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1992 AAAI Fall Symposium on design from Physical Principles

作者： Gupta, Rakesh Jakiela, Mark J. Computer Aided Design Laboratory Massachusetts Institute of Technology Department of Mechanical Engineering CambridgeMA02139 United States

A methodto simulate the interactions between objects of a mechanismis described. The method can simulate planar kinematic chains of any length. The same methodis used with modifications to generate the geometry of one object of a kinematic pair given the required functional relationship and the geometry of the other object. The planar contour shape of each object of a kinematic pair is represented as an arrangement of very small entities called molecules. Given the motion of the driver, the motion of the other object of the pair, knownas the driven, is determined by global constraints and the prevention of geometric interference among the molecules of both *** molecular representation allows very detailed changes in the shapes of the members. This facilitates automatic optimal shape design and very generalized kinematic analysis and synthesis. A computer implementation, intended to be used in the future with higher-level intelligent processing, is described and examplesare provided. © 1992, AAAI (***). All rights reserved.

关键词： Molecules

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Cellular neural network design with continuous signals 2

Cellular neural network design with continuous signals

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2nd International Workshop on Cellular Neural Networks and their Applications, CNNA 1992

作者： Schwarz, Stephan Mathis, Wolfgang University of Wuppertal Department of Electrical Engineering Institute for Computer Aided Circuit Design Fuhlrottstrafie 10 Wuppertal 1D-5600 Germany

ISBN: (纸本)0780308751

In this paper are indioduced basic design methods for the class of cellular neural networks (CNN' s) with continuous input signals. The realistic Modell of CNN' s are proposed by Chua and Yang [2, 3] and combine components of the Hopfield-Net [8], the Cellular Automatas [13] und der Cellular Systems [14]. The CNN design methods integrate special conditions for technical architectures with respect to realtime implementations. Hacijan's polynomial solution method [5] are applied to solve the set of linear inequalities which correspond with the CNN design. © 1992 IEEE.

关键词： Cellular neural networks

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Shape design sensitivity analysis of nonlinear structures with incompressible and nearly incompressible materials

Shape design sensitivity analysis of nonlinear structures wi...

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4th Symposium on Multidisciplinary Analysis and Optimization, 1992

作者： Hyun, Yul-Woong Choi, Kyung K. Recruit Co. Ltd Tokyo Japan Department of Mechanical Engineering Center of Computer Aided Design The University of lowa lowa CityIA52242 United States

A continuum based shape design sensitivity analysis for static responses of nonlinear structures with incompressible and nearly incompressible materials is presented. A mixed variational formulation for a hyperelastic material, the Herrmann formulation, and geometric nonlinearity are considered. The total Lagrangian formulation is used to solve nonlinear structural equations. Shape design variables which specify the geometry of a structure are treated, using the continuum equilibrium equations and the material derivative concept. To best utilize the basic character of finite element analysis results, shape design sensitivity is expressed as domain integrals. For numerical evaluation of shape design sensitivity expressions, two alternative methods are presented: the adjoint variable and direct differentiation methods. Using the domain approach of shape design sensitivity analysis and the adjoint variable and direct differentiation methods, design sensitivity expressions are derived in the continuum setting in terms of shape design variations. Implementation of the shape design sensitivity analysis using established finite element analysis codes is discussed and a numerical example is included to demonstrate the method. © 1992 by Hyun.

关键词： Finite element method

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computer Simulation of Mass Aggregate Assembly

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IFAC Proceedings Volumes 1992年第28期25卷 130-134页

作者： J. Krishnasamy M.J. Jakiela Computer Aided Design Laboratory Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge Massachusetts

An example of an ideal automated assembly process would be as follows: Place all the components in a bag and shake it vigorously until the assembled product is obtained. Such a process requires a minimum amount of input infonnation. The shapes of the individual parts would have a significant bearing on the effectiveness of the process. One of the ways of visualising the process would be to numerically simulate its dynamics. What we would ideally like to have is a realistic animation of the individual parts physically interacting with each other. A realistic animation would enable us to iteratively “tweak” the designs of the individual components until we arrive at the optimal set of part designs. In this article we discuss relevant simulation techniques, review existing work and introduce some of our own ideas.

关键词： Assembly automation design simulation dynamics animation collisions constraints

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Analyzing performance of sequencing mechanisms for simple layered task systems

Analyzing performance of sequencing mechanisms for simple la...

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International Symposium on Parallel Processing

作者： A.B. Tayyab J.G. Kuhl Center for Computer Aided Design and Department of Electrical and Computer Engineering University of Iowa Iowa IA USA

Considers the problem of sequencing a set of parallel activities in the presence of nonzero overheads. Mechanisms for sequence control may range from explicit inter-task synchronization to more restrictive mechanisms such as blocking barriers. It is highly desirable to be able to base the choice of a sequence control mechanism for a parallel algorithm upon specific characteristics of the algorithm's structure and the underlying architecture. The paper presents approximate models for simple layered task systems that can predict overall performance and provide a useful understanding of key performance parameters and tradeoffs. The analytic results are compared with simulation to demonstrate their accuracy. Some simple applications of the model are presented that demonstrate non-intuitive behavior of layered graphs with inter-task versus barrier-based sequencing.< >

关键词： Performance analysis Concurrent computing Control systems Cities and towns Parallel algorithms computer architecture Predictive models Analytical models Access control NASA

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Identification of Unknown Payload and Environmental Parameters for Robot Compliant Motion

Identification of Unknown Payload and Environmental Paramete...

