An anthropomorphic ElectroPneumatic WAlking Robot named as EP-WAR has been designed and built at the Laboratory of Robotics and Mechatronics of Cassino University. Stability problems have been solved by a suitable use...
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An anthropomorphic ElectroPneumatic WAlking Robot named as EP-WAR has been designed and built at the Laboratory of Robotics and Mechatronics of Cassino University. Stability problems have been solved by a suitable use of suction-cups, which have been installed on the underside of each foot. Each leg mechanism has been designed and composed by a pantograph with a double articulated parallelogram. The EP-WAR mechatronic design has been conceived by using a pneumatic actuation and electronic control via PLC (Programmable Logic Controller). In addition a suitable programming technique has been developed in order to increase the flexibility of the EP-WAR prototype that can walk along any trajectory in the plane of the motion. Three walking modules and subroutine programs have been introduced and discussed for straight line path, right turn and left turn. Any walking path can be easily obtained by assembling the proposed subroutines in a suitable main program. (C) 1999 Elsevier Science Ltd. All rights reserved.
Key items in the development of a new smart robot generation are explained in light of DLR 's recent activities in robotics research. These items are the design of articulated hands, ultra-lightweight links, and j...
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Key items in the development of a new smart robot generation are explained in light of DLR 's recent activities in robotics research. These items are the design of articulated hands, ultra-lightweight links, and joint drive systems with integrated joint torque control sensory feedback including real-time 3-D vision, learning and skill-transfer;modeling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a virtual environment.
The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled with the increasing...
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The days of specifying missions for mobile robots using traditional programming languages such as C++ and LISP are coming to an end. The need to support operators lacking programming skills coupled with the increasing diversity of robot run-time operating systems is moving the field toward high-level robot programming toolsets that allow graphical mission specification. This paper explores the issues of evaluating such toolsets as to their usability We first examine how usability criteria are established and performance target values are chosen. The methods by which suitable experiments are created to gather data relevant to the usability criteria are then presented. Finally, methods to analyze the data gathered to establish values for the usability criteria are discussed. The MissionLab toolset is used as a concrete example throughout the article to ground the discussions, but the methods and techniques are generalizable to many such systems.
A generalized framework for the definition of kanban-controlled manufacturing systems and a simulation generator based on this framework are introduced in this paper. Kanbans are used between and within workstations t...
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A generalized framework for the definition of kanban-controlled manufacturing systems and a simulation generator based on this framework are introduced in this paper. Kanbans are used between and within workstations to trigger product dow or production. The simulation generator is capable of modeling complex manufacturing systems with multiple parts, multiple work centers and multiple processes at each work center. Multiple process definition capability enables users to define convergent and divergent points in a manufacturing system. Several decision rules are defined and incorporated into the generator. The simulation generator can be used as a completely interactive tool that is data-driven and requires no programming skills. (C) 1998 Elsevier Science Ltd, All rights reserved.
Assertions are widely known as a powerful tool to detect software faults during the debugging of software systems. Despite the maturity of software engineering tools, assertions are seldom used in practice. ASAP is a ...
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Assertions are widely known as a powerful tool to detect software faults during the debugging of software systems. Despite the maturity of software engineering tools, assertions are seldom used in practice. ASAP is a preprocessor for C programs which implements several concepts defined in the theory of formal specification, such as preconditions, postconditions, assertions related to intermediate states, loop invariants and variants, existential and universal quantifiers. In this paper, the notion of software contract is introduced, and shown how it is applicable with assertions. Finally, a collection of useful examples is given, and ASAP design and implementation is described.
The increasing use of digital images in medicine creates a demand for efficient but simple methods to store, retrieve and display images, The ideal solution for this might be a large-scale hospital-integrated picture ...
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The increasing use of digital images in medicine creates a demand for efficient but simple methods to store, retrieve and display images, The ideal solution for this might be a large-scale hospital-integrated picture archiving and communication systems, but this is not applicable under all conditions. A small-scale, user-defined image database running on a desktop computer may fit the individual needs better, while yielding optimal cost-effeetiveness. We will present a way to create customized image databases using a general-purpose desktop database system and a specialized, dedicated image handling component programmed in C++, (C) 1998 Elsevier Science Limited. All rights reserved.
A new algorithm, discrete ascent optimal programming, for optimal power flow in distribution systems is presented. The new algorithm will converge to the same solution as the Lagrange multiplier approach, as demonstra...
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A new algorithm, discrete ascent optimal programming, for optimal power flow in distribution systems is presented. The new algorithm will converge to the same solution as the Lagrange multiplier approach, as demonstrated by example. An intuitive discussion illustrating the path of convergence is presented along with a theorem concerning convergence. The algorithm is explained with two DC examples which illustrate both unconstrained and constrained solutions. A switch placement design problem is also solved. Advantages of the new algorithm include its simplicity, ease of incorporating inequality constraints, and the ability to predict the number of steps required for convergence.
In compute-intensive multimedia applications, the computer not only manipulates media, but also digests it and performs independent actions based on media content, We present a design approach that applies the program...
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In compute-intensive multimedia applications, the computer not only manipulates media, but also digests it and performs independent actions based on media content, We present a design approach that applies the programming techniques of visualization systems to the development of compute-intensive multimedia applications, We describe an implementation based on this approach, and report performance measurements that demonstrate it is practical, We conclude with a description of some applications that have been implemented and a discussion of the implications for the design and engineering of operating systems.
The objective of fuel scheduling is to minimize the operating cost over a given time period while satisfying several constraints including fuel supply, fuel inventory, total power requirement, and generating unit powe...
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The objective of fuel scheduling is to minimize the operating cost over a given time period while satisfying several constraints including fuel supply, fuel inventory, total power requirement, and generating unit power limits. This paper presents a comparison of network flow programming (NFP) the out-of-kilter method, the linear programming (LP) revised simplex method, and the nonlinear programming (NLP) generalized reduced gradient method in order to solve the fuel scheduling problem. For application in NFP and LP, a separable programming technique is used to linearize the objective function and the constraints. Results based on sample data obtained from Omaha Public Power District are presented to demonstrate the differences between NFP, LP, and NLP application to this problem.
The OASIS project proposes new reliable and rigorous methods to design and implement safety critical applications compounded of complex critical real-time subsystems. The main objectives of the model and of its implem...
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The OASIS project proposes new reliable and rigorous methods to design and implement safety critical applications compounded of complex critical real-time subsystems. The main objectives of the model and of its implementation based on a time-triggered architecture, is to guarantee maximum response times while using a multitasking computing, implemented by either time sharing or distributed computing, and simultaneously preserving the determinism of the global system behaviour. It will then be possible to verify properties either general or derived from specifications, like logical and temporal consistency, or availability and reliability of critical tasks. After presenting basic difficulties, problems and existing approaches of real-time system design, the OASIS model is detailed. The model implementation is then described by introducing the ΨL (L = C or Ada) chain of development. Finally after the analysis of a simple example, we present the main benefits and future directions of the OASIS approach.
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