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WIRELESS VISUAL SERVOING FOR ODIS – AN UNDER CAR INSPECTION MOBILE ROBOT

IFAC Proceedings Volumes 2002年第1期35卷 1-6页

作者： Lili Ma Matthew Berkemeier Yangquan Chen Morgan Davidson Vikas Bahl Kevin L. Moore Center for Self-Organizing and Intelligent Systems (CSOIS) Dept. of Electrical and Computer Engineering UMC 4160 College of Engineering 4160 Old Main Hill Utah State University Logan UT 84322-4160 USA

This paper presents a simple robot localization technique using the wireless visual servoing technique involved in an autonomous ground vehicle ODIS (omnidirectional inspection system) for under-car inspection tasks in standard parking lot environment. Based on the current architecture of ODIS and the dedicated scripting language, an iterative visual servoing scheme is proposed to align the yellow line of the parking lot. The iterative scheme tolerates the uncertain time delay due to the wireless connections without introducing stability problem due to time-varying delay in real-time visual servoing. Experimental results are presented to show that for our specific application, the wireless visual servoing technique presented in this paper is an efficient way for robot localization.

关键词： Omni directional vehicle Under-car inspection Mobile robot Autonomous ground vehicle Visual servoing localization Iterative Wireless

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ON MONOTONIC CONVERGENCE OF HIGH ORDER ITERATIVE LEARNING UPDATE LAWS

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IFAC Proceedings Volumes 2002年第1期35卷 19-24页

作者： Kevin L. Moore YangQuan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Dept. of Electrical and Computer Engineering UMC 4160 College of Engineering 4160 Old Main Hill Utah State University Logan UT 84322-4160 USA

High-order iterative learning control (ILC) in both iteration domain and time domain is investigated in this paper. We are interested in whether a high order iterative learning updating law is helpful in achieving a monotonic convergence in a suitable norm topology other than the exponentially weighted sup-norm. Discrete-time linear time invariant system is considered. With simulation illustrations, it is shown that a high-order scheme in both time domain and iteration domain is helpful. A new design framework for high order ILC is proposed.

关键词： iterative learning control high order updating law time domain iteration domain small gain theorem internal model principle

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Micro-electro-mechanical tunable vertical cavity surface emitting lasers using metal flexures and a top dielectric stack distributed Bragg reflector

Micro-electro-mechanical tunable vertical cavity surface emi...

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IEEE International Semiconductor Laser Conference

作者： M.C. Harvey J.A. Lott T.R. Nelson A. Stintz K.J. Malloy Center for High Technology Materials University of New Mexico Albuquerque New Mexico USA Dept. of Electrical and Computer Engineering Air Force Institute of Technology Ohio USA Center for High Technology Materials University of New Mexico Albuquerque New Mexico Dept. of Electrical and Computer Engineering Air Force Institute of Technology Ohio

ISBN: (纸本)078037598X

Summary form only given. In this study we design, fabricate, and characterize tunable "membrane" VCSELs using novel micro-electro-mechanical systems (MEMS) piston micromirror designs that include metal or hybrid metal/dielectric top flexures. The device structures start as conventional 980 nm resonant cavity light-emitting diodes (RCLEDs) with selectively oxidized AlGaO current apertures. We use a photosensitive spin-on polymer (polymethylglutarimide - PMGI) material as the sacrificial material between the RCLED and the upper flexure. Up to seven photolithographic mask steps are used to define/create mesas.

关键词： Vertical cavity surface emitting lasers Tunable circuits and devices Surface emitting lasers Distributed Bragg reflectors Dielectric materials Biomembranes Microelectromechanical systems Micromechanical devices Pistons Micromirrors

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Motion-compensated 4D processing of gated SPECT perfusion studies

Motion-compensated 4D processing of gated SPECT perfusion st...

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IEEE Symposium on Nuclear Science (NSS/MIC)

作者： J.G. Brankov Yongyi Yang M.V. Narayanan M.N. Wermck Dept. of Electrical & Computer Engineering Illinois Institute of Technology Chicago IL USA University of Massachusetts Medical Center Worcester MA USA

In this paper ire present two 4D motion-compensated reconstruction algorithms for gated cardiac SPECT. The algorithms are based on a deformable content-adaptive mesh model, a compact image representation that is well suited for motion tracking of non-rigid objects like the heart. In this paper we introduce a reconstruction method using inter-iteration smoothing, in which motion estimation, reconstruction, and smoothing are all performed in the mesh domain. We also describe a pixel-based post-reconstruction temporal smoothing approach. In these methods, we modify our previous approaches to account for apparent brightening due to wall thickening (tin effect of finite resolution). Our experiments show that the new algorithms produce image sequences that closely match the expected intensity variations at the spatial resolutions of interest. In gated SPECT, these variations are a useful and important clinical indicator of wall thickening, so it is beneficial to preserve them. In our experiments, the proposed methods outperform those that do not take into account the brightening effect.

