators Polynomials Force sensors Torque

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A distributed system for answering range queries on sensor network data

A distributed system for answering range queries on sensor n...

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3rd ieee international conference on Pervasive computing and Communications

作者： Cuzzocrea, A Furfaro, F Greco, S Masciari, E Mazzeo, GM Saccà, D Univ Calabria DEIS I-87030 Commenda Di Rende Italy

ISBN: (纸本)0769523005

A distributed system for approximate query answering on sensor network data is proposed, where a suitable compression technique is exploited to represent data and support query answering. Each node of the system stores either detailed or summarized sensor readings. Query answers are computed by identifying the set of nodes that contain (either compressed or not) data involved in the query, and eventually partitioning the query in a set of sub-queries to be evaluated at different nodes. Queries are partitioned according to a cost model aiming at making the evaluation efficient and guaranteeing the desired degree of accuracy of query answers.

关键词： distributed computer systems

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Autonomous Resource Management and Control Algorithms for distributed Wireless sensor Networks

Autonomous Resource Management and Control Algorithms for Di...

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3rd ieee/ACS international conference on Computer systems and Applications (AICCSA-05)

作者： Talukder, Ashit Bhatt, Rajan Chandramouli, L. Ali, Syed Muhammad Pidva, Rishi Monacos, S. Univ So Calif CHLA Jet Prop Lab NASA Los Angeles CA 90089 USA

ISBN: (纸本)9780780387355

We discuss a novel framework for integrated sensing and resource management in a distributed intelligent sensor network with sensor nodes whose useful active lifetime is significantly shorter than the required lifetime of the sensor system. Past sensor network research has focused on security and communication, but largely ignored the overall dynamic resource management issue of such distributed systems. Our contribution is in integrated control optimization and resource management algorithms to ensure proper functioning of distributed sensors in extremely limited bandwidth, power, and storage. In this paper, we present a novel genetic algorithm for real-time system control and resource management that handles multiple conflicting objectives and constraints in the distributed system. Our framework is suitable for dynamic environments where the desired system performance and resource usage changes dynamically while being constrained by limited amount of resources.

关键词： Evolutionary algorithm control distributed sensing machine learning sensor networks pattern recognition resource management mathematical optimization wireless communication

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distributed computation of averages over ad hoc networks

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ieee JOURNAL ON SELECTED AREAS IN COMMUNICATIONS 2005年第4期23卷 776-787页

作者： Scherber, DS Papadopoulos, HC Univ Maryland Dept Elect & Comp Engn College Pk MD 20742 USA

In this paper, we develop algorithms for distributed computation of averages of the node data over networks With arbitrary but fixed connectivity. The algorithms we develop are linear dynamical systems that generate sequences of improving approximations to the desired computation at each node, via iterative processing and broadcasting. The algorithms are locally constructed at each node by exploiting only locally available and macroscopic information about the network topology. We present methods for optimizing the convergence rates of these algorithms to the desired computation, and evaluate their performance characteristics in the context of a problem of signal estimation from multinode noisy observations. By conducting simulations based on simple powerloss propagation models, we perform a preliminary comparison of the algorithms we develop against other types of distributed algorithms for computing averages, and identify transmit-power optimized algorithmic implementations as. a function of the size and density of the sensor network.

关键词： distributed algorithms distributed estimation sensor networks

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An Extensible Framework for Automatic Negotiation in distributed Online Bargaining Applications

An Extensible Framework for Automatic Negotiation in Distrib...

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3rd ieee/ACS international conference on Computer systems and Applications (AICCSA-05)

作者： Ncho, Ambroise Aimeur, Esma Univ Montreal Dept Informat & Rech Operationnelle Montreal PQ H3C 3J7 Canada

ISBN: (纸本)9780780387355

In some trading-based Web applications, it is desirable for the parties engaged in a business to negotiate via their own agent system. This requires their agent system to be inter-operable through a distributed architecture. In this paper we present the Collaborative Agreement for Automated Trading (CAAT), an initiative intended to deal with this issue. The framework, built on top of the FIP A Agent Architecture model, combines the agent technology and the Web service functionalities to provide a distributed computing architecture for supporting online bargaining. It has three main components: the Business Interaction Model, the Ontology, and the Interaction Protocol.

关键词： distributed computer systems

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Synergy between SSM and SAFE in sensor Network information processing

Synergy between SSM and SAFE in Sensor Network information p...

