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IEEE International conference on Intelligent Engineering systems (INES)

作者： M. Tomizuka Department of Mechanical Engineering University of California Berkeley Berkeley CA USA

This paper describes the technical challenges and the application of advanced control methodologies to meet the challenges in the design of servo systems for data storage devices such as hard disk drives (HDDs). Though an emphasis is on control applications to hard disk drives, the challenges and methodologies are broadly applicable to other precision machines. "Mechatronics" in the title emphasizes that the design of control algorithms for modern machines is not an isolated activity by control engineers in the development of products, which is indeed a synergistic integration of mechanical hardware design, sensor and actuator selections and control algorithms.

关键词： Mechatronics Memory Application software Hard disks Algorithm design and analysis Control systems Servomechanisms Design engineering Hardware Mechanical sensors

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Space biosensor systems: implications for technology transfer

Space biosensor systems: implications for technology transfe...

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Annual International conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： J.W. Hines C.J. Somps M. Madou NASA Ames Research Center CA USA

To meet the need for continuous, automated monitoring of animal subjects, including humans, during space flight, NASA is developing advanced physiologic sensor and biotelemetry system technologies. The ability to continuously track basic physiological parameters, such as heart rate, blood pH, and body temperature, in untethered subjects in space is a challenging task. At NASA's Ames Research Center, where a key focus is gravitational biology research, engineers have teamed with life scientists to develop wireless sensor systems for automated physiologic monitoring of animal models as small as the rat. This technology is also being adapted, in collaboration with medical professionals, to meet human clinical monitoring needs both in space and on the ground. Thus, these advanced monitoring technologies have important dual-use functions; they meet space flight data collection requirements and constraints, while concurrently addressing a number of monitoring and data acquisition challenges on the ground in areas of clinical monitoring and biomedical research. Additional applications for these and related technologies are being sought and additional partnerships established that enhance development efforts, reduce costs and facilitate technology infusion between the public and private sectors. This paper describes technology transfer and co-development projects that have evolved out of NASA's miniaturized, implantable chemical sensor development efforts.

关键词： Space technology Biosensors Technology transfer Biomedical monitoring Computerized monitoring Animals Humans sensor systems Chemical technology NASA

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Microelectromechanical systems (MEMS)

Microelectromechanical systems (MEMS)

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IEEE conference on Aerospace

作者： K.J. Gabriel Electronics Technology Office Defense Advanced Research Project Agency

The following topics are dealt with: MEMS fundamentals; MEMS fabrication technology; MEMS market and industry structure; defense applications; investment assessment; inertial measurement devices; multiple device chips; optical MEMS components; monolithic free-space optical disk pickup head; digital micromirror display; optomechanical displays; environmental monitoring sensors; wireless integrated microsensors; tactical remote sensors; mass spectrograph; miniature analytical instrumentation; microdisk arrays for data storage; multi-user MEMS projects; electronic design aids; fluid flow analysis; and MEMS technology trends.

关键词： Microelectromechanical systems Micromechanical devices Optical devices Optical sensors sensor arrays Integrated optics Displays Remote monitoring Optical arrays Optical device fabrication

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A novel method for extracting roof edges of specular polyhedra

A novel method for extracting roof edges of specular polyhed...

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Proceedings of the 1997 IEEE/RSJ International conference on Intelligent Robot and systems. Innovative Robotics for Real-World applications. IROS '97

作者： Won Shik Park Hyung Suck Cho Laboratory for Control Systems and Automation Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780341198

This paper introduces a new vision technique for extracting roof edges of polyhedra having specularly reflecting surfaces. There have been many previous works on object recognition using edge information, but they can not be applied to specular objects since it is hard to acquire reliable camera images of specular objects. If there is a method which can extract the edges of specular objects, it is possible to apply edge-based recognition algorithms to specular objects. To acquire the reliable edge images of specular objects, scanned double pass retroreflection method is proposed, whose main physical characteristic is curvature-sensitive. This utility of the physical characteristic is motivated by the idea that roof edges can be characterized as local surfaces of high curvature. In this paper, the optical characteristics of double pass retroreflection are discussed and a series of simulation studies are performed to verify and analyze the sensor characteristics. The results from a series of simulations show the effectiveness of the proposed method.