关键词： Smoothing methods Reconstruction algorithms Spatial resolution Deformable models Image representation Tracking Heart Motion estimation Image reconstruction Tin

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Modeling of Multi-Layered Power Distribution Planes Including Via Effects Using Transmission Matrix Method 02

Modeling of Multi-Layered Power Distribution Planes Includin...

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Proceedings of the 2002 Asia and South Pacific Design Automation Conference

作者： Joong-Ho Kim Erdem Matoglu Jinwoo Choi Madhavan Swaminathan Dept. of Electrical and Computer Engineering Georgia Institute of Technology Packaging Research Center 777 Atlantic Drive N.W. Atlanta GA

ISBN: (纸本)9780769514413

This paper presents a method for analyzing multi-layered power distribution networks in the frequency *** a two dimensional array of distributed RLCG circuits,multi-layered power distribution planes are *** plane pair is connected by vias, which are modeled as partial self and mutual inductors. For the efficient computation of the power distribution impedances at specific points in the network,a multi-input and multi-output transmission matrix method has been used, which is much faster than Spice and reduces memory *** method has been compared with the cavity resonator method simulated in Spice.

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FUZZY TCP: A PRELIMINARY STUDY

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IFAC Proceedings Volumes 2002年第1期35卷 205-210页

作者： Pablo Carbonell Zhong-Ping Jiang Shivendra Panwar Dept. of Systems Eng. and Control Polytech. Univ. of Valencia Plaça Ferràndiz i Carbonell 2 E-03801 Alcoi SPAIN Dept. of Electrical and Computer Eng. and Center for Advanced Technology in Telecommunications (CATT) Polytechnic University Six Metrotech Center Brooklyn NY 11201 USA

Implementing efficient TCP for the Internet necessarily has to cope with the problem that the source does not know in advance which window allocation policy should be the best to use for a given network condition. In this paper, an on-line adaptive fuzzy system is used at the source in an objective to find the best possible weighted combination among the available policies.

关键词： TCP congestion control fuzzy logic communication protocols

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Interdisciplinary graduate experience: Lessons learned

Interdisciplinary graduate experience: Lessons learned

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2002 ASEE Annual Conference and Exposition: Vive L'ingenieur

作者： Watkins, Steve E. Eller, Vicki M. Corra, Josh Molander, Martha J. Konz, Bethany Hall, Richard H. Chandrashekhara, K. Belarbi, Abdeldjelil University of Missouri Rolla Applied Optics Laboratory Department of Electrical Engineering University of Missouri Rolla Instructional Software Devmt. Center University of Missouri Rolla Boeing Company St. Louis MO Unified Building Systems Inc. Richardson TX Media Des. and Assessment Laboratory Dept. of Info. Sci. and Technology University of Missouri Rolla Department of Mechanical Engineering University of Missouri Rolla Department of Civil Engineering University of Missouri Rolla

Engineers interact in the workplace with technical peers in other disciplines at all stages of design, development, and application. Awareness of the constraints and needs of the other disciplines can be key in many situations. Such interdisciplinary activity and the associated communication are facilitated if the all participants have a solid knowledge of discipline-specific terminology and an understanding of connecting concepts. Consequently, experience relating to interdisciplinary teamwork is a necessary component of engineering education. The Smart engineering Group at the University of Missouri-Rolla was established to conduct interdisciplinary research and to create interdisciplinary educational resources. The topical interest area is smart structures which requires the integration of materials, structures, sensing, signal processing, manufacturing, etc. The interdisciplinary research and educational activities of the group, the assessment of those activities, and the experiences of several graduate students will be described. The effectiveness of collaborative student work was tied to the students' understanding of the needed synergy and their comfort with cross-disciplinary communication. Also, an interdisciplinary course, which grew out of the group's experiences, provided systematic preparation for graduate research projects. The role of this course will be discussed as it relates to the quality of collaborative experiences from both student and faculty perspectives.

关键词： engineering education

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A Semi-Analytical Method for the Calculation of Electromagnetic Power Density Originating from Radar and Microwave Link Stations. Practical Dosimetric Applications

A Semi-Analytical Method for the Calculation of Electromagne...