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3rd ieee international conference on Industrial Informatics (INDIN)

作者： Sinha, S Chaczko, Z Univ Technol Engn Fac Sydney NSW Australia

ISBN: (纸本)0780390946

With the onset of the Internet the perception of computing systems in general has revolutionised. Areas of research have migrated from developing nodes to building networks - thus requiring the need for a variety of information processing techniques, such as clustering, classification, dependency modelling and others. However, the applications of sensor Networks are yet to evolve in such proportions. Some of the primary constraints being the resources available in an embedded environment, the need to dynamically configure services to carry out a variety of tasks, communication interfaces and sensing and monitoring techniques. This paper discusses a holonic analysis to aid in mitigating ill-structured and often problematic situations that, are often characterized by uncertainty in reasoning and the varying nature of relationships with associated elements. The proposed methodology is a synergy between the classic model derived from Soft systems Methodology (SSM) and the model of Systemic Analysis through Familiar Entities (SAFE). Development of an Intelligent Security System (ISS) has been considered to be an ideal test-bed for this synergy to go through the phases of problem definition and exploration, development of conceptual models and generation of insight to stimulate acceptable and feasible changes. The technical aspect of this system encompasses the mode of query processing and surveillance through a structured sensor network set up with the aid of distributed services and network protocols.

关键词： holon sensor network distributed service and information processing

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Performance Modeling and Analysis of Object Oriented distributed Software systems: A Necessary Step Toward Software Performance Stability

Performance Modeling and Analysis of Object Oriented Distrib...

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3rd ieee/ACS international conference on Computer systems and Applications (AICCSA-05)

作者： Ammar, Reda Abdel-raouf, Amal Fergany, Tahany A. Univ Connecticut Comp Sc & Engr Dept Storrs CT 06269 USA

ISBN: (纸本)9780780387355

Advances in object-oriented (OO) technology and distributed computing generate distributed object oriented software systems. Choosing an efficient design of such software is a multi-criteria decision problem. Performance is a key criterion that makes software developers be able to select the system that best fit their requirements and achieve longer design stability. Classical techniques of performance analysis are either unsuitable or unnatural to capture performance behavior of OO systems. In this paper, we present Performance-Based Model for distributed OO Software (DOOS) and a methodology to analyze and evaluate its performance. The new model evaluates the time cost of DOOS system considering the communication overheads while preserving the OO features such as encapsulations and inheritance.

关键词： software performance stability performance modeling and analysis Object-Oriented software

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Remote sensor calibration through MADAMS services

Remote sensor calibration through MADAMS services

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3rd ieee Intelligent Data Acquisition and Advanced computing systems

作者： Cicirelli, Franco Furfaro, Angelo Grimaldi, Domenico Nigro, Libero Univ Calabria Dipartimento Elettron Informat & Sistemist I-87036 Arcavacata Di Rende CS Italy

ISBN: (纸本)9780780394452

The work described in this paper aims at supporting the development of distributed measurement systems using the service oriented computing paradigm. A general architecture -MADAMS- was designed and implemented which allows high v dynamic measurement services to be deployed, i.e. published, retrieved and exploited in a networked context. MADAMS depends on Java/Jini. As a significant application, the paperfocus on controlling remote sensors abstracted as MADAMS services. In particular, a, service catalogue is described which allows remote sensor calibration over the Internet.

关键词： distributed measurement systems services Java/Jini sensor calibration Internet

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Media distribution in a pervasive computing environment

Media distribution in a pervasive computing environment

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3rd ieee international conference on Pervasive computing and Communications

作者： Berkvens, WAH Claassen, A van Gassel, JP Sinitsyn, A Philips Research

ISBN: (纸本)0769523005

Distribution of media in the fast growing world of digital stored content and multimedia supporting devices with connectivity, calls for a new media distribution architecture. The user should be provided with the experience of having an overview of his full media collection, regardless of the time, the place, and the connectivity. The architecture presented in this paper, fulfils these needs and can cooperate furthermore with non-compliant devices.

关键词： distributed computer systems

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Efficiently managing context information for large-scale scenarios

Efficiently managing context information for large-scale sce...

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3rd ieee international conference on Pervasive computing and Communications

作者： Grossmann, M Bauer, M Hönle, N Käppeler, UP Nicklas, D Schwarz, T Univ Stuttgart Inst Parallel & Distributed Syst D-70565 Stuttgart Germany

ISBN: (纸本)0769522998

In this paper, we address the data management aspect of large-scale pervasive computing systems. We aim at building an infrastructure that simultaneously supports many kinds of context-aware applications, ranging from room level up to nation level. This all-embracing approach gives rise to synergetic benefits like data reuse and sensor sharing. We identify major classes of context data and detail on their characteristics relevant for efficiently managing large amounts of it. Based on that, we argue that for large scale systems it is beneficial to have special-purpose servers that are optimized for managing a certain class of context data. In the Nexus project we have implemented five servers for different classes of context data and a very flexible federation middleware integrating all these servers. For each of them, we highlight in which way the requirements of the targeted class of data are tackled and discuss our experiences.

关键词： Information management

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