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New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems

作者： O. Hammerschmidt T. Doersam Institute for Microcomputers and Automation Department of Computer Science University of Karlsruhe Karlsruhe Germany Institute for Real-Time Computer Systems and Robotics Deparfmenf of Computer Science University of Karlsruhe Karlsruhe Germany

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented.

关键词： Programmable control Adaptive control Fuzzy control Automatic control robotics and automation Process control Uncertainty Fuzzy systems Kernel Grippers

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Distributed mining of partial periodic patterns in sequences

Distributed mining of partial periodic patterns in sequences

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作者： Hsiao, Han-Wen Tsai, Meng-Shu Tsai, Jeffrey J. P. Department of Computer Science and Information Engineering Asia University Taiwan Taiwan Institute of Information Technology Asia University Taiwan Taiwan Department of Computer Science University of Illinois Chicago United States Taichung Healthcare and Management University Department of Computer Science and Information Engineering Department of Biotechnology and Bioinformatics Department of Electrical Engineering and Computer Science University of Illinois Chicago Distributed Real-Time Intelligent Systems Laboratory

It has been an important task of discovering frequent fragments as particular patterns from large sequence databases generated from a variety of applications. In general, the patterns to be discovered may partially and asynchronously exist in sequences, and even contain gaps. In addition, it is necessary to collect the information regarding the locations and frequencies of the patterns. How to enumerate candidate patterns for evaluation without exponentially increasing the computation is another problem. In this paper, the modified periodicity transform is proposed to meet the requirements mentioned above. Also, a distributed computing framework is implemented to perform the mining task more efficiently. Both synthetic and biological sequences are utilized to examine the approach. The experimental results demonstrate the efficiency and effectiveness the system.

关键词： Data mining

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Compressive and energy absorption properties of titanium hybrid lattice structures for bioimplant applications fabricated via LPBF

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Materials and Design 2025年 254卷

作者： Karmiris-Obratański, Panagiotis Georgakopoulos-Soares, Ilias Cichocki, Kamil Lisiecka-Graca, Paulina Papazoglou, Emmanouil L. Advanced Manufacturing Laboratory Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland School of Chemical Engineering Department of Materials Science and Engineering National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece Institute for Personalized Medicine Department of Biochemistry and Molecular Biology The Pennsylvania State University College of Medicine HersheyPA United States Faculty of Metals Engineering and Computer Science AGH University of Krakow Adama Mickiewicza Ave. 30 Kraków30-059 Poland School of Mechanical Engineering Section of Manufacturing Technology National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece

The compressive properties of lattice structures are strongly influenced by lattice design, density, material, and manufacturing method. Recent advancements in manufacturing, particularly Additive Manufacturing, have enabled the fabrication of complex lattice structures from advanced materials. Building on this progress, the present study investigates the compressive properties and energy absorption capabilities of four distinct lattice structures at three relative densities (20 %, 30 %, and 40 %), specifically tailored for implant applications. The lattices, fabricated from Ti6Al4V ELI alloy using the Laser Powder Bed Fusion (LPBF) method, include a hybrid Fluorite-BCC lattice, a SplitP TPMS skeletal lattice, a stochastic Voronoi lattice, and a hybrid Voronoi-TPMS Gyroid lattice. Compressive properties, including the Elastic Modulus of Compression (EMC), Compressive Yield Strength, and Ultimate Compressive Strength, were systematically analyzed alongside energy absorption capabilities. The Gibson-Ashby model was employed to quantify the relationship between compressive properties and relative density. Additionally, Digital Image Correlation and high-resolution imaging during compression tests provided detailed insights into deformation mechanisms and collapse behavior. The findings offer valuable insights into the compressive performance of these novel hybrid lattices, highlighting their potential applicability in bioimplant applications, with the Fluorite-BCC lattice exhibits the highest EMC and the Fluorite-BCC and SplitP lattices exhibit higher energy absorption capabilities. © 2025 The Author(s)

关键词： Machinability

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A system for facial reconstruction using distraction and symmetry considerations

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International Congress Series 2001年第C期1230卷 62-67页

作者： Burgert, O. Salb, T. Gockel, T. Dillmann, R. Hassfeld, S. Brief, J. Krempien, R. Walz, S. Mühling, J. Institute of Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Gebaude 07.21 Kaiserstr. 12 Germany Department of Oral and Maxillofacial Surgery University of Heidelberg D-69120 Heidelberg Germany Department of Radiology University of Heidelberg D-69120 Heidelberg Germany

The goal of the system presented in this paper is to support several facial surgeries that are aiming to transform an unsymmetrical face to a symmetric one. There are two main techniques to achieve this goal: distraction of the lower jaw and adding or removing tissue or bone at certain facial regions. Both planning tasks are done based on segmented CT or MRI data. The distraction of the lower jaw is simulated by cutting the jaw, moving it in 3D along a distraction axis and choosing a distractor for this procedure after determining, which is the best result. Furthermore, we are working on consideration of soft tissue movement so the patient can see what he or she will look like after the surgery. For supporting implants in craniofacial surgery, we are proposing a tool based on symmetry considerations. Nowadays, if implants have to be fitted to the patient's bone, they are handmade while the surgery is running. This is quite time consuming and it would be helpful to shorten this procedure by producing the implants preoperatively. Our system allows to determine regions where implants should be set and proposes an initial contour for the implants. © 2001 Elsevier science B.V.

关键词： Distraction Face Symmetry

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Quality-aware video decoding on thermally-constrained MPSoC platforms

Quality-aware video decoding on thermally-constrained MPSoC ...

