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检索条件"任意字段=International Conference on Field Programmable Logic and Applications"

共 16795 条记录，以下是4621-4630 订阅

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3D printing of smart materials for robotics with variable stiffness and position feedback

3D printing of smart materials for robotics with variable st...

引用

IEEE international conference on Advanced Intelligent Mechatronics (AIM)

作者： Yang, Yang Chen, Yonghua Univ Hong Kong Dept Mech Engn Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9781509060009

This paper proposes a novel soft robotic design that possesses variable stiffness and position feedback. A gripper adopting this design is presented. Each finger in the gripper is based on a 3D printed substrate (driven by an air actuated soft actuator) composed of two smart materials: shape memory polymer (SMP) and conductive thermoplastic polyurethane (TPU). SMP's dramatic change of elastic modulus around its glass transition temperature (T-g) enables the finger to have variable stiffness. The conductive TPU acts as a heater to provide Joule heating for the SMP when a weakening of stiffness is needed. Furthermore, the deflection of the substrate can be estimated due to the conductive TPU's inherent piezo-resistive effect. Experiments regarding the finger's position estimation capability and variable stiffness property are conducted. A gripper is fabricated to perform grasping demonstration. The proposed robotic design has other potential applications such as metamorphic legged robots.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Auto-SI: An Adaptive Reconfigurable Processor with Run-time Loop Detection and Acceleration 30

Auto-SI: An Adaptive Reconfigurable Processor with Run-time ...

引用

30th IEEE international System-on-Chip conference (SOCC)

作者： Harbaum, Tanja Schade, Christoph Damschen, Marvin Tradowsky, Carsten Bauer, Lars Henkel, Joerg Becker, Juegen KIT Inst Informat Proc Technol ITIV Karlsruhe Germany KIT CES Karlsruhe Germany FZI Forschungszentrum Informat Karlsruhe Germany

ISBN: (纸本)9781538640340

Modern computer architectures have an everincreasing demand for performance, but are constrained in power dissipation and chip area. To tackle these demands, architectures with application-specific accelerators have gained traction in research and industry. While this is a very promising direction, hard-wired accelerators fall short when too many applications need to be supported or flexibility is required. In this paper, we propose an automatic loop detection and hardware acceleration approach for an adaptive reconfigurable processor. Our contribution is Auto-SI, an automated process that transparently and dynamically provides hardware acceleration alongside a general-purpose processor by employing reconfigurable hardware. We detail the benefits of Auto-SI, i.e., transparent and flexible acceleration of unmodified binaries, provide an analysis of the overheads incurred and present an evaluation of our implementation prototype.

关键词： Kernel Acceleration Hardware field programmable gate arrays Pipelines Silicon

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Model-based Optimal Auto-Transition and Control Synthesis for Tail-sitter UAV KH-Lion 13

Model-based Optimal Auto-Transition and Control Synthesis fo...

引用

13th IEEE international conference on Control & Automation (ICCA)

作者： Wang, Kangli Ke, Yijie Lai, Shupeng Gong, Kehong Tan, Ying Chen, Ben M. Natl Univ Singapore Dept Elect & Comp Engn 4 Engn Dr 3 Singapore 117583 Singapore Univ Melbourne Dept Elect & Elect Engn Melbourne Vic 3010 Australia

ISBN: (纸本)9781538626795

This paper presents a systematic control synthesis method in order to achieve auto-transition for KH-Lion, a tail-sitter hybrid UAV. Although there are huge potentials in various applications of the hybrid tail-sitter UAVs, the transition between vertical take-off and landing mode and cruise mode is still a challenge now. Due to the complex behaviour that the transition can generate, it is very difficult to implement the auto-transition as the reference transition trajectory is hard to obtain. In this paper, we propose to use the model validated from the experiments to generate an optimal reference trajectory for transition. A constrained dynamic programming technique is applied to the model with the consideration of all necessary constraints. A feedback control algorithm is also designed to track the desired transition trajectory. Simulation result and successful flight experiments have demonstrated the effectiveness of the proposed synthesis method.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Adaptive Glazing Systems - Survey of Systems

Adaptive Glazing Systems - Survey of Systems

引用

IEEE international conference on Advanced Intelligent Mechatronics (AIM)

