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IEEE International Conference on Image Processing

作者： Yiyong Sun Joon-Ki Paik J.R. Price M.A. Abidi Department of Electrical and Computer Engineering Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Image Engineering Graduate School of Advanced Imaging Science Chung-Ang University Seoul South Korea

We propose an adaptive regularization algorithm for smoothing dense range images using a novel, first order stabilizing function. The stabilizer we suggest is based upon minimizing the reconstructed surface area and is derived in the native, spherical coordinate system of the range scanner. This allows adjustments to be made along only the direction of measurement, thereby preventing the data overlapping problem that can arise in dense images. Adaptation is achieved by adjusting the regularization parameter according to the results of 2D edge analysis. Results indicate effective noise suppression along with well preserved edges and details in the reconstructed, 3D surfaces.

关键词： Smoothing methods Surface reconstruction Image reconstruction Image edge detection Intelligent robots Robot kinematics Intelligent systems Laboratories Laser noise Noise measurement

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SPIRIT-/spl mu/Kernel for strongly partitioned real-time systems

SPIRIT-/spl mu/Kernel for strongly partitioned real-time sys...

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IEEE International Conference on Embedded and Real-Time Computing systems and Applications (RTCSA)

作者： Daeyoung Kim Yann-Hang Lee M. Younis Real Time Systems Research Laboratory CISE Department University of Florida Gainesville FL USA Department of Computer Science and Engineering Arizona State University Tempe AZ USA Advanced Systems Technology Group Honeywell International Inc. Columbia MD USA

To achieve reliability, reusability and cost reduction, a significant trend of building large, complex real-time systems is to integrate separated application modules. An essential requirement of integrated real-time systems is to guarantee strong partitioning among applications. In this paper, we propose a microkernel, called the SPIRIT (Strongly Partitioned Integrated Real-tIme sysTem) /spl mu/Kernel, for strongly partitioned real-time systems. The SPIRIT-/spl mu/Kernel has been designed and implemented based on a two-level hierarchical scheduling methodology such that the real-time constraints of each application can be guaranteed. It provides a minimal set of kernel functions, such as address management, interrupt/exception dispatching, inter-application communication and application scheduling. To demonstrate the feasibility of the SPIRIT-/spl mu/Kernel, we have ported two different application-level real-time operating systems (RTOSs)-WindRiver's VxWorks and Cygnus's eCos-on the top of the microkernel. The SPIRIT-/spl mu/Kernel architecture is practical and appealing due to its low overheads of kernel services and the support for dependable integration of real-time applications.

关键词： Kernel Real time systems Processor scheduling Timing Operating systems Scheduling algorithm Emulation Clocks Software architecture Switches

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A novel high-performance lateral BJT on SOI with metal-backed single-silicon external base for low-power/low-cost RF applications

A novel high-performance lateral BJT on SOI with metal-backe...

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Bipolar/BiCMOS Circuits and Technology Meeting

作者： T. Yamada H. Nii K. Inoh T. Shino S. Kawanaka Y. Minami T. Fuse Y. Yoshimi Y. Katsumata S. Watanabe J. Matsunaga H. Ishiuchi Advanced LSI Technology Laboratory Toshiba Corporation Japan Microelectronics Engineering Laboratory Toshiba Corporation Yokohama Japan Computer & Network Systems Laboratory Toshiba Corporation Kawasaki Japan

ISBN: (纸本)0780357132

A novel device structure to realize high-performance SOI lateral BJTs is presented. A metal-backed single-silicon external base electrode and a simple SOI structure achieve low base resistance and low parasitic capacitances, respectively. Due to the minimal parasitics, the device exhibited an fmax of 62 GHz with a low power dissipation per emitter area of 0.55 mW//spl mu/m/sup 2/.

关键词： Laboratories Parasitic capacitance Implants Radio frequency Electrodes Ink Contact resistance Etching Fuses Large scale integration

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Integrating spatial and topological navigation in a behaviour-based multi-robot application

Integrating spatial and topological navigation in a behaviou...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Jung A. Zelinsky Center of Engineering Science Advanced Research Computer Science and Mathematics Oak Ridge National Laboratory Oak Ridge TN USA Robotic Systems Laboratory (RSL) Department of Systems Engineering Research School of Information Sciences and Engineering Australian National University Canberra ACT Australia

According to the behaviour-based philosophy, the structure of an agent's internal representations of the environment should not be explicitly imposed by the designer; they should be grounded in its sensor-action space. The paper presents a scheme in which the agent's action selection mechanism gives rise to an integrated spatial and topological navigation and mapping capability. The navigation behaviour emerges from the notion of location feature detectors and homogeneous action selection. The scheme is demonstrated using two autonomous mobile robots in a multi-robot cooperation scenario.

