This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of t...
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This paper refers to the fast implementation of the positional forward acceleration of the end effector of revolute robotic arms with spherical wrists, using the distributed arithmetic technique. The acceleration of the end effector is calculated by a cascade configuration of two pipelined arrays that calculate the Jacobian matrix and its time derivative, as well as the centrifugal-Coriolis and linear accelerations. These partial accelerations are then added in the adder tree. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the positional forward acceleration of the end effector is described. The serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic (DA) implementation of the positional forward acceleration may be applied, after appropriate modifications, to the general case of robots having either revolute or prismatic joints, with any type of wrist.
This paper is concerned with invariant systems on Lie groups. A sufficient condition for a piecewise constant input to distinguish between any two distinct initial states contained in some open neighbourhood of the st...
This paper is concerned with invariant systems on Lie groups. A sufficient condition for a piecewise constant input to distinguish between any two distinct initial states contained in some open neighbourhood of the state space is given. This condition involves the parallel translation of vectors along curves thus relating observability to parallelism.
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring in...
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A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process
Given a group trellis and a partitioned signal set, we show how to find all geometrically uniform mappings from the trellis branches to the partition cells. The result is a procedure for constructing geometrically uni...
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We consider a single user, narrowband channel with multiple transmit antennas and a single receive antenna. The channel is characterized by a vector /spl alpha//spl ***/ of gains and phases, perfectly known at the rec...
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We consider a single user, narrowband channel with multiple transmit antennas and a single receive antenna. The channel is characterized by a vector /spl alpha//spl ***/ of gains and phases, perfectly known at the receiver and partially known at the transmitter. By varying the amount and kind of side information at the transmitter, we evaluate the gap between perfect channel knowledge and no channel knowledge in terms of expected SNR.
We consider a particular approximate "water-pouring" scheme applied to an additive, colored Gaussian noise channel. The scheme allocates power uniformly over an optimized band of frequencies. Within the set ...
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We consider a particular approximate "water-pouring" scheme applied to an additive, colored Gaussian noise channel. The scheme allocates power uniformly over an optimized band of frequencies. Within the set of all noise power spectral densities yielding a fixed water-pouring capacity, we find the noise spectrum yielding the smallest mutual information between input and output when the transmitter is restricted to use the sub-optimal scheme. The loss at high SNR is a fraction of a bit per Hz; the relative loss at low SNR is less than 15%.
Real-time, in situ control of reactive ion etching is shown to reduce loading disturbance in an Applied 8300 reactive ion etch system. The etch process vehicle is CF4 etching of polysilicon. A real-time, multivariable...
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Real-time, in situ control of reactive ion etching is shown to reduce loading disturbance in an Applied 8300 reactive ion etch system. The etch process vehicle is CF4 etching of polysilicon. A real-time, multivariable feedback control strategy where key plasma parameters are fed back has been developed. This strategy is experimentally compared with standard industry practice and is shown to reduce the loading effect by 80%. This quantification of improvement is carried out in terms of a model from the literature which is reviewed and experimentally validated for the etch equipment and process used.
Given a group trellis and a partitioned signal set, we show how to find all geometrically uniform mappings from the trellis branches to the partition cells. The result is a procedure for constructing geometrically uni...
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Given a group trellis and a partitioned signal set, we show how to find all geometrically uniform mappings from the trellis branches to the partition cells. The result is a procedure for constructing geometrically uniform trellis codes and a simple test for rotational invariance.
This paper describes a binary image representation scheme, which is called image block representation and presents a new skeletonization algorithm, which is implemented on block represented binary images. The main pur...
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This paper describes a binary image representation scheme, which is called image block representation and presents a new skeletonization algorithm, which is implemented on block represented binary images. The main purpose of the image block representation is to provide an efficient binary image representation that permits the execution of operations on image areas instead of image points. The skeletonization algorithm operates in four subiterations: each subiteration deletes the north, the south, the west and the east boundary points, respectively. Due to the substitution of the boundary points by the block's boundary points the relevant operations are performed fast, while preserving the end points and the object connectivity.
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