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Stability analysis of a class of nonlinear controllers

Stability analysis of a class of nonlinear controllers

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2003 ASME International Mechanical engineering Congress

作者： Ravichandran, T. Heppler, G.R. Wang, D.W.L. Electrical and Computer Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Systems Design Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada

The stability analysis of a class of nonlinear PD-plus-feedforward controllers is presented for the tracking control of rigid robot manipulators. The controller structure is composed of a nonlinear gain PD feedback controller and a manipulator dynamics feedforward term. The class of representations used for the nonlinear gain PD feedback controller is extended and global exponential stability is proved. Simulation results are included to illustrate the performance of this class of nonlinear controllers.

关键词： Nonlinear control systems

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Simultaneous manipulator/controller design optimization using multi-objective evolutionary algorithms

Simultaneous manipulator/controller design optimization usin...

引用

2003 ASME International Mechanical engineering Congress

A multi-objective design methodology that uses an evolutionary algorithm optimization process is presented and is applied to the simultaneous optimal design of a robotic manipulator/controller for performing point-to-point motion tasks. Dynamic performance measures, for the closed-loop system, are optimized by considering a nonlinear PD controller and quintic polynomial trajectories for point-to-point motions. Results of the simultaneous optimal design of a planar manipulator, a non-linear controller, and some sample trajectories are presented to illustrate the efficacy of this methodology.

关键词： Manipulators

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Continuous-time, frequency translating, bandpass delta-sigma modulator

Continuous-time, frequency translating, bandpass delta-sigma...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： A. Pulincherry M. Hufford E. Naviasky Un-ku Moon Department of Electrical and Computer Engineering Oregon State University Corvallis OR USA Cadence Design Systems

This paper introduces the concept of frequency-translating, bandpass delta-sigma modulator in continuous-time. The system level design and simulation results of the delta-sigma modulator are presented. The DAC jitter performance of the continuous-time, frequency translating bandpass delta-sigma modulator is presented. The DAC jitter performance of the frequency translating modulator and conventional lowpass delta-sigma modulator are compared.

关键词： Delta modulation Band pass filters Pulse modulation Frequency modulation Jitter Digital modulation Pulse amplifiers Feedback System-level design RF signals

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Wavelet based method for electromagnetic inverse scattering problem using extended Born approximation

Wavelet based method for electromagnetic inverse scattering ...

引用

IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Yang Yang O.A. Basir Yaxun Liu Department of Systems Design Engineering University of Waterloo Waterloo Canada Department of Electrical and Computer Engineering University of Waterloo Waterloo Canada

To determine the properties of a physical medium based upon a collection of measurements using microwave is the objective of many applied sciences and engineering problems. These electromagnetic inverse scattering problems are ill-posed, computationally expensive and have to fuse multi-sensor data from sparsely sampled, noisy observations. In this work, we solve the extended Born approximation (EBA) of permittivity perturbation in wavelet domain for microwave frequency bands and employ the multiscale statistical method to reconstruct the structure of the unknown. The computational complexity is reduced since the matrices defining the EBA are sparsified in wavelet domain.

关键词： Electromagnetic scattering Inverse problems Approximation methods Wavelet domain Permittivity measurement Microwave measurements Electromagnetic measurements Fuses Electromagnetic interference Microwave frequencies

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Parametric contour estimation by simulated annealing

Parametric contour estimation by simulated annealing

引用

IEEE International Conference on Image Processing

作者： M. Jamieson P. Fieguth L.J. Lee Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Department of Electrical & Computer Engineering University of Waterloo Waterloo ONT Canada

Virtually all implementations of simulated annealing are simplified by assuming discrete unknowns, however continuous-parameter annealing has many potential applications to image processing. Widely scattered problems such as formant tracking, boundary estimation and phase- unwrapping can all be approached as the annealed minimizations of continuous B-spline parameters. The benefits of simulated annealing are well known, including an insensitivity to initial conditions and the ability to solve problems with many local minima. Discrete variable annealing has seen broad application, however continuous-variable annealing is limited by the computational challenge of Gibbs sampling. In this paper we develop efficient approaches to sampling, illustrated in the context of contour tracking in noisy images.

关键词： Simulated annealing Spline Image sampling Computational modeling Image processing Speech Spectrogram Biomedical imaging computer simulation design engineering

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Optimization of device dimensions for high-performance low-power architecture blocks

Optimization of device dimensions for high-performance low-p...

引用

European Conference on Solid-State Circuits (ESSCIRC)

作者： T. Gemmeke M. Gansen T.G. Noll H. Stockmanns Chair of Electrical Engineering and Computer Systems RWTH Aachen University Germany Design Center Munich Infineon Technologies Germany

A strategy for the implementation of energy-efficient architecture blocks is proposed. In enables mapping of algorithms to architectures at maximal efficiency based on automized optimization of device dimensions of elementary basic cells. As an example, the design of a high-throughput low-power FIR-filter is described. The effectiveness of the proposed strategy is confirmed by comparison with state-of-the-art filter macros.

