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IEEE NPSS Conference on Real Time

作者： M.J. Haney S. Ahuja G. Bapty H. Cheung Z. Kalbarczyk A. Khanna J. Kowalkowski D. Messie D. Mosse S. Neema S. Nordstrom Jae Oh P. Sheldon S. Shetty D. Volper Long Wang Di Yao High Energy Physics University of Illinois Urbana IL USA Institute for Software Integrated Systems Vanderbilt University Nashville TN USA Fenni National Accelerator Laboratory Batavia IL USA Electrical and Computer Science University of Illinois Urbana IL USA Electrical Engineering and Computer Science Syracuse University Syracuse NY USA Computer Science University of Pittsburgh Pittsburgh PA USA Physics and Astronomy Department Vanderbilt University Nashville TN USA

The real time embedded systems (RTES) project was created to study the design and implementation of high-performance, heterogeneous, and fault-adaptive real time embedded systems. The driving application for this research was the proposed BTeV high energy physics experiment, which called for large farms of embedded computational elements (DSPs), as well as a large farm of conventional high-performance processors to implement its Level 1 and Level 2/3 triggers. At the time of BTeV's termination early in 2005, the RTES project was within days of completing a prototype implementation for providing a reliable and fault-adaptive infrastructure to the L2/3 farm; a prototype for the L1 farm had been completed in 2003. This paper documents the conclusion of the RTES focus on BTeV, and provides an evaluation of the applicability of the RTES concepts to other systems

关键词： USA Councils Real time systems Physics computing Runtime computer science Embedded system Domain specific languages Embedded computing Prototypes Fault detection

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Joint ACE ground penetrating radar antenna test facility at the Technical University of Denmark

Joint ACE ground penetrating radar antenna test facility at ...

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Antennas and Propagation Society International Symposium

作者： H.-R. Lenler-Eriksen P. Meincke A. Sarri V. Chatelee B. Nair I.J. Craddock G. Alli J.-Y. Dauvignac Y. Huang D. Lymperopoulos R. Nilavalan Ørsted-DTU Technical University of Denmark Kongens Lyngby Denmark IDS-Ingegneria Dei Sistemi S.p.A. Pisa Italy Centre National de la Recherche Scientifique Laboratoire d'Electronique Antennes et Télécommunications (CNRS/LEAT) La Valbonne France Department of Electrical Engineering and Electronics University of Liverpool Liverpool UK Department of Electrical and Electronic Engineering Bristol UK Microwave and Fiber Optics Laboratory Institute of Communications and Computer Systems School of Electrical and Computer Engineering Athens Greece

A ground penetrating radar (GPR) antenna test facility, established within the ACE network at the Technical University of Denmark (DTU), is described. Examples of results from the facility obtained from measurements o... 详细信息

关键词： Ground penetrating radar Radar antennas Testing Antenna measurements Probes Loaded antennas Slot antennas computer networks Optical computing Test facilities

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Inverse kinematics learning for robotic arms with fewer degrees of freedom by modular neural network systems

Inverse kinematics learning for robotic arms with fewer degr...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： E. Oyama T. Maeda J.Q. Gan E.M. Rosales K.F. MacDorman S. Tachi A. Agah National Institute of Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Human and Information Science Laboratory NTT Communication Science Laboratories Atsugi Kanagawa Japan Department of Computer Science University of Essex Colchester UK Department of Adaptive Machine Systems Osaka University Suita Osaka Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

Artificial neural networks have been traditionally employed to learn and compute the inverse kinematics of a robotic arm. However, the inverse kinematics model of a typical robotic arm with joint limits is a multi-valued and discontinuous function. Because it is difficult for a multilayer neural network to approximate this type of function, an accurate inverse kinematics model cannot be obtained by using a single neural network. In order to overcome the difficulties of inverse kinematics learning, we propose a novel modular neural network system that consists of a number of expert modules, where each expert approximates a continuous part of the inverse kinematics function. The proposed system selects one appropriate expert whose output minimizes the expected position/orientation error of the end-effector of the arm. The system can learn a precise inverse kinematics model of a robotic arm with equal or more degrees of freedom than that of its end-effector. However, there are robotic arms with fewer degrees of freedom, where the system cannot learn their precise inverse kinematics model. We have adopted a modified Gauss-Newton method for finding the least-squares solution to address this issue. Through the modifications presented in this paper, the improved modular neural network system can obtain a precise inverse kinematics model of a general robotic arm.