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International Conference on Application Specific systems (ASAP), Architectures and Processors

作者： Deepak Gangadharan Jürgen Teich Samarjit Chakraborty Department of Computer Science Friedrich-Alexander University Institute for Real-Time Computer Systems TU Munich

Current mobile devices extensively run video players that are power hungry. Further, higher power densities as a result of technology scaling results in higher on-chip temperatures. Unlike general purpose computer systems, mobile devices that run on batteries cannot afford to have expensive cooling mechanisms. Therefore, in order to satisfy thermal constraints while running power hungry applications, dynamic thermal management (DTM) techniques have been employed. For multimedia applications, the techniques primarily relied on dynamic voltage and frequency scaling (DVFS) and dynamic power management (DPM) while taking care that maximum video quality is achieved. However, no prior work has exploited frame drops to lower the inserted idle times under predetermined quality constraints. In this work, we propose a DPM framework that utilizes frame drops to dynamically insert low idle times in order to satisfy a peak temperature constraint under a given quality constraint. This also reduces the end-to-end latency. The latencies are further reduced by maintaining lightweight workload histories. For the videos used in our experiments, it was observed that a small reduction in quality of 2 dB (reduction from 32 dB to 30 dB) due to frame drops in motion videos results in a maximum latency reduction of 1.7 sec.

关键词： Streaming media Quality of service Decoding Multimedia communication Degradation Measurement Thermal degradation

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An Extended Kalman Filter for frequent local and infrequent global sensor data fusion

An Extended Kalman Filter for frequent local and infrequent ...

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Conference on Sensor Fusion and Decentralized Control in Autonomous Robotic systems

作者： Roumeliotis, SI Bekey, GA Department of Electrical Engineering Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)0819426415

In this paper we compare the performance of a dead-reckoning system for robot navigation to a system using an Extended Kalman Filter (EKF). Dead-reckoning systems are able to approximate position and orientation by feeding data (provided usually by local sensors) to the kinematic model of the vehicle. These systems are subject to many different sources of error. EKFs have the ability to combine the same information and compensate for most of these errors to yield a better estimate. Our simulation results using a simplified kinematic model of Rocky 7 (an experimental rover used in the Mars exploration program at Jet Propulsion Laboratory (JPL)) show that an improvement in performance up to 40% (position error) can be achieved. The local sensors used are: wheel encoders, steering angle potentiometer and gyroscope. Involvement of global sensor measurements can drastically increase the accuracy of the estimate. The lack of GPS or magnetic field on Mars narrows our choices for global localization. Landmarks, such as the sun can be used as natural beacons (reference point for absolute measurements). A sun sensor (SS) that measures the absolute orientation of the rover has been built by Lockheed Martin and now is part of the sensor suite of Rocky 7. The SS measurement is crucial for the estimation filter and we show that the accuracy of the estimation decreases exponentially as the frequency of the SS data fed to the EKF decreases.

关键词： robot localization sun sensor Extended Kalman Filter

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An extended object model for the design and development of expert systems

An extended object model for the design and development of e...

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1990 ACM SIGBDP Conference on Trends and Directions in Expert systems, SIGBDP 1990

作者： Biswas, Pratik K. Department of Computer Science Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306-4019 United States

ISBN: (纸本)0897914163

An Extended Object Model (XOM) is p resented for the design and development of knowledge based systems. A set of operations is defined on the object model. The model is used in designing the conceptual schema of an expert system. The set of XOM operations is shown to be complete in an expert system developing environment based on our proposed conceptual schema. Finally an example is presented to illustrate the organization of an expert system, developed in such an environment. © 1990 ACM.

关键词： Expert systems

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Nonlinear trajectory tracking control of a quadrotor vehicle 10

Nonlinear trajectory tracking control of a quadrotor vehicle

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2009 10th European Control Conference, ECC 2009

作者： Cunha, Rita Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Systems and Robotics Instituto Superior Técnico Lisboa1046-001 Portugal

ISBN: (纸本)9783952417393

This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller. © 2009 EUCA.

关键词： Asymptotic stability

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An introduction to the echo state network and its applications in power system

An introduction to the echo state network and its applicatio...

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2009 15th International Conference on Intelligent System Applications to Power systems, ISAP '09

作者： Dai, Jing Venayagamoorthy, Ganesh K. Harley, Ronald G. Georgia Institute of Technology School of Electrical and Computer Engineering Atlanta GA 30332 United States Department of Electrical and Computer Engineering Real-Time Power and Intelligent Systems Laboratory Missouri University of Science and Technology Rolla MO 65409 United States

ISBN: (纸本)9781424450985

Echo State Network (ESN) is a new type of Recurrent Neural Network (RNN) proposed in recent years. The training process of ESN is easier and requires less computational effort than regular RNN which has the same size. Due to its high modeling capability of complex dynamic system, ESN has been used in various power system applications such as power system nonlinear load modeling and true harmonic current detection, wide area monitoring, intelligent control of an Active Power Filter (APF), overhead conductor thermal dynamics identification, wind speed or water inflow forecasting, etc. This paper introduces the basic concept and the offline and online training algorithms of the ESN in detail and reviews the state of the art of ESN applications in power systems. © 2009 IEEE.

关键词： Recurrent neural networks

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Reasoning about grasping from task descriptions 7

Reasoning about grasping from task descriptions

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Intelligent Robots and computer Vision VII 1988

作者： Liu, Huan Iberall, Thea Bekey, George A. Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los AngelesCA90089 United States

The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine. © 1989 SPIE. All rights reserved.

关键词： Robotic arms

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