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IEEE International conference on Robotics and Automation (ICRA)

作者： M. Hardt O. von Stryk D. Wollherr M. Buss Simulation and Systems Optimization Group Technische Universität Darmstadt Darmstadt Germany Control Systems Group Technische Universität Berlin Berlin Germany Control Systems Group Technische Universität Berlin Berlin Germany

Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported form simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints.

关键词： Legged locomotion Intelligent robots Humanoid robots Stability Constraint optimization Hardware Control system synthesis nonlinear control systems Application software Machine intelligence

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Intelligent energy management/sup TM/ for portable embedded systems

Intelligent energy management/sup TM/ for portable embedded ...

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IEEE International SOC conference

作者： K. Flautner D.I. Patel ARM Limited Cambridge UK

Summary form only given. One of today's most successful embedded devices, the mobile phone, embodies a set of challenging design requirements: week-long battery life, small size, high performance, and low cost. The single parameter that complicates the simultaneous fulfillment of all of these design goals is power consumption. To address these concerns, systems must be optimized for power during design and also at run-time. The key to taking advantage of the performance-power trade-off is the use of algorithms that aim to reduce the processor's performance level when it is not critical to meet the application's deadlines. The central issue is how the right level of performance can be predicted for applications. The intelligent energy management (IEM) framework provides an integrated solution for addressing power management of SoC devices: 1) EDA methodology for using soft-IP in multiple frequency- and voltage-domain designs; 2) open- and closed- loop control of the power supply for efficient operation; 3) architectural abstraction for controlling the processor's performance levels; and 4) software algorithms for deriving the minimum sufficient performance for running dynamic workloads.

关键词： Energy management Open loop systems Voltage control Mobile handsets Batteries Costs Energy consumption Design optimization Runtime Electronic design automation and methodology

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Incorporating invariants in Mahalanobis distance based classifiers: application to face recognition

Incorporating invariants in Mahalanobis distance based class...

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International Joint conference on Neural Networks (IJCNN)

作者： A.M. Fraser N.W. Hengartner K.R. Vixie B.E. Wohlberg Los Alamos National Laboratory Portland State University USA Los Alamos National Laboratory Los Alamos NM USA

We present a technique for combining prior knowledge about transformations that should be ignored with a covariance matrix estimated from training data to make an improved Mahalanobis distance classifier. Modern classification problems often involve objects represented by high-dimensional vectors or images (for example, sampled speech or human faces). The complex statistical structure of these representations is often difficult to infer from the relatively limited training data sets that are available in practice. Thus, we wish to efficiently utilize any available a priori information, such as transformations or the representations with respect to which the associated objects are known to retain the same classification (for example, spatial shifts of an image of a handwritten digit do not alter the identity of the digit). These transformations, which are often relatively simple in the space of the underlying objects, are usually nonlinear in the space of the object representation, making their inclusion within the framework of a standard statistical classifier difficult. Motivated by prior work of Simard et al. (1998; 2000), we have constructed a new classifier which combines statistical information from training data and linear approximations to known invariance transformations. When tested on a face recognition task, performance was found to exceed by a significant margin that of the best algorithm in a reference software distribution.

关键词： Face recognition Training data Laboratories Covariance matrix State estimation Speech Humans Linear approximation software testing software algorithms

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Advanced insulin infusion using a control loop (ADICOL) concept and realization of a control-loop application for the automated delivery of insulin

Advanced insulin infusion using a control loop (ADICOL) conc...

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IEEE EMBS International conference on Information Technology Applications in Biomedicine (ITAB)

作者： R. Dudde T. Vering Fraunhofer Institute for Silicon Technology Itzehoe Germany Disetronic Medical Systems Burgdorf Switzerland

