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European Conference on Microwave

作者： P.J.F. Swart J. Schier A.J.C. van Gemund W.F. van der Zwan J.P. Karelse G.L. Reijns P. van Genderen L.P. Ligthart H.T. Steenstra Department of Information Technology and Systems International Research Centre for Telecommunications-Transmission and Radar Delft Netherlands Academy of Sciences of the Czech Republic Inst. of Information Theory and Automation Delft University of Technology Dept. of Information Technology and Systems Mekelweg 4 2628 CD Delft The Netherlands Tel.: +31 15 278 1023 Fax: +31 15 278 4046. E-mail: schier@utia.cas.cz Computer Architecture and Digital Techniques (CARDIT) Delft University of Technology Dept. of Information Technology and Systems Mekelweg 4 2628 CD Delft The Netherlands Tel.: +31 15 278 1023 Fax: +31 15 278 4046. E-mail: a.vgemund@et.tudelft.nl Department of Information Technology and Systems Computer Architecture and Digital Techniques (CARDIT) Delft University슠of슠Technology Delft Netherlands

A multstatic frequency-modulated continuous wave (FMCW) radar system is under development for use in the control system of autonomous vehicles. The aim of the system, named Colarado, is the 3D location of obstacles in the surrounding environment. In this paper a laboratory prototype system version, the demonstrator, is described and current results are presented.

关键词： Receiving antennas Transmitting antennas Radar signal processing Radar antennas Voltage-controlled oscillators Spatial resolution Radar theory Vehicles Containers Layout

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers Robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Fiber-ribbon pipeline ring network for high-performance distributed computing systems

Fiber-ribbon pipeline ring network for high-performance dist...

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International Symposium on Parallel architectures, Algorithms and Networks (ISPAN)

作者： M. Jonsson B. Svensson M. Taveniku A. Ahlander Centre for Computer Systems Architecture Halmstad University Halmstad Sweden Department of Computer Engineering Chalmers University of Technology Goteborg Sweden Ericsson Microwave Systems AB Molndal Sweden

In this paper, we propose a high-bandwidth ring network built up with fiber-ribbon point-to-point links. The network has support for both packet switched and circuit switched traffic. Very high throughputs can be achieved in the network due to pipelining, i.e., several packets can be traveling through the network simultaneously but in different segments of the ring. The network can be built today using fiber-optic off-the-shelf components. The increasingly good price/performance ratio for fiber-ribbon links indicates a great success potential for the proposed kind of networks. We also present a massively parallel radar signal processing system with exceptionally high demands on the communication network. An aggregated throughput of tens of Gb/s is needed in this application, and this is achieved with the proposed network.

关键词： Distributed computing Wavelength division multiplexing Radar signal processing Pipeline processing Switching circuits Packet switching Throughput Time division multiple access WDM networks computer networks

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Assemblability based on maximum likelihood configuration of tolerances

Assemblability based on maximum likelihood configuration of ...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

An assembly is defined by a configuration of parts of known geometries subject to tolerances in the pose, dimensions, and mating relations among part features. Using a tolerance model based on matrix transforms and Gaussian models of geometric variations, the pose and dimensional tolerance models are considered as a priori models of the assembly with nominal and variational components for both position and orientation. The mating relations are regarded as linear relational constraints, also with nominal and variational components. With this formulation, estimation of the configuration of parts may be posed as a maximum likelihood problem and solved by a Kalman filter algorithm. The resulting maximum likelihood configuration of the assembly may be used to evaluate the required deviation from nominal and the assemblability as defined by the maximum likelihood clearance from constraints. In addition, application of the technique to intermediate subassemblies may be used to evaluate assemblability of specific steps and discriminate among alternative assembly sequence plans.

关键词： Maximum likelihood estimation Solid modeling Robotic assembly Uncertainty ANSI standards Manufacturing automation Robotics and automation computer aided manufacturing Information geometry systems engineering and theory

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Estimating pressure peak position and air-fuel ratio using the ionization current and artificial neural networks

Estimating pressure peak position and air-fuel ratio using t...

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International Conference on Intelligent Transportation

作者： N. Wickstrom M. Taveniku A. Linde M. Larsson B. Svensson Centre for Computer systems Architecture Halmstad University Halmstad Sweden Department of Computer Engineering Chalmers University of Technology Goteborg Sweden Mecel AB Amal Sweden

To optimize the performance and reduce the emission levels of an internal combustion engine one needs some measurements of the combustion process duality. We propose two artificial neural network models which use the ionization current for estimation of the position of the pressure peak and the air-fuel ratio. The pressure peak position model produces estimates on a cycle-by-cycle basis for each of the cylinders. These estimates are twice as good as estimates obtained from a linear model. The air-fuel ratio model uses the universal exhaust gas oxygen sensor as reference; it produces estimates that are ten times better than estimates obtained from a linear model.

关键词： Ionization Engine cylinders Artificial neural networks Fuels Internal combustion engines Current measurement computer networks Gas detectors Timing Sparks

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Experimental studies on minimal representation multisensor fusion

Experimental studies on minimal representation multisensor f...

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International Conference on Advanced Robotics (ICAR)

作者： R. Joshi A.C. Sanderson NYS Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

We describe laboratory experiments, in which tactile data obtained from the finger-tips of a robot hand, while it is holding an object in front of a calibrated camera, is fused with the vision data from the camera, to determine the object identity, pose, and the touch and vision data correspondences. The touch data is incomplete due to required hand configurations, while nearly half of the vision data are spurious due to the presence of the hand in the image. Using either sensor alone results in ambiguous or incorrect interpretations. A minimal representation size framework is used to formulate the multisensor fusion problem, and can automatically select the object class, correspondence (data subsamples), and pose parameters. The experiments demonstrate that it consistently finds the correct interpretation, and is a practical method for multisensor fusion and model selection.

关键词： Robot vision systems Context modeling Robotics and automation Cameras Robot sensing systems Tactile sensors Manufacturing automation computer aided manufacturing Laboratories Data mining

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Extrusion process control. II. Identification and open-loop control

Extrusion process control. II. Identification and open-loop ...

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American Control Conference (ACC)

作者： B. Tibbetts J. Wen New York State Center for Advanced Technology in Automation Robotics and Manufacturing and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

For pt.I see ibid., p.3726-30. Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. In Part I, we developed a dynamical system model which could be used for real-time applications. In this paper, we use this model development plus output relationships from our previous model development work (1995, 1996) to develop parameter identification and open-loop control methodologies. An example with plant trial data is provided.

关键词： Process control Open loop systems Equations Temperature sensors Manufacturing automation Robotics and automation Automatic control computer aided manufacturing Manufacturing processes Parameter estimation

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Extrusion process control. I. Dynamical system model development

Extrusion process control. I. Dynamical system model develop...

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American Control Conference (ACC)

Our work has been focused on developing a methodology for process control of bulk deformation-specifically, extrusion. A process model is required for control. The difficulties with currently available models are stated. An appropriate decomposition and associated assumptions are introduced, permitting construction a real-time process model via spectral approximation to solve the axi-symmetric, 2D transient heat conduction equation with heat generation and loss. This solution, simulation results, and model execution times are provided.

关键词： Process control Billets Manufacturing automation Robotics and automation Shape Power system modeling computer aided manufacturing Manufacturing processes Containers Inorganic materials

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American Control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors Control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors Control systems Robust stability Flexible structures

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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