关键词： Finite impulse response filter Throughput computer architecture Delay Transversal filters Energy consumption Circuits Adders Silicon Degradation

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Layout-aware analog system synthesis based on symbolic layout description and combined block parameter exploration, placement and global routing

Layout-aware analog system synthesis based on symbolic layou...

引用

IEEE computer Society Annual Symposium on VLSI

作者： Hua Tang Hui Zhang A. Doboli VLSI Systems Design Laboratory Electrical and Computer Engineering Department State University of New York Stony Brook NY USA

ISBN: (纸本)0769519040

This paper presents a new methodology for layout-aware synthesis of analog systems. The methodology combines block parameter exploration, block placement and global interconnect routing while maintaining an accurate perspective on the layout parasitics. An original system representation (called Layout Constraint Graphs - LCG) was developed for synthesis. The paper discusses how block parameter exploration, placement and global routing are expressed in terms of the LCG graph. AC and transient performances of each explored solution are obtained using SPICE simulations. Experiments show the generality of the synthesis methodology by providing results for several applications including filters and converters.

关键词： Routing Signal synthesis Circuit synthesis design optimization Circuit simulation Wire Laboratories Integrated circuit interconnections SPICE design automation

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Nano, quantum, and molecular computing: are we ready for the validation and test challenges?

Nano, quantum, and molecular computing: are we ready for the...

引用

IEEE International High-Level design Validation and Test Workshop

作者： S.K. Shukla R. Karri S.C. Goldstein F. Brewer K. Banerjee S. Basu Bradley School of Electrical and Computer Engineering Virginia Tech USA Electrical and Computer Engineering Department Polytechnic University USA School of Computer Science Carnegie Mellon University USA Department of Electrical and Computer Engineering University of California at Santa Barbara USA Department of Electrical and Computer Engineering University of California at Santa Barbara Design Automation of Micro and Nano Systems National Science Foundation USA

In the recent years a lot of research effort is being spent in the areas of nanotechnology, quantum computation, and biologically inspired computing. As we are faced with various challenges regarding their implementability, architectural visions, and design automation, not much has been done in the field of high level design and validation in looking further into the future, and ponder about the state of the art in design validation and test in such miniscule technology era. Very few reported research work have surfaced on the design and validation challenges for these technologies. However, this certainly is a matter of concern because the technology of the small will be ridden with random faults and hence architectural design strategies need to change to take into account these stochastic models of failures to build robust designs. Validation of such designs also have to capture the stochastic behavioral models of the technology, and hence traditional validation and testing techniques will not work directly. Are we getting ready with our theory; technology and tools to address these challenges? This futuristic panel asks technology and computer aided design experts, as well as finding agency program managers questions about the technological barriers to be surpassed, as well as how the funding agencies such as NSF are ramping up for this technological future.

关键词： Quantum computing Molecular computing Testing Redundancy design engineering Stochastic processes Manufacturing Nanoscale devices Probability computer science

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Suggesting a common framework for the classification of military training and computer game simulators

Suggesting a common framework for the classification of mili...

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2003 Summer computer Simulation Conference, SCSC 2003

作者： Svane, Torben Karisson, Lars Business Information Systems Field Leader for Edutainment Software Design P0 Box 823 HalmstadS-301 18 Sweden School of Information Science Computer and Electrical Engineering P0 Box 823 HalmstadS-301 18 Sweden

ISBN: (纸本)1565552687

Many similarities can be found between military training and computer game simulators. A review of definitions and classifications of military training simulators suggests that an adoption of DoD terminology also would suit game industry requirements. Similarities between applications are exemplified. Adhering to a common standard could possibly impose a challenge to both sectors because of (a) the rapid development of new concepts in the games sector, (b) the crossover between genres, and (c) the increasingly unclear distinction between "live" applications and simulations. The conclusion proposes further investigation into possible category dimensions that may emanate from research.

关键词： computer games

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Dynamic scheduling issues in SMT architectures

Dynamic scheduling issues in SMT architectures

引用

International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Chulho Shin Seong-Won Lee J.-L. Gaudiot Samsung Electronics Corporation System Design Technology Laboratory Department of Electrical Engineering-Systems University of Southern California USA Department of Electrical Engineering and Computer Science University of California Irvine USA

Simultaneous multithreading (SMT) attempts to attain higher processor utilization by allowing instructions from multiple independent threads to coexist in a processor and compete for shared resources. Previous studies have shown, however, that its throughput may be limited by the number of threads. A reason is that a fixed thread scheduling policy cannot be optimal for the varying mixes of threads it may face in an SMT processor. Our adaptive dynamic thread scheduling (ADTS) was previously proposed to achieve higher utilization by allowing a detector thread to make use of wasted pipeline slots with nominal hardware and software costs. The detector thread adaptively switches between various fetch policies. Our previous study showed that a single fixed thread scheduling policy presents much room (some 30%) for improvement compared to an oracle-scheduled case. In this paper, we take a closer look at ADTS. We implemented the functional model of the ADTS and its software architecture to evaluate various heuristics for determining a better fetch policy for a next scheduling quantum. We report that performance could be improved by as much as 25%.

关键词： Dynamic scheduling Surface-mount technology Yarn Processor scheduling Detectors Multithreading Throughput Face detection Adaptive scheduling Pipelines

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