Within the ADICOL research project, we have developed a control-loop application for the automated delivery of insulin. The concept is unique in several aspects: a) Modularity: the ADICOL system consists of three elements, insulin pump, glucose monitor and expert-system, which all run as stand alone devices with the patient, but can be interconnected to form a body network. b) Subcutaneous Application: Both, glucose monitor and insulin delivery use the subcutaneous route to the body. c) Insulin Pump: The insulin infusion mimics a natural pancreas by employing a delivery interval of 3 minutes. d) Expert System: The expert system is running two different algorithms in a hand-held computer, taking advantage of the high-resolution insulin delivery. e) Algorithm: The Model-Predictive Algorithm is based on a feedback optimization of the insulin infusion rate and physiological parameters of the patient. f) Glucose Monitor: Our glucose monitor is based on the open-flow microperfusion sampling technique and employs amperometric glucose biosensors. g) Body Network: The interconnection of the 3 elements to form a control-loop system (or automated pancreas) is achieved by modern wireless technology. Various clinical tests have been undertaken to assess the performance of subsets, results will be shown. We present the overall set-up and its performance, and show latest results from various clinical human trials performed at the Universities of Graz, Austria and Perugia, Italy.

关键词： Insulin Automatic control Sugar Patient monitoring Computerized monitoring Condition monitoring Pancreas Expert systems Application software Computer networks

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Optimized feedforward neural networks. for on-line identification of nonlinear models

Optimized feedforward neural networks. for on-line identific...

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41st IEEE conference on Decision and Control

作者： Alessandri, A Sanguineti, M Maggiore, M Natl Res Council Italy CNR ISSIA Inst Intelligent Syst Automat I-16149 Genoa Italy

ISBN: (纸本)0780375165

optimization of a class of nonlinear approximators corresponding to feedforward neural networks is investigated for on-line identification of nonlinear models in high-dimensional settings. The parameters are optimized by minimizing a cost function, which consists of the summation of two terms: a fitting penalty term and a term related to changes in the parameters. The relative influence of the two terms on the overall minimization can be tuned, according to a proper scalar. The resulting algorithm has properties of convergence and robustness. Simulation results are performed to compare its performance with classical algorithms, such as back-propagation and learning based on the extended Kalman filter, used for adjusting parameters in neural-network identification of nonlinear models. The advantages of the proposed approach are shown.

关键词： Identification (control systems)

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performance analysis of the ATLAS Second-Level Trigger software

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IEEE TRANSACTIONS ON NUCLEAR SCIENCE 2002年第2期49卷 383-388页

作者： Bogaerts, JAC Botterill, DR Li, WD Middleton, RP Werner, P Wickens, FJ Zobernig, H CERN European Ctr Nucl Res CH-1211 Geneva 23 Switzerland Rutherford Appleton Lab Didcot OX11 0QX Oxon England Univ Wisconsin Dept Phys Madison WI 53706 USA

In this paper, we analyze the performance of the prototype software developed for the ATLAS Second-Level Trigger. The 00 framework written in C++ has been used to implement a distributed system which collects (simulated) detector data on which it executes event selection algorithms. The software has been used on testbeds of up to 100 nodes with various interconnect technologies. The final system will have to sustain traffic of similar to40 Gb/s and require an estimated number of similar to750 processors. Timing measurements are crucial for issues such as trigger decision latency, assessment of required CPU and network capacity, scalability, and load-balancing. In addition, final architectural and technological choices, code optimization, and system tuning require a detailed understanding of both CPU utilization and trigger decision latency. In this paper, we describe the instrumentation used to disentangle effects due to such factors as OS system intervention, blocking on interlocks (applications are multithreaded), multiple CPUs, and I/O. This is followed by an analysis of the measurements and concluding with suggestions for improvements to the ATLAS T)rigger/DAQ dataflow components in the next phase of the project.

关键词： computer network performance data acquisition data communication high-energy physics timing trigger

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DSP controlled low-voltage high-current fast-transient voltage regulator module

DSP controlled low-voltage high-current fast-transient volta...

