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On-line Reconfiguration of Real-Time Robot Motion and Force Control

IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot Control Force Control Embedded systems Rapid prototyping Non-linear control

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Selective NO2 gas sensing characteristics of sol-gel prepared M0O3-WO3 thin films

Selective NO2 gas sensing characteristics of sol-gel prepare...

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Conference on Optoelectronic and Microelectronic Materials and Devices, COMMAD 2000

作者： Galatsis, K. Li, Y.X. Wlodarski, W. Kalantar-Zadeh, K. Comini, E. Sberveglieri, G. Cantalini, C. Sensor Technology Laboratory School of Electrical and Computer Systems Engineering RMIT University CRC/or Microtechnology GPO Box 2476V Melbourne3001 Australia Dept. di Chimica Fisica per l'Ingegneria e per i Materiali INFM Via Valotti 9 Brescia25133 Italy Dept. of Chemistry and Materials Monteluco di Roio L'Aquila67040 Italy

ISBN: (纸本)0780366980

Molybdenum trioxide - tungsten trioxide (MoO3-WO3) binary metal oxide thin films have been prepared by the sol-gel process. The films were deposited using the spin coating technique onto alumina substrates with interdigital electrodes and single crystal silicon substrates for electrical and micro characterization. Scanning Electron Microscopy (SEM) showed MoO3-WO3 film morphology composed of MoO3 needle like grains and WO3 spherical grains when annealed at 450°C. The films exhibited selective gas sensing characteristics' at an operating temperature of 300°C towards nitrogen dioxide (NO2). © 2000 IEEE.

关键词： Single crystals

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A design of an associative memory array processor for ultrasonograph image acquisition and processing

A design of an associative memory array processor for ultras...

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作者： Aly, Gamal M. El-Nadi, Nabeel M. Fayed, Zaki T. Faheem, Hossam M. Dept. of Comp. and Control Systems Ain Shams University Faculty of Engineering Cairo Egypt Information Technology Institute Cairo Egypt Department of Computer Science Ain Shams University Fac. of Comp. and Info. Science Cairo Egypt

This paper describes a design of an associative memory array processor that can be used in the acquisition and processing of ultrasonograph images. The major concept is to design a parallel architecture that reduces task's execution time by analyzing multiple parts of the image concurrently. The architecture constitutes a distinctive type of single-instruction stream, multiple-data stream machine that is built around content-addressable associative memory slabs, that allow parallel access of multiple memory words. The basic building block of this architecture is a one-pixel processing element, which can perform the standard load (data acquisition) function and also contains some special comparison logic to enable its content to be compared with an external data. Several image processing operations are implemented in parallel, among them: component labeling, size filtering, pattern centralization, and pattern recognition. The proposed novel architecture can label specific regions into the image and isolate them intelligently. It is also capable of storing templates that may be considered as references for similar cases. The system is able to perform learning process and extract features from several input patterns and store the reference pattern in a slice. Moreover, the system is capable of comparing an input image with a pre-stored template during recognition process. The proposed architecture is of interest because it speeds up the recognition process and helps radiology specialists to write their reports confidently.

关键词： Ultrasonic imaging

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Adaptive User Interfaces through Dynamic Design Automation 17

Adaptive User Interfaces through Dynamic Design Automation

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17th National Conference on Artificial Intelligence, AAA1 2000

作者： Penner, Robin R. Steinmetz, Erik S. Johnson, Christopher L. University of Minnesota College of Mechanical Engineering 111 Church Street SE MinneapolisMN55455 United States University of Minnesota Dept. of Computer Science and Engineering 200 Union Street SE MinneapolisMN55455 United States Honeywell Technology Center Human Centered Systems 3660 Technology Drive MinneapolisMN55418 United States

ISBN: (纸本)0262511126

The inherent difficulty in supporting human usability in large control systems-such as building environmental and security systems-derives from the large diversity of components and users within each domain. Each system is different, with different types and organizations of devices;each user is different, and takes different roles;each task a user performs varies with the situation. As a result, applying traditional methods of interface design to these systems is insufficient. Designers end up handcrafting each diagram required by each type of user, the effort needed to add new functionality quickly bloats, and users end up juggling multiple disparate applications. We have begun to deploy a tool called DIG (Dynamic Interaction Generation) that addresses this difficulty. DIG uses models of domain, task, and presentation knowledge to automatically design and present interfaces specialized to a user's current role and task, the current situation, and the capabilities of the current display hardware. In this demonstration, DIG will convert a real-life building management configuration into a dynamic interface that building managers can operate using either a standard PC or a Palm Pilot. Copyright © 2000, American Association for Artificial Intelligence (***). All rights reserved.

关键词： User interfaces

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A new approach for tracking mobiles with local scattering modeling

A new approach for tracking mobiles with local scattering mo...

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European Signal Processing Conference (EUSIPCO)

作者： Hiroyuki Tsuji Magnus Jansson Akira Sano Mostafa Kaveh Communications Research Laboratory Ministry of Posts and Telecommunications Japan 3-4 Hikarino-oka Yokosuka 239-0847 Japan Dept. of Signals Sensors & Systems Royal Institute of Technology Sweden Dept. of Electrical Engineering Keio University Japan Dept. of Electrical and Computer Engineering University of Minnesota U.S.A.