作者： Haase, Walter Husser, Marzena Sobek, Werner Univ Stuttgart Inst Lightweight Struct & Conceptual Design ILEK Pfaffenwaldring 7 & 14 D-70569 Stuttgart Germany Werner Sobek Grp GmbH Albstr 14 D-70597 Stuttgart Germany

ISBN: (纸本)9781509060009

Glazed facade units must satisfy numerous criteria. In addition to allowing an unobstructed view of the exterior they should also provide protection from direct sunlight and the associated heat transfer. In order to optimize the performance of glazed facades under varying conditions, much effort has been directed towards the development of adaptive glazing systems based on smart materials or smart mechanism. This article will outline the functional principles and visual properties of one self-adjusting, thermochromic glazing, two controllable electrochromic systems and one liquid crystal based system. By modifying conventional liquid crystal technologies used for display applications and upscaling the pixel size to an architectural meso scale a switchable glazing system with unique and promising characteristics was developed by the authors. The authors are currently investigating all these glazing systems described here, with the systems as the south facing glazing of identical rooms in a test building. The advantages and the most promising fields of application of these adaptive systems will be presented herein.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Multi Agents' Multi Targets Mission Under Uncertainty Using Probability Navigation Function 13

Multi Agents' Multi Targets Mission Under Uncertainty Using ...

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13th IEEE international conference on Control & Automation (ICCA)

作者： Hacohen, Shlomi Shoval, Shraga Shvalb, Nir Ariel Univ Dept Mecan Engn Ariel Israel Ariel Univ Dept Ind & Management Engn Ariel Israel

ISBN: (纸本)9781538626795

In this paper we consider the problem of cooperative control of a swarm of autonomous heterogeneous mobile agents that are required to intercept a group of moving targets while avoiding contacts with dynamic obstacles. Traditionally these type of problems are solved by decomposing the solution into several sub problems: targets assignments, coordinated interception control, motion planning and motion control. In this paper we present a simultaneous solution to these problems based on the Probabilistic Navigation Function (PNF). The proposed solution considers uncertainties in the targets and obstacles locations. such that the locations and geometries of the targets and obstacles are given by Gaussian probability distributions. These probabilities are convoluted with the agents', obstacles' and targets' geometries to provide a Global Probability Navigation Function - phi. The PNF provides an analytic solution, and guarantees a simultaneous interception of all targets while limiting the risk of the agents to a given value. The complexity of the solution is linear with the number of targets and agents, and therefore is not limited to small problems. Although the solution provided by the PNF is not optimal, it provides simple and efficient solution, making it suitable for a large range of real time applications.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Analysis of the Mutual Inductance of Energy-transferring Component for a Novel Electromagnetic Tactile Sensor

Analysis of the Mutual Inductance of Energy-transferring Com...

引用

IEEE international conference on Advanced Intelligent Mechatronics (AIM)

作者： Xie, Shipeng Zhang, Yuanfei Jin, Minghe Wang, Wei Liu, Hong Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Heilongjiang Peoples R China

ISBN: (纸本)9781509060009

Recent developments of a novel electromagnetic tactile sensors have prompted requirements to investigate the mutual inductance between a micro planar coil and a non-coaxial planar coil. To realize miniaturization design for robot applications, the ratio of pitch to radius for planar spiral coil is over 20%. In this paper, an extended formula is proposed for mutual inductance calculation of energy-transferring component which consists of two micro planar spiral coils sandwiched between two substrates for tactile sensor. The calculated results have higher accuracy than previous methods and it can quickly determine the mutual coupling of two planar coils that have different relative positions and distance between them. This new calculation method provides a convenient and useful tool for determining the mutual inductance of micro planar spiral coil with high ratio of pitch to radius. The theory has been favorably tested by finite-element analysis and compared with predecessors' research.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Thermally-Controlled Coiled Polymeric Wire as a Novel Variable Elastic Element

Thermally-Controlled Coiled Polymeric Wire as a Novel Variab...