关键词： Shape Rough surfaces Surface roughness Cameras Machine vision Light sources Automation Data mining Object recognition Optical sensors

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Client-server based mobile robot control

Client-server based mobile robot control

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IEEE/ASME (AIM) International conference on advanced Intelligent Mechatronics

作者： O. Kubitz M.O. Berger Informatik 4 Communication Systems and aps/European Centre for Mechatronics RWTH Aachen University of Technology Aachen Germany

Summary form only given as follows. Autonomous mobile robots are expected to be a solution for a vast of applications. As different and manifold as the applications are the sensors and control mechanisms used for today's robots. The kind of control architecture and mechanisms used for the mobile robots therefore strongly differ from application to application. Common to all application fields are the tight requirements for real-time reaction that directly influence the used control mechanisms. We present the concepts used to design a mobile robot that robustly performs transportation tasks in an industry-like environment. An intra-robot communication architecture is presented that forms the basis for a robust control architecture by providing efficient access to sensors and actuators. For the test of the developed communication and control architecture the mobile robot ARS (autonomous robot system) is used in this project. ARS is a chain-driven mobile robot with several sensor system modules and a PC running the real-time operating system QNX. Therefore we developed a modular, layered client-server architecture that supports the tight bindings between the sensors and actuators on the one hand, and the actual robot control processes on the other hand. The layering in this architecture approach provides abstraction from the underlying communication mechanisms of the hardware so that the access to sensors and actuators can be easily exchanged without the need to reprogram modules in outer layers. The modularity allows the addition and exchange of modules and components so that they can be used for a broad variety of mobile platforms.

关键词： Mobile robots Robot control Mobile communication Actuators Robot sensing systems Communication system control Robustness Transportation Electrical equipment industry Robust control

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In situ particle monitors: a new process control technology for Digital Semiconductor's Fab 6

In situ particle monitors: a new process control technology ...

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IEEE/SEMI conference and Workshop on advanced Semiconductor Manufacturing

作者： D. Field Digital Semiconductor Hudson MA USA

As part of the start-up strategy for Digital Semiconductor's Fab 6 facility, a project was implemented to use a new technology for monitoring particle levels in vacuum process tools. The current practice of running witness wafers to gauge surface defects has several drawbacks, including wafers cost and reduction of process tool throughput. A development project team was put into place to install, analyze, and implement vacuum In Situ Particle Monitors (ISPM) into Digital Semiconductor's Fab 6 manufacturing process. ISPM process sensors provide particle count information from inside a process tool in a real-time manner. ISPM sensors use light scattering techniques to detect particle levels within the vacuum system of a semiconductor process tool. By monitoring particle levels continuously, the ISPMs can quickly signal out of specification process events and monitor routine operations without impacting tool availability. This paper discusses the application of ISPM sensors onto both etch and deposition process tools. Specifically, data for an oxide etch process tool is presented. The ISPM data has shown correlation to tool conditions and been used to identify various process problems. Reduction of process monitor wafers has been achieved for the oxide etch process and is fully implemented in manufacturing. A crude ROI estimate shows a payback period of approximately 50 weeks. In all, the ISPM program in Fab 6 has demonstrated good results and is targeting other process applications.

关键词： Process control Etching Monitoring Vacuum technology Manufacturing processes Costs Throughput sensor systems Light scattering Vacuum systems

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Center for commercial applications of combustion in space (CCACS);A partnership for space commercialization at the Colorado School of Mines

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AIP conference Proceedings 1997年第1期387卷 679-684页

作者： F. D. Schowengerdt Bob Kee Mark Linne Tom McKinnon John Moore Terry Parker Dennis Readey John E. Tilton Joe Helble Colorado School of Mines Golden Colorado 80401 University of Connecticut Storrs Connecticut 062693222

The Center for Commercial applications of Combustion in Space (CCACS) is a NASA/Industry/University consortium at the Colorado School of Mines (CSM). The mission of the Center is to assist industry in developing commercial products by conducting combustion research which takes advantage of the unique properties of space. By conducting experiments in near-zero gravity, convection and buoyancy effects can be minimized and new fundamental design-related knowledge can be gained which can be used to improve combustion-related products and processes on earth. Companies, government laboratories and universities most actively involved in CCACS at present include ABB Combustion, ADA Technologies, advanced Refractory Technologies, Golden Technologies, Lockheed-Martin, Southwest Sciences, Space systems/Lora, NASA-Lewis, JPL, the Baylor Dental School and the University of Connecticut. Products and processes of interest to the Center participants include industrial process combustors; catalytic combustion; Halon replacements; ceramic powders, whiskers and fibers; metal-matrix composites; NiTi for bone replacement; diamond coatings for oil-well drill bits; zeolites; imaging sensor arrays and other instrumentation for flame and particulate diagnostics. The center also assists member companies in marketing the resulting products and processes.