关键词： Kinematics Robots Arm Neural networks Artificial neural networks Multi-layer neural network computer networks Newton method Least squares methods Recursive estimation

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Indium phosphide MEMS for integrated bio-sensing

Indium phosphide MEMS for integrated bio-sensing

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International Symposium Semiconductor Device Research (ISDRS)

作者： N. Siwak M.W. Pruessner J. McGee R. Ghodssi MEMS Sensors and Actuators Lab (MSAL) Department of Electrical and Computer Engineering Institute for Systems Research University of Maryland College Park MD USA Photonics Technology Branch Optical Sciences Division Naval Research Laboratory Inc. Washington D.C. DC USA

We present a MEMS cantilever resonator sensing platform in InP utilizing an optical readout scheme for applications in biosensing. Devices with resonant frequencies as high as 1 MHz are demonstrated with Q factors of ... 详细信息

关键词： Indium phosphide Micromechanical devices Optical waveguides Resonant frequency Optical sensors Biomedical optical imaging Frequency measurement Optical resonators Detectors Biosensors

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Network coding for wireless applications

Network coding for wireless applications

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Unmanned/Unattended Sensors and Sensor Networks II

作者： Lun, Desmond S. Ahmed, Ebad Brothers, L. Reggie DeBardelaben, James A. Effros, Michelle Ho, Tracey Karger, David Koetter, Ralf Lee, Anna MacMullan, Samuel J. Médard, Muriel Zhao, Fang Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 United States DARPA ATO 3701 N. Fairfax Dr. Arlington VA 22203 United States Johns Hopkins University Applied Physics Laboratory 11100 Johns Hopkins Rd. Laurel MD 20769 United States Data Compression Laboratory California Institute of Technology Pasadena CA 91125 United States Department of Electrical Engineering California Institute of Technology Pasadena CA 91125 United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA 02139 United States Coordinated Science Laboratory University of Illinois at Urbana-Champaign Urbana IL 61801 United States Lorenz Research Associates Inc. 4443 Brookfield Corporate Dr. Chantilly VA 20151 United States

The advent of network coding promises to change many aspects of networking. Network coding moves away from the classical approach of networking, which treats networks as akin to physical transportation systems. We overview some of the main features of network coding that are most relevant to wireless networks. In particular, we discuss the fact that random distributed network coding is asymptotically optimal for wireless networks with and without packet erasures. These results are extremely general and allow packet loss correlation, such as may occur in fading wireless channels. The coded network lends itself, for multicast connections, to a cost optimization which not only outperforms traditional routing tree-based approaches, but also lends itself to a distributed implementation and to a dynamic implementation when changing conditions, such as mobility, arise. We illustrate the performance of such optimization methods for energy efficiency in wireless networks and propose some new directions for research in the area.

关键词： Signal encoding

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A haptic interface for human-in-the-loop manipulation at the nanoscale

A haptic interface for human-in-the-loop manipulation at the...

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World Haptics Conference

作者： H.Z. Tan L. Walker R. Reifenberger S. Mahadoo G. Chiu A. Raman A. Helser P. Colilla Haptic Interface Research Lab School of Electrical and Computer Engineering Purdue University West Lafayette IN USA Nanophysics Laboratory Department of Physics Purdue University West Lafayette IN USA Spira Laboratories for Electromechanical Systems School of Mechanical Engineering Purdue University West Lafayette IN USA Chapel Hill NC USA Nanotec Electrónica S. L Spain

This paper outlines major challenges that we are facing in interfacing a human user with objects in the nanoworld via a haptic interface. After a review of prior efforts at haptically-enabled nanomanipulation systems, we present the current state of our nanomanipulator system. We then discuss current research issues including the direct-Z mode, force modeling, data transfer rates and the stability of the haptic interface. Results of nanomanipulation of single-walled carbon nanotubes are presented. It is our hope that the insight gained by the human user of a haptic interface to SPM leads to scanning algorithms that can automatically adjust the SPM parameters based on the properties of the nanosample and the substrate under investigation.

