This paper reports the development of a new miniature force sensor to measure forces at the tip of a microsurgical instrument in three dimensions with sub-millinewton resolution. This sensor will enable enhanced force...
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computer networks are pervasive and critical to the operation of today's businesses. While most of us take computer networks for granted, network managers who must configure, operate, and fix faults in computer ne...
computer networks are pervasive and critical to the operation of today's businesses. While most of us take computer networks for granted, network managers who must configure, operate, and fix faults in computer networks face a daunting task that becomes more complex everyday. Ecological interface design has been shown to be a promising approach for complex systems such as power plants or petrochemical systems. computer networks are a very different work domain characterized by rapid technological change, extreme decentralization, and the existence of “soft” components. This paper presents the first work domain analysis of this new domain creating an abstraction hierarchy for general signal transfer systems and general computing networks. It shows how the abstraction hierarchy can be applied to this new domain and presents the initial work on an ecological interface design for network management.
This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to finite-word-length constraints. The problem is formulated ...
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Considers a physical system described by a set of parameters. Each parameter is either measured by a number of sensors or estimated by a set of computer programs that use sensor measurements. As a result, the resultan...
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Considers a physical system described by a set of parameters. Each parameter is either measured by a number of sensors or estimated by a set of computer programs that use sensor measurements. As a result, the resultant parameter values could be widely varying. We propose a fusion method that combines the measurements and estimators based on the physical laws that relate the parameters. In comparison with the traditional fusion problems, there is no training set that provides the actual parameter values. Furthermore, since every parameter is measured or estimated, there are no parameters whose actual values are known. We propose a fuser based on the least violation of the physical laws that relate the parameters. Under certain smoothness conditions on the physical law, we show the asymptotic convergence of our method, and also derive distribution-free performance bounds based on finite samples. We illustrate the effectiveness of this method for a practical problem of fusing well-log data in methane hydrate exploration. For this problem, the data fusion method resulted in an order-of-magnitude improvement in the accuracy compared to the best set of estimators for the key parameter of porosity.
In this paper, limit cycles and chaotic motion of a single-link robot manipulator moving at low speed are investigated. The dynamic model of the one-link robot manipulator is set up in which different joint friction i...
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In this paper, limit cycles and chaotic motion of a single-link robot manipulator moving at low speed are investigated. The dynamic model of the one-link robot manipulator is set up in which different joint friction is considered. By using the describing function of the nonlinear part of the robot control system, stable limit cycles are proven to exist. The chaotic motion is shown via a Poincare map. Numerical simulations identify the chaotic zone location near the imaginary axis of the complex plane.
A neural network approach to real-time trajectory generation with clearance from obstacles in a nonstationary environment is proposed based on a biologically inspired model for a mobile robot. It is also extended to m...
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A neural network approach to real-time trajectory generation with clearance from obstacles in a nonstationary environment is proposed based on a biologically inspired model for a mobile robot. It is also extended to multi-joint robot manipulators. The strength of obstacle clearance is adjustable. The optimal trajectory is generated by implicitly minimising the robot travel distance while considering the obstacle clearance. The generated real-time “comfortable” path does not suffer from the “too close” or the “too far” problems. The stability is guaranteed by Lyapunov stability analysis. The effectiveness and the efficiency are demonstrated through simulation and comparison studies.
作者：
Patrick S. MCCormickEdward AngelCharles Hansen[a]Los Alamos National Laboratory
Advanced Computing Lab MS B287 Los Alamos NM 87545 E-mail: [b]The University of Utah Department of Computer Science Merrill Engineering Building Salt Lake City Utah 84112 E-mail: [c]The University of New Mexico Computer Science Department Albuquerque New Mexico 87131 E-mail:
A well-known disadvantage of using the Z-buffer algorithm for mediumquality rendering is the overhead associated with shading, shadowing, and texturing pixels that do not contribute to the final image. This problem ma...
A well-known disadvantage of using the Z-buffer algorithm for mediumquality rendering is the overhead associated with shading, shadowing, and texturing pixels that do not contribute to the final image. This problem may be avoided by deferring shading calculations until the end of the rendering pipeline. In this paper, we review two approaches to deferred shading, discuss how to handle transparency, and then extend these ideas to implement a deferred accumulation buffer.
The aim of this paper is to let the anophthalmic patient has a natural movement of his artificial eye. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like the real eye. But the ...
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The aim of this paper is to let the anophthalmic patient has a natural movement of his artificial eye. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like the real eye. But the problem is that it is static, and doesn't have the natural movement. Present study is to design a small automatic control system to let the. artificial eye has the same natural movement as the real eye. How to detect the eye movement is an important issue. The review of the eye movement detection methods is included in this paper. Main part of this paper deals with the experimental system and the further considerations.
Iterative image restoration algorithms developed using a maximum likelihood (ML) estimation framework are attaining considerable significance in recent times for superresolution processing of passive millimeter wave (...
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