关键词： Navigation Robot sensing systems Orbital robotics Mobile robots Cleaning Laboratories Application software Wheels Robot vision systems Machine vision

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Superconducting processors for HTMT: issues and challenges

Superconducting processors for HTMT: issues and challenges

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Frontiers of Massively Parallel Computation

作者： K.B. Theobald G.R. Gao T.L. Sterling Computer Architecture and Parallel Systems Laboratory Department of Electrical and Computer Engineering University of Delaware Newark DE USA NASA Jet Propulsion Laboratory /Center for Advanced Computing Research California Institute of Technology Pasadena CA USA

The Hybrid Technology Multi-Threading project is a long-term study of the feasibility of combining several emerging technologies to reach 1 petaFLOPS within ten years. HTMT will combine high-speed superconductor processors, semiconductor memories with built-in processors, high-speed optical interconnects, and high-density holographic storage. While there are major challenges in all aspects of this project, those in processor architecture are the focus of this paper. Fundamental differences between RSFQ circuits and conventional semiconductor circuits, including a radical jump in clock speed, make today's processor design approaches inappropriate for HTMT. Sequential instruction dispatching, even within the lowest programming unit (a strand), will lead to unacceptably high latencies, hence poor performance. We propose alternative processor designs which use fine-grain synchronizations between individual instructions in order to avoid these bottlenecks.

关键词： Random access memory Optical buffering Holography Holographic optical components Delay computer architecture Optical interconnections Electrical capacitance tomography Quantum computing Clocks

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DESIGN AND ANALYSIS OF A MESO-SCALE REFRIGERATOR

DESIGN AND ANALYSIS OF A MESO-SCALE REFRIGERATOR

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Ashraf, N.S. Carter, H.C. Casey, K. Chow, L.C. Corban, S. Drost, M.K. Gumm, A.J. Hao, Z. Hasan, A.Q. Kapat, J.S. Kramer, L. Newton, M. Sundaram, K.B. Vaidya, J. Wong, C.C. Yerkes, K. Department of Electrical and Computer Engineering University of Central Florida OrlandoFL32816 United States Department of Mechanical Materials and Aerospace Engineering University of Central Florida OrlandoFL32816-2450 United States Department of Microtechnology Energy Division Pacific Northwest National Laboratory RichlandWA99352 United States Advanced Materials and Structures Lockheed Martin Electronics and Missiles OrlandoFL32819-8907 United States Advanced Packaging and Microelectronic Systems Harris Corporation MelbourneFL32902-9100 United States Electrodynamics Associates Inc. OviedoFL32765 United States Engineering Sciences Center Sandia National Laboratories AlbuquerqueNM87185-0827 United States Power Division Propulsion Directorate Air Force Research Laboratory WPAFB OH45433 United States

ISBN: (纸本)9780791826683

The preliminary design and analysis of a meso-scale refrigerator is presented here. The device is to be designed out of layers of silicon wafers bonded together and is to be fabricated through the techniques of microelectronics. The intended application of the device is an integrated heat removal system for electronics or photonic chips or modules. The paper presents a functional decomposition of the entire system, thermodynamic feasibility analysis, alternative configurations for two of the functions: actuation and compression, and parametric analysis for two alternative candidates for compressor actuation. A set of reasonable design requirements is first formulated. Overall function of the devices is decomposed into nine major subfunctions. Comparison of different alternatives for compression and actuation suggests that electrostatic actuation integrated with centrifugal compression is a viable option. Two different ways to implement electrostatic actuation are considered in details: variable capacitance motor and electrostatic induction motor. A set of design relations and criteria needed to obtain the optimal design of each motor is presented along with a discussion on relative effects of the main design parameters. © 1999 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Refrigerators

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A parallel DSP testbed with a heterogeneous and reconfigurable network fabric

A parallel DSP testbed with a heterogeneous and reconfigurab...

