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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Guanyang Liu Yuru Zhang D. Wang J. Hao P. Lu Y. Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Research Centre of Engineering & Technology for Dental Computing School of Stomatology Peking University Beijing China

This paper presents a cutting force model for dental training system with haptic display capability. The force model is proposed by theoretic analysis of the cutting force between dental tools and tooth. A damping matrix is developed for obtaining a unified formulation for all components of cutting forces. All factors that affect the cutting force are considered in the model by including a number of parameters. These parameters are identified by tooth-cut experiments, which measure the cutting force with a six-dimensional force sensor. A prototype system of haptic simulation is developed to test the model. Dentists performing virtual operation on the system have confirmed the realistic sense of cutting force.

关键词： Dentistry Teeth Haptic interfaces Displays Force sensors Bones Computational modeling Robotics and automation Force measurement Humans

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Approaches to modeling converters with current programmed control

Approaches to modeling converters with current programmed co...

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IEEE Workshop on Power Electronics Education

作者： F.J. Azcondo Ch. Bracas R. Casanueva D. Maksimovic Department of Electronics Technology University of Cantabria System and Automation Engineering Santander Spain Department of Electrical and Computing Engineering Colorado Power Electronics Center University of Colorado Boulder CO USA

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SHAPING THE MECHATRONICS COURSES FOR THE CONTROL CURRICULUM

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IFAC Proceedings Volumes 2005年第1期38卷 182-187页

作者： George E. Chamilothoris Michail G. Papoutsidakis Intelligent Systems Laboratory Department of Automation Technological Institute of Piraeus Athens Greece Engineering and Mathematical Sciences University of the West of England Bristol United Kingdom Intelligent Autonomous Systems Laboratory Faculty of Computing

Five years of field practice in developing and delivering Mechatronics courses in the context of a Control education curriculum, have shaped the didactic approaches in place and delivered a number concrete results from hands-on experience. The paper reports on some of the main outcomes of this undertaking, presented within an integrating framework that brings together curriculum content, didactic methods, teaching tools and organizational aspects.

关键词： control education microprocessor education mechatronics

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Workflow-oriented collaborative grid portals

Workflow-oriented collaborative grid portals

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European Grid Conference on Advances in Grid computing - EGC 2005

作者： Sipos, Gergely Lewis, Gareth J. Kacsuk, Péter Alexandrov, Vassil N. MTA SZTAKI Computer and Automation Research Institute P.O. Box 63 H-1518 Budapest Hungary Advanced Computing and Emergent Technologies Centre School of Systems Engineering University of Reading Whiteknights P.O. Box 225 Reading RG6 6AY United Kingdom

The paper presents how workflow-oriented, single-user Grid portals could be extended to meet the requirements of users with collaborative needs. Through collaborative Grid portals different research and engineering teams would be able to share knowledge and resources. At the same time the workflow concept assures that the shared knowledge and computational capacity is aggregated to achieve the high-level goals of the group. The paper discusses the different issues collaborative support requires from Grid portal environments during the different phases of the workflow-oriented development work. While in the design period the most important task of the portal is to provide consistent and fault tolerant data management, during the workflow execution it must act upon the security framework its back-end Grids are built on. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Job analysis

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Teaching advanced test issues in digital electronics

Teaching advanced test issues in digital electronics

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International Conference on Information Technology Based Higher Education and Training, ITHET

作者： R. Ubar E. Orasson J. Raik H.-D. Wuttke Computing Engineering Department Tallinn University of Technology Tallina Estonia Engineering Student Services Center University of Pittsburgh Pittsburgh PA USA Faculty of Informatics and Automation Ilmenau Technical University Ilmenau Germany

An environment targeted to e-learning is presented for teaching advanced test issues in digital electronics. Digital circuits and systems are getting more and more complex, and in the same time the requirements for the quality of systems are getting higher and higher. This is the reason why the importance of testing as an engineering task has started to grow extremely fast. An environment which consists of a set of Java applets has been created to help the students to improve their understanding of test. The tools support university courses on digital electronics, computer hardware, testing and design for testability to learn by hands-on exercises how to generate test patterns, and how to analyze their quality. The tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity.

关键词： Electronic equipment testing Education Circuit testing Electronic learning Digital circuits Java Hardware Design for testability Test pattern generators Pattern analysis

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Handling Data Sparseness in Gene Network Reconstruction

Handling Data Sparseness in Gene Network Reconstruction

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IEEE Symposium on Computational Intelligence and Bioinformatics and Computational Biology (CIBCB)

作者： G.B. Bezerra T.V. Barra F.J. von Zuben L.N. de Castro Laboratory of Bioinformatics and Bio-Inspired Computing (LBiC) Department of Computer Engineering and Industrial Automation State University of Campinas-UNICAMP Sao Paulo Brazil Graduate Program on Informatics Catholic University of Santos Sao Paulo Brazil

One of the main problems related to regulatory network reconstruction from expression data concerns the small size and low quality of the available dataset. When trying to infer a model from little information it is necessary to give much more precedence to generalization, rather than specificity, otherwise, any attempt will be fated to overfitting. In this paper we address this issue by focusing on data sparseness and noisy information, and propose a density estimation technique that achieves regularized curves when data is scarce. We first compare the proposed method with the EM algorithm for mixture models on density estimation problems. Next, we apply the method, together with Bayesian networks, on realistic simulations of static gene networks, and compare the obtained results with the standard discrete Bayesian network model. We intend to demonstrate that adopting a discrete approach is not justifiable when only a small amount of information is available.