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Cooperative multi-robot observation of multiple moving targets

Cooperative multi-robot observation of multiple moving targe...

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IEEE International conference on Robotics and Automation (ICRA)

作者： L.E. Parker B.A. Emmons Oak Ridge National Laboratory Center for Engineering Systems Advanced Research Oak Ridge TN USA Department of Mathematics Albion College Albion MI USA

An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring, or observing, the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement-determining where sensors should be located to maintain the targets in view. In complex applications of this type, the use of multiple sensors dynamically moving over time is required. In this paper, we investigate the use of a cooperative team of autonomous sensor-based robots for multi-robot observation of multiple moving targets. We focus primarily on developing the distributed control strategies that allow the robot team to attempt to maximize the collective time during which each object is being observed by at least one robot in the area of interest. Our initial efforts in this problem address the aspects of distributed control in homogeneous robot teams with equivalent sensing and movement capabilities working in an uncluttered, bounded area. This paper first formalizes the problem, discusses related work, and then shows that this problem is NP-hard. We then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level control. The low-level control is described in terms of force fields emanating from the targets and the robots. The higher level control is presented in the ALLIANCE formalism, which provides mechanisms for fault tolerant cooperative control, and allows robot team members to adjust their low-level actions based upon the actions of their teammates. We then present the results of the implementation of portions of our approach, both in simulation and on physical robots.

关键词： Robot sensing systems Distributed control Automation Security Surveillance Reconnaissance Computerized monitoring Navigation Force control Level control

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Marine fouling of optical fibre micro-cables

Marine fouling of optical fibre micro-cables

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OCEANS

作者： H. Pullin A.B. Yule Winfrith Technology Centre Winfrith Newburgh Defence Evaluation and Research Agency Dorchester UK School of Ocean Sciences University of Wales UK

The benefits of optical fibre as a data transfer medium are well established and exploited within numerous current applications, where high data rates and minimal cable diameters are required. Data rate requirements in excess of 1 Gbaud, to support the transmission of advanced sensor data, are achievable through single mode optical fibre cables, which may be as small as 0.25 mm outer diameter. This permits significant lengths of cable, occupying a relatively small volume, to be carried and deployed by UUVs, thereby providing a continuous, high bandwidth link, over considerable distance. Such benefits are reliant upon maintaining the integrity of the relatively fragile optical fibre cable in the harsh marine environment. The impact of biological activity within the marine environment is considered an area of risk to the survivability of small diameter optical fibre cables for which very little data exists. DERA are addressing the survivability of deployed optical fibre cables and, in conjunction with the University of Wales Bangor, researching the characteristics of marine fouling colonies and subsequent biological interference with respect to immersed cables. Initial research has been carried out to identify potential risk areas and likely fouling behaviour, which has been validated by in-situ experimentation. This paper highlights the key issues addressed by the current research and presents some results and conclusions from the initial phase of experimentation. The way ahead for the work is indicated, together with its relevance to future marine systems.

关键词： Optical fibers Optical fiber cables Copper Fiber optics Optical fiber communication Communication cables Bandwidth Conductors Interference sensor systems

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A microelectromechanics-based frequency-signature sensor

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sensorS AND ACTUATORS A-PHYSICAL 1996年第1-3期53卷 288-298页

作者： Haronian, D MacDonald, NC CORNELL UNIV SCH ELECT ENGNITHACANY 14853 CORNELL UNIV NATL NANOFABRICAT FACILITHACANY 14853

The frequency spectrum of vibrating systems contains information that can be used in many ways. This spectrum can be used for wear diagnostics, passive and active noise control, material characterization, structure identification, and speech processing. In all these applications an analysis is performed on the vibration signature of the system. A microelectromechanics-based frequency-signature sensor (MEM-FSS) is a one-dimensional array of coupled or uncoupled resonators that mechanically senses and filters vibrations, sound and ultrasound inputs into frequency bands. This paper describes device fabrication and testing, and addresses potential applications of such devices.

关键词： frequency-signature sensors microelectromechanics

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