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American Control Conference (ACC)

作者： Shih-Tin Lin K. Harold Yae Center for Computer Aided Design Department of Mechanical Engineering University of Iowa Iowa IA USA

When compliant motion control is applied with the computed-torque methed, an accurate dynamic model of the manipulator and environment is required. This paper presents a method for estimating the inertial parameters of a rigid body load and the unknown parameters of the constraint environment. The inertial parameters include the mass, center of gravity, and moment of inertia. The unknown parameters of the constraint environment consist in environmental stiffness and the geometric parameters of the constraint surface. The dynamic equation is written in the Newton-Euler formulation with the assumption that joint velocity and acceleration and contact force and torque are known through measurements. Since the identification equation is nonlinear in terms of the unknown parameters of the environment, the extended Kalman filter is used to produce an optimal estimation.

关键词： Payloads Robots Manipulator dynamics Nonlinear equations Force measurement Motion control Parameter estimation Gravity Accelerometers Acceleration

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Combined scheduling and data routing for programmable ASIC systems

Combined scheduling and data routing for programmable ASIC s...

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European Conference on design Automation

作者： R. Hartmann Institute of Computer Aided Design Department of Electrical Engineering Technical University Munich Munich Germany

A technique for mapping complex signal processing algorithms on programmable ASIC systems is presented. It integrates data routing into scheduling. An important problem is to cope with deadlocks during scheduling caused by limited register resources and fixed interconnect. An algorithm is presented which is able to generate a schedule for a broad class of architectures. It is integrated into a retargetable microcode compiler based on the Cathedral2nd framework. It was tested using an ISDN echo cancelling algorithm.< >

关键词： Routing Application specific integrated circuits Signal processing algorithms ISDN Processor scheduling Hardware Signal design System recovery Scheduling algorithm Testing

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Cellular neural network design with continuous signals

Cellular neural network design with continuous signals

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IEEE International Workshop on Cellular Nanoscale Networks and their Applications, (CNNA)

作者： S. Schwarz W. Mathis Department of Electical Engineering Institute for Computer Aided Circuit Design University of Wuppertal Wuppertal Germany

Basic design methods for the class of cellular neural networks (CNNs) with continuous input signals are introduced. The realistic model of CNNs proposed by L.O. Chua and L. Yang (1988) combines components of the Hopfield-net, cellular automata, and of cellular systems. The CNN design methods integrate special conditions for technical architectures with respect to real-time implementations. Hacijan's polynomial solution method is applied to solve the set of linear inequalities which correspond with the CNN design.< >

关键词： Cellular neural networks Signal design Output feedback Nonlinear equations design methodology Delay Cloning computer networks Circuit synthesis Polynomials

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Controller design for Robot Tasks Involving Free and Contact Motion

Controller Design for Robot Tasks Involving Free and Contact...

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American Control Conference (ACC)

作者： Shih-Tin Lin K. Harold Yae Center for Computer Aided Design Department of Mechanical Engineering University of Iowa Iowa IA USA

A controller design strategy is proposed for a task entailing both free and contact motion. Position control is developed in free motion. Using impedance control, force control is then added through the contact force feedback loop. A compensator in this feedback loop helps to reach the target impedance when the end-effector is in contact with the environment. Contact force is assumed to be available from a wrist force (and torque) sensor. Since the force sensor signal may contains inertial force also, a Kalman filter is used to extract contact force from the signal. The development is illustrated in three examples.

关键词： Motion control Robot control Force sensors Impedance Force control Position control Force feedback Feedback loop Wrist Torque

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A generalized model for coupled lines and its application to planar balun synthesis

A generalized model for coupled lines and its application to...

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Microwave, MTT-S International Symposium

作者： C.M. Tsai K.C. Gupta Center for Microwave and Millimeter-Wave Computer Aided Design Department of Electrical and Computer Engineering University of Colorado Boulder CO USA

A network model for unsymmetrical and inhomogeneous coupled lines is derived based on normal mode parameters. The derivation is based on the four-port impedance or admittance matrix which could be found by using normal mode parameters. This model is useful for synthesis of single and multi-layer coupled line circuits. As an example, the model is used for synthesis of a planar balun circuit configuration. The synthesis procedure is verified by comparison with the analysis results.< >

关键词： Impedance matching Coupling circuits Network synthesis Transmission line matrix methods Circuit synthesis Capacitance Application software Filters Inductance Conductors

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