关键词： Haptic interfaces Virtual environment Teleoperators

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Editorial

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IEEE Transactions on systems, Man, and Cybernetics, Part B (Cybernetics) 2005年第6期35卷 1097-1097页

作者： L.O. Hall D.J. Cook Wireless Networks and Mobile Systems Laboratory Department of Electrical and Computer Engineering The University of British Columbia Vancouver BC Canada

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Transport of Mars-Crossing Asteroids from the Quasi-Hilda Region

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Physical Review Letters 2005年第23期94卷 231102-231102页

作者： Michael Dellnitz Oliver Junge Martin W. Lo Jerrold E. Marsden Kathrin Padberg Robert Preis Shane D. Ross Bianca Thiere Faculty of Computer Science Electrical Engineering and Mathematics University of Paderborn D-33095 Paderborn Germany Navigation and Mission Design Jet Propulsion Laboratory California Institute of Technology M/S 301-140L 4800 Oak Grove Drive Pasadena California 91109 USA Control and Dynamical Systems California Institute of Technology MC 107-81 Pasadena California 91125 USA Department of Aerospace and Mechanical Engineering University of Southern California Los Angeles California 90089 USA

We employ set oriented methods in combination with graph partitioning algorithms to identify key dynamical regions in the Sun-Jupiter-particle three-body system. Transport rates from a region near the 3∶2 Hilda resonance into the realm of orbits crossing Mars’ orbit are computed. In contrast to common numerical approaches, our technique does not depend on single long term simulations of the underlying model. Thus, our statistical results are particularly reliable since they are not affected by a dynamical behavior which is almost nonergodic (i.e., dominated by strongly almost invariant sets).

关键词： .graph orbits partitioning week ending Asteroids Preis Mars-Crossing Quasi-Hilda

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Robust Processor Allocation for Independent Tasks When Dollar Cost for Processors is a Constraint

Robust Processor Allocation for Independent Tasks When Dolla...

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IEEE International Conference on Cluster Computing

作者： Prasanna Sugavanam H. J. Siegel Anthony A. Maciejewski Junxing Zhang Vladimir Shestak Michael Raskey Alan Pippin Ron Pichel Mohana Oltikar Ashish Mehta Panho Lee Yogish Krishnamurthy Aaron Horiuchi Kumara Guru Mahir Aydin Mohammad Al-Otaibi Syed Ali Department of Electrical & Computer Engineering Colorado State University USA Colorado State University Fort Collins CO US School of Computing University of Utah Salt Lake UT USA Linux & Open Source Laboratory Hewlett Packard Company USA Systems & VLSI Technology Division Hewlett Packard Company Fort Collins CO USA

In a distributed heterogeneous computing system, the resources have different capabilities and tasks have different requirements. Different classes of machines used in such systems typically vary in dollar cost based on their computing efficiencies. Makespan (defined as the completion time for an entire set of tasks) is often the performance feature that is optimized. Resource allocation is often done based on estimates of the computation time of each task on each class of machines. Hence, it is important that makespan be robust against errors in computation time estimates. The dollar cost to purchase the machines for use can be a constraint such that only a subset of the machines available can be purchased. The goal of this study is to: (1) select a subset of all the machines available so that the cost constraint for the machines is satisfied, and (2) find a static mapping of tasks so that the robustness of the desired system feature, makespan, is maximized against the errors in task execution time estimates. Six heuristic techniques to this problem are presented and evaluated

关键词： Robustness Costs Resource management Distributed computing Educational technology System performance Degradation computer science Active appearance model Cities and towns

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Ionospheric Modification at Twice the Electron Cyclotron Frequency

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Physical Review Letters 2005年第12期94卷 125001-125001页

作者： F. T. Djuth T. R. Pedersen E. A. Gerken P. A. Bernhardt C. A. Selcher W. A. Bristow M. J. Kosch Geospace Research Inc. El Segundo California 90245 USA Air Force Research Laboratory Hanscom Air Force Base Massachusetts 01731 USA Electrical and Computer Engineering Department Cornell University Ithaca New York 14853 USA Plasma Physics Division Naval Research Laboratory Washington D.C. 20375 USA Information Technology Division Naval Research Laboratory Washington D.C. 20375 USA Geophysical Institute UAF Fairbanks Alaska 99775 USA Communications Systems Lancaster University Lancaster LA1 4YR United Kingdom

In 2004, a new transmission band was added to the HAARP high-frequency ionospheric modification facility that encompasses the second electron cyclotron harmonic at altitudes between ∼220 and 330 km. Initial observations indicate that greatly enhanced airglow occurs whenever the transmission frequency approximately matches the second electron cyclotron harmonic at the height of the upper hybrid resonance. This is the reverse of what happens at higher electron cyclotron harmonics. The measured optical emissions confirm the presence of accelerated electrons in the plasma.

关键词： Ionosphere

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