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IEEE International Conference on Innovative systems in Silicon

作者： S.K. Tewksbury K. Devabattini V. Gandikota Laboratory for Advanced Information and Computation Systems Department of Electrical and Computer Engineering West Virginia University Morgantown WV USA

A testbed for investigation of heterogeneous and reconfigurable data network fabrics supporting a parallel DSP computational accelerator is described. The DSP processors are large-grained processors (Analog Devices SHARC DSPs), with a variety of parallel DSP array architectures possible. The network fabric is intended to be reconfigurable (within a rich but necessarily limited set of structures) to adapt to the needs of a sequence of image processing algorithms being executed (e.g., in a medical image processing environment). The testbed will exploit conventional FPGA components to provide reconfigurable network structures and will exploit commercial high-speed interconnect components emerging for applications such as board-to-board applications. As a computational accelerator, the testbed is intended to be controlled by a host processor, with the host processor cooperating in the definition of the changes in the structure of the network structure as execution of a sequence of image processing algorithms proceeds.

关键词： Digital signal processing Testing Fabrics computer networks Life estimation Image processing Concurrent computing computer architecture Biomedical image processing Field programmable gate arrays

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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Operational systems, logistics engineering and technology insertion

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 205-220页

作者： Grubb, MJ Skolnick, A Michael J. Grubb:has perfomzed naval engineering at the Crane Division Naval Surface Warfare Center (NSWC) for more than twenty-five years. He currently the program manager for the Sustainable Hardware and Affordable Readiness Practice Program (SHARP). is a Navy-wide logistics research and development prgram aimed at the successful transiton of proved technologies inot the fleet. SHARP focuses on reducing acquisition performance capability reliability maintainability and readiness of these systems. Mr. Grubb has served as a department director for the past eleven years. His most recent assignment was as director of the Tactical Computer Resources and Test Equipment Department. This organization provided acquisition and in-service engineering support of the Navy's tectical embedded computers priphirals displays and mass memory storage devices. The organization also provided a complete range of product engineering and metrology engineerig services for SSP NevSeaSysCom and the Trident Program. Prior to this appointment Mr. Grubb was deptuy director psysical security programs department and site responsible for program management and system integration of ashore integrated security systems. Mr. Grubb holds a B.S. degree in industrial engineering from Iowa State Universtiy an M.S. degree in industrial engineering from Purdue University and has copleted the course work (Dec.'96 for a master's degree in public and environment affairs at Indiana University-Purdue Univeristy Indianapolis. Dr. Alfred Skolnick operates System Science Consultants (SSC) specilizing in strategic planning technical program definiton technology assessment and engineering analyses on selected matters of national interest. He has taught physics mathematics and management sciences at University of Virginia and Marymount University and is currently adjunct professor of mathematics at Northern Virginia Community College. Form 1985 to 1989 he was president of the American Society of Noval Engineers. Dr. Skolnick served at Applied Physic

In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t

关键词： Naval vessels

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Determination of Contact Forces for Two Manipulators Mutually Lifting a Rigid Object Using A Technique of Dynamic Load Distribution

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Intelligent Automation and Soft Computing 1996年第1期2卷 49-63页

作者： Unseren, M.A. Center for Engineering Systems Advanced Research Computer Science and Mathematics Division Oak Ridge National Laboratory Oak Ridge TN United States

This article presents a new technique and approach for dynamically distributing the payload when two serial link manipulators mutually hold and transport a rigid object. A new vector variable which parameterizes the internal stress contact force and torque degrees of freedom (DOF) is introduced and defined as a linear function of the contact forces.” When this equation is combined with the object's dynamical equations, the resulting system yields a well specified solution for the contact forces as a function of the internal stress DOF parameterizing variable. The article investigates two different approaches to selecting the matrix which transforms the contact forces to obtain the internal force parameterizing variable. In one approach the matrix is selected to be orthogonal to the transformation matrix in the object's dynamical equations and in the other it is a function of two constrained scalar parameters which govern the distribution of the payload between the object motion inducing components of the contact forces. Motivated by the latter choice, a new definition of what equally distributing the load between the manipulators means is proposed. The next problem considered is determining an optimal solution for the contact forces by minimizing a performance index which quantifies the distance between the vector of unknown contact forces and a known vector of corrective contact forces in a Euclidean norm sense. The performance index is optimized with respect to the internal force DOF parameterizing variable and, if applicable, the two scalar parameters which govern the distribution of the payload among the motion inducing contact forces. © 1996 Taylor & Francis Group, LLC.

关键词： Dynamic load distribution Internal stress contact forces Motion inducing contact forces Optimization Two manipulators holding rigid object

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