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Sixteenth International Wrocław Symposium and Exhibition, Electromagnetic Compatibility 2002

作者： Nikolaos Uzunoglu Georgios Stamatakos Christos Christodoulopoulos Christos Tsilias Dept. of Electrical and Computer Engineering Division of Information Transmission Systems and Materials Technology National Technical University of Athens Zografou Campus GR-157 80 Zografos Greece Intracom s.a. Markopoulou Avenue Peania GR-190 02

ISBN: (纸本)8391614603

A semi-analytical method for the calculation of the electromagnetic power density originating from rectangular and elliptical aperture antennas is presented. Such antennas can simulate radar and microwave link radiating elements. The analysis makes use of the Fourier transfom in the spectral domain and is based on the approximate assumption that both the electric and the magnetic fields have constant polarization and peak values over the entire aperture surface. Both fields outside the aperture on the aperture plane are assumed zero. Harmonic temporal dependence is considered. In the source free region, the field of a monochromatic wave radiated by the aperture is expressed as a superposition of plane waves (all of the same frequency, different amplitudes and traveling in different directions). Application of boundary conditions leads to suitable expressions for the Fourier coefficients. Numerical calculation (e.g. by Gauss integration) of an infinite double integral provides the electric field value at any given point of interest. Consequently, the power density is obtained in a rather straightforward way. As in radar / microwave link stations linear dipoles and systems of folded dipoles are usually present, calculation of the power density originating from specific linear antenna configurations of practical interest can also performed according to the corresponding classical expressions [1]. Obviously, using the above mentioned analyses and performing appropriate geometric calculations, an upper boundary of the power density steming from all antennas of the station can be calculated at any point of interest (e.g. on the fence of the premises). A novel algorithm for the selection of safety critical points around a radar / microwave link station of which all antennas produce maximum radiation on a horizontal plane (e.g. surveillance radar antennas) is proposed so that the definition of a “safe area” becomes feasible. Sample calculations and corresponding measurement

关键词： Radar Density measurement Power system measurements Radar antennas Electric fields Safety Microwave theory and techniques Microwave antennas Mathematical models Aperture antennas

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Reliability projection and polarity dependence of TDDB for ultra thin CVD HfO/sub 2/ gate dielectrics

Reliability projection and polarity dependence of TDDB for u...

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Symposium on VLSI technology

作者： S.J. Lee S.J. Rhee R. Clark D.L. Kwong Microelectronics Research Center Department of Electrical and Computer Engineering University of Technology Austin TX USA University of Texas at Austin Austin TX US Dept. of Electr. & Comput. Eng. Texas Univ. Austin TX USA

ISBN: (纸本)078037312X

A systematic study of long-term reliability of ultra thin CVD HfO/sub 2/ gate stack (EOT=10.5 /spl Aring/) with TaN gate electrode is presented. The polarity and area dependence and temperature acceleration of time-to-breakdown (TBO), defect generation rate, and critical defect density are studied. It is found that T/sub BD/ is polarity-independent (T/sub BD,-Vg/=T/sub BD,+Vg/). TDDB lifetime acceleration shows that 10-year lifetime of HfO/sub 2/ gate stack is projected at Vg=1.63 V for EOT=8.6 /spl Aring/ and Vg=1.88 V for EOT=10.6 /spl Aring/ at 25/spl deg/C. However, after temperature acceleration of 150/spl deg/C, area scaling to 0.1 cm/sup 2/, and the projection to low percentage failure rate of 0.01%, the maximum operating voltages are projected to be Vg=0.6 V for EOT 8.6 /spl Aring/ and Vg=0.75 V for EOT=10.6 /spl Aring/.

关键词： Hafnium oxide Dielectrics Leakage current Acceleration Stress Voltage MOS devices Electrodes Electric breakdown Temperature dependence

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Semantic resolution for E-Commerce

Semantic resolution for E-Commerce

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Proceedings of the Biannual World Automation Congress

作者： Yun Pang Youyong Zou Xiaocheng Luan N. Ivezic M. Gruninger A. Jones Dept. of Comput. Sci. & Electr. Eng. Univ. of Maryland Baltimore County MD USA Department of Computer Science and Electrical Engineering University of Maryland Baltimore County Baltimore MD USA Manufacturing Systems Integration Division National Institute of Standards and Technology Gaithersburg MD USA

We describe a research project on resolving semantic differences for multi-agent systems (MAS) in electronic commerce. The approach can be characterized as follows: (1) agents in a MAS may have their own specific ontologies defined on top of a shared base ontology; (2) concepts in these ontologies are represented as frame-like structures based on DAML+OIL language; (3) the semantic differences between agents are resolved at runtime through inter-agent communication; and (4) the resolution is viewed as an abductive inference process, and thus necessarily involves approximate reasoning.

关键词： Ontologies Vocabulary Multiagent systems Microstrip computer aided manufacturing Runtime Artificial intelligence Consumer electronics Software agents Application software

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