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IEEE international conference on Advanced Intelligent Mechatronics (AIM)

作者： Folgheraiter, Michele Aubakir, Bauyrzhan Varol, Huseyin Atakan Nazarbayev Univ Dept Robot & Mechatron 53 Kabanbay Batyr AveZ05HOP9 Astana Kazakhstan

ISBN: (纸本)9781509060009

In this work, we present a thermally-controlled coiled polymeric wire as a novel variable stiffness element for robotics applications. We characterized the stiffness behavior of a single twisted nylon wire with 1 mm diameter at different operating temperatures between 25 degrees C to 50 degrees C. We observed a linear relationship between the temperature and the stiffness of the nylon wire. This is promising since it would facilitate straightforward adjustment of spring behavior in variable stiffness actuated systems. In order to see the stiffness modulation through temperature change, we conducted dynamic tests on a single joint mechanism with two nylon springs connected in an antagonistic configuration. Specifically, the nylon springs were immersed in water and the temperature was controlled using a Peltier cell. Experimental results indicate that the natural frequency and the damping ratio of the second order system are proportional and inversely proportional to the temperature, respectively.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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Visual perception for robot based maintenance automation

Visual perception for robot based maintenance automation

引用

IEEE international conference on Advanced Intelligent Mechatronics (AIM)

作者： Friedrich, Christian von Arnim, Christian Lechler, Armin Verl, Alexander Univ Stuttgart Inst Control Engn Tool Machines & Mfg Units ISW D-70174 Stuttgart Germany

ISBN: (纸本)9781509060009

In order to enable robot systems to solve challenging tasks autonomously, it is sufficient to provide visual perception systems, which can solve different recognition tasks. The work presented here is designed for maintenance applications which are very similar to (dis-) assembly tasks. Therefore, we describe a novel perception strategy using RGBD data to get the required information for manipulation planning, like object class, position and geometric appearance. To handle this problem, well-known segmentation and recognition algorithms are used and task-specifically allocated. The system works with different levels of detail. On the one hand, it is possible to fit geometric primitives related to the different components. On the other hand, classifiers are used to assign the corresponding object semantic. Combining this information in a scene analysis allows the creation of a relational graph, which is further used for manipulation planning. All methods are explained and experimental validated.

关键词： Estimation field programmable gate arrays OFDM Modulation Filtration Clocks Signal processing algorithms

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The Configurable Cloud - Accelerating Hyperscale Datacenter Services with FPGA

The Configurable Cloud - Accelerating Hyperscale Datacenter ...

引用

IEEE 33rd international conference on Data Engineering (ICDE)

作者： Putnam, Andre Microsoft Res Redmond WA 98052 USA

ISBN: (纸本)9781509065431

The Catapult project has brought the power and performance of FPGA-based reconfigurable computing to Microsoft’s hyperscale datacenters, accelerating major production cloud applications such as Bing web search and Microsoft Azure, and enabling a new generation of machine learning and artificial intelligence applications. Catapult is now deployed in nearly every new server across the more than a million machines that make up the Microsoft hyperscale cloud.

关键词： Cloud computing Acceleration field programmable gate arrays Servers Computer architecture Hardware Production

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FinFET based adiabatic logic design for low power applications

FinFET based adiabatic logic design for low power applicatio...

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2017 international conference on Microelectronic Devices, Circuits and Systems, ICMDCS 2017

作者： Dileshwar Rao, L. Dixit, Soumya Pachkor, Kavita Aarthy, M. SENSE VIT University Tamil Nadu India

ISBN: (纸本)9781538617168

The circuit behaviour in Adiabatic logic and FinFET Technology is studied in detail in the literature so as to improve the ultralow power design. The energy saved by adiabatic logic using FinFET is significant compared to the CMOS. This way of designing a circuit is effective in low speed operations where power consumption is more important than performance. Fin-type field-effect transistors (FinFETs) are promising substitutes for bulk CMOS at the nanoscale. Finfet, a long channel device which improves electrostatic control over device. These low power requirements have emerged due to the advancement in technology where power is more important like medical, mobile phones, hand held devices etc. In subthreshold logic, the circuit operates with supply voltage less than that of the threshold voltage of the transistor and utilizes leakage current as the operating current. This is achieved as the dynamic power consumption is quadratic ally dependent on the supply voltage. To show the results we are implementing 4-bit adder in subthreshold adiabatic logic using FinFET technology which shows that the power consumed by FinFET adiabatic logic will be less than that of normal adiabatic operation operation. The analysis has been carried for 32nm FinFET models using HSPICE simulations. For performance analysis we also used industry standard Cadence® EDA tools. © 2017 IEEE.

关键词： Threshold voltage

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