关键词： Intelligent networks Bayesian methods Genetics Bioinformatics Computer networks Reverse engineering Cellular networks Noise robustness Laboratories Data engineering

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Outlier detection by weighted mercer-kernel based fuzzy clustering algorithm

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Iranian Journal of Electrical and Computer engineering 2005年第2期4卷 129-136页

作者： Shen, Hongbin Yang, Jie Dong, Yifei Wang, Shitong College of Computer and Information Engineering Hohai University Changzhou Jiangsu China Department of Image Processing and Pattern Recognition Jiaotong University Shanghai China School of Computer Science and Engineering University of New South Wales Australia School of Information Southern Yantze University Wuxi Jiangsu China Institute of Image Processing and Pattern Recognition Shanghai Jiaotong University China IEEE Institute of National Automation Department of Information Southern Yangtse University Polytechnic University of Hongkong Advanced Computing Research Center Bristol University United Kingdom

Outliers are data values that lie away from the general cluster of other data values. Detecting the outliers of a dataset is an important research topic for data cleaning and finding new useful knowledge in many research areas, i.e. data mining, pattern recognition, etc. In the past decades, many useful algorithms were proposed in the literature. In this paper, a new fuzzy kernel-clustering algorithm with outliers (FKCO) is presented to locate critical areas that are often represented by only a few outliers. Theoretic analysis also shows that FKCO can converge to a local minimum of the objective function. Finally, based on the information theory, a new criterion for finding outliers is also proposed. Simulations of different types of datasets demonstrate the feasibility of this new method. © 2005 JD.

关键词： Fuzzy control

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Research and training environment for digital design and test

Research and training environment for digital design and tes...

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34th Annual Frontiers in Education: Expanding Educational Opportunities Through Partnerships and Distance Learning - Conference Proceedings, FIE

作者： Ubar, Raimund Wuttke, Heinz-Dietrich Tallinn University of Technology Computing Engineering Department Raja 15 12618 Tallinn Estonia Ilmenau Technical University Faculty of Informatics and Automation post box 10 0565 D-98684 Ilmenau

An environment directed to e-learning is presented for teaching test generation and fault diagnosis in digital circuits. The environment consists of a set of Java applets for learning basics of test preliminary and of a set of low-cost tools for research oriented training in more advanced topics of test. The tools support university courses on digital electronics, computer hardware, testing and design for testability. They help to learn by hands-on exercises how to generate tests, how to build self-testing systems, how to analyze the quality of tests or testing hardware and how to localize faults in hardware. The tasks chosen for hands-on training represent simultaneously real research problems, which allow to foster in students critical thinking, problem solving skills and creativity. © 2004 IEEE.

关键词： engineering education

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Improved line-of-sight guidance for cruising underwater vehicles

Improved line-of-sight guidance for cruising underwater vehi...

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2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004

作者： Balearic, Vedran Vukic, Zoran Antonic, Radovan Brodarski Inslitut Av. V Holjevca 20 Zagreb10020 Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia Split College of Maritime Studies Zrinsko-Frankopanaka 38 Split21000 Croatia

Guidance through waypoinis is common for small autonomous marine vehicles. Guidance by the line of sight, which turns the vehicle directly towards the next waypoint without any reference path calculation, is computationally the simplest form of waypoint guidance. However, the basic algorithm gives rather poor guidance due to the missed waypoint problem, lack of sea current compensation and abrupt transitions between the consecutive waypoinis. Significant path deviations and even deadlocks are possible due to these problems. Therefore, more complex algorithms are usually used in real world applications. The research reported in this paper aims to demonstrate that significant improvements of the basic line-of-sight guidance algorithm can be achieved by several intuitive, simple corrections and additions. The simplicity of the basic line-of-sight guidance algorithm is not compromised. In particular, missed waypoint detection is performed by monitoring the distance between the vehicle and the waypoint. Introduced reference heading corrections are based upon the location of the next waypoint after the one the vehicle is currently approaching, and upon the sea current direction and intensity. The results of these corrections are shown in several simulation examples. In addition, the paper includes a short discussion about the lineof-sight guidance in the diving plane. Copyright 2004 IFAC.

关键词： Autonomous vehicles

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Food packing with intelligent robotic system

Food packing with intelligent robotic system

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IEEE International Conference on Mechatronics and automation

作者： Hong Qiao J. Keane J.O. Gray D.G. Caldwell Institute of Automation University of Manchester Manchester UK School of Computing Science and Engineering Salford University Great Manchester UK School of Computing Science and Engineering Salford University Great Manchester UK

Food packing, including food localization, food grasping and food assembly, is important to human daily life and is very labour-consuming so far. Automated food packing can reduce the number of labour intensive handling operations and bring a huge profit. Also, it can reduce microbial and foreign body contamination due to human contacts and increase the hygiene and reliability. The main difficulties are caused by (a) Specifies of the food products such as (i) irregularity of shapes, (ii) sticky surfaces and (iii) friability of food products and (b) the requirement of high hygiene, reliability and flexibility. Based on others' and author's previous work, this paper provides a new system for food packing with intelligent robots, which can grasp and assembly various irregular food products without sensors and also have the learning ability to improve the effectiveness and flexibility.

关键词： Intelligent robots Intelligent systems Robotic assembly Food products Shape Costs Humans Assembly systems Food industry Food manufacturing

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