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IEEE International conference on Acoustics, Speech, and Signal Processing

作者： Abu-Qahouq, J Pongratananukul, N Batarseh, I Kasparis, T Univ Cent Florida Orlando FL 32816 USA

ISBN: (纸本)0780374029

Future generation of microprocessors will require high performance Voltage Regulator Modules (VRMs) that produce tightly regulated low supply voltage with very small deviation window and able to respond very quickly to a large and continuous load transients at high output current while maintaining a high power density. On one hand, the current drawn from the VRM by the microprocessor is continuously changing since it depends at the current use of the microprocessor. On the other hand, high Frequency VRMs as any Power Electronics System is a complex combination of linear, nonlinear, and switching elements that is required to have fast dynamics. Moreover, this complex combination is also real-time system that needs to continuously and instantly monitor and respond to the load changes (the microprocessor). A high performance basic control loop is essential to follow up with such transients. Such controller design is usually complicated especially since it requires high knowledge of the converter and its behavior and accurate converter model that includes nonlinearities and parameters and components variations. DSP has many advantages over the analog circuits when it comes to applying high performance sophisticated control techniques such the simplicity in applying sophisticated control algorithms and modifying them via software revision, lower environmental and noise sensitivity, and less components count.

关键词： Voltage regulators

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On the evaluation of JavaSymphony for cluster applications

On the evaluation of JavaSymphony for cluster applications

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IEEE International conference on Cluster Computing

作者： Fahringer, T Jugravu, A Di Martino, B Venticinque, S Moritsch, H Univ Vienna Inst Software Sci A-1090 Vienna Austria

ISBN: (纸本)0769517455

In the pastfew years, increasing interest has been shown in using Java as a language for performance-oriented distributed and parallel computing. Most Java-based systems that support portable parallel and distributed computing either require the programmer to deal with intricate low-level details of Java which can be a tedious, time-consuming and error-prone task, or prevent the programmer from controlling locality of data. In contrast to most existing systems, JavaSymphony - a class library written entirely in Java - allows to control parallelism, load balancing, and locality, at a high level. Objects can be explicitly distributed and migrated based on virtual architectures which impose a virtual hierarchy on a distributed/parallel system of physical computing nodes. The concept of blocking/nonblocking remote method invocation is used to exchange data among distributed objects and to process work by remote objects. In this paper we evaluate the JavaSymphony programming API for a variety, of distributed/parallel algorithms which comprises backtracking, N-body, encryption/decryption algorithms and asynchronous nested optimization algorithms. performance results are presented for both homogeneous and heterogeneous cluster architectures. Moreover we compare JavaSymphony with an alternative well-known semi-automatic system.

关键词： Clustering algorithms Computer architecture Control systems Distributed computing Error correction Java Libraries Load management Parallel processing Programming profession

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Optimal software pipelining of loops with control flows

Optimal software pipelining of loops with control flows

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conference Proceedings of the 2002 International conference on Supercomputing

作者： Yun, Han-Saem Kim, Jihong Moon, Soo-Mook School of Computer Science and Eng. Seoul National University Seoul Korea Republic of

software pipelining is widely used as a compiler optimization technique to achieve high performance in machines that exploit instruction-level parallelism. However, surprisingly, there have been few theoretical or empirical results on optimal software pipelining of loops with control flows. In this paper, we present three new contributions for this under-investigated problem. First, we propose a necessary and sufficient condition for a loop with control flows to have an optimally software-pipelined program. We also present a decision procedure to compute the condition. Second, we present two software pipelining algorithms. The first algorithm computes an optimal solution for every loop satisfying the condition, but may run in exponential time. The second algorithm computes optimal solutions efficiently for most (but not all) loops satisfying the condition. Third, we present experimental results which strongly indicate that achieving the optimality in the software-pipelined programs is a viable goal in practice with realistic hardware support.

关键词： Pipeline processing systems

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INCREASING STABILITY IN DYNAMIC GAITS USING NUMERICAL optimization

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IFAC Proceedings Volumes 2002年第1期35卷 533-538页

作者： Michael Hardt Oskar von Stryk Simulation and Systems Optimization Group Technische Universität Darmstadt Alexanderstr. 10 64283 Darmstadt Germany http://www.sim.informatik.tu-darmstadt.de

Optimal gait planning is applied in this work to the problem of improving stability in quadruped locomotion. In many settings, it is desired to operate legged machines at high performance levels where rapid velocities and a changing environment make stability of utmost concern. Since gait planning still remains a vital component of legged system control design, an efficient method of determining periodic paths is presented which optimize a dynamic stability criterion. Efficient recursive multibody algorithms are used with numerical optimal control software to solve the minimax performance stability criteria.

关键词： walking path planning dynamic stability robot dynamics optimization problems nonlinear programming numerical methods

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