A new approach for tracking mobiles in a multipath environment is presented. In this paper, we introduce the local scattering model into the tracking algorithm, which utilizes the linear approximation model, to improve the performance of DOA estimate in a multipath environment. The point of our method is to estimate the DO As and the angular velocities of the mobiles simultaneously by minimizing a cost function, which is consist of the observed data. Moreover, the cost function takes into account of the scattering factor to cope with the multipath signals. The proposed method can estimate the DOA precisely without increasing much computation load. The efficiency of the method is shown through simulation results.

关键词： Direction-of-arrival estimation Mobile communication Manganese Angular velocity Linear approximation Scattering Target tracking

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An Adaptive Clustering Method of the Cross-Sectional Mean Void Fraction Signals of Gas-Liquid Two-Phase Flow

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IFAC Proceedings Volumes 2000年第15期33卷 633-638页

作者： Katsuhiro Inoue Kousuke Kumamaru Kotohiko Sekoguchi Dept. of Control Eng. and Science Faculty of Computer Science and Systems Eng. Kyushu Institute of Technology Iizuka Fukuoka 820-8502 Japan. Polytechnic College Kagawa 3203 Gungechou Marugame Kagawa 763-0093 Japan.

An algorithm derived from the mixture probability algorithm has been constructed by using the autoregressive model(AR) with bias component to analyze the cross-sectional mean void fraction signals. However in the algorithm with a maximum likelihood estimates, equations for parameter estimation were very complicated. So in this paper, we modified the mixture probability algorithm and proposed new algorithm based on a stochastic Newton method. The effectiveness of our method is confirmed by applying ones to classify the crosssectional mean void fraction signals of gas-liquid two-phase flow.

关键词： Clustering AR-Model Stochastic Newton Method Mixture Probability Algorithm Gas-Liquid Two-Phase Flow

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An integrated methodology for modelling and prototyping repetitive production systems

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IFAC Proceedings Volumes 2000年第20期33卷 505-510页

作者： B. Skolud Z.A. Banaszak M.B. Zaremba Silesian University of Technology Chair of Integrated Manufacturing Systems PL-44100 Gliwice Poland Dept. of Computer Science and Management Technical University of Zielona Gora Poland Departement d’informatique Université du Québec Hull QC J8X 3X7 Canada

This paper presents a computer-aided method for designing repetitive production systems which combines a simulation-based approach with a constraint propagation technique. The presented approach consists in defining sufficient conditions to filter all solutions and providing both the client and the producer with a set of admissible solutions. The optimized solution is obtained as a result of simulation. Examples illustrating a software tool using this approach are presented.

关键词： manufacturing systems production control constraint propagation Flexible Manufacturing systems simulation tools

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collaborative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

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Tunable red vertical cavity surface emitting lasers using electrostatic actuation

Tunable red vertical cavity surface emitting lasers using el...

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Conference on Optoelectronic and Microelectronic Materials and Devices

作者： J.A. Lott E.M. Ochoa W.J. Siskaninetz M.J. Noble Computer Electrical Engineering Electrical Engineering of Institute Technology OH USA Dept. of Electr. & Comput. Eng. Air Force Inst. of Technol. Wright-Patterson AFB OH USA Air Force Research Laboratory OH USA Air Force Electronic Systems Center MA USA

We report a tunable red vertical cavity surface emitting laser (VCSEL) with a flexible micro-electro-mechanical (MEM) top distributed Bragg reflector. The peak emission wavelength is electrically tunable over a range ... 详细信息

ISBN: (纸本)0780366980

关键词： Vertical cavity surface emitting lasers Tunable circuits and devices Surface emitting lasers Electrostatic actuators Distributed Bragg reflectors Optical surface waves Laser tuning Threshold current RNA Gallium arsenide

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Call admission and control scheme for quality-of-service (QoS) provisioning in next generation wireless networks

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Wireless Networks 2000年第1期6卷 17-30页

作者： Das, Sajal K. Jayaram, Rajeev Kakani, Naveen K. Sen, Sanjoy K. Ctr. Res. Wireless Mobility N. Dept. of Comp. Sci. and Engineering University of Texas at Arlington Arlington TX 76019 United States TDMA Systems Ericsson Inc. 740 E Campbell Road Richardson TX 75081 United States Department of Computer Science University of North Texas Denton TX 76203-1366 United States Adv. Wireless Networks Technology Nortel Networks 2201 Lakeside Boulevard Richardson TX 75082 United States Indian Institute of Science Bangalore India University of Central Florida Orlando FL United States Dept. of Comp. Sci. and Eng. Ctr. Res. Wireless Mobility N. University of Texas Arlington TX United States University of North Texas Denton TX United States Council of National Research Pisa Italy Slovak Academy of Sciences Bratislava Slovakia Indian Statistical Institute Calcutta India Ericsson Inc. Richardson TX United States Northern Telecom Richardson TX United States

We propose a framework for quality-of-service (QoS) provisioning for multimedia services in next generation wireless access networks. This framework aims at providing a differentiated treatment to multimedia traffic flows at the link layer, which can be broadly classified as real-time (or delay-sensitive) and non-real-time (or delay-tolerant). Various novel schemes are proposed to support the differential treatment and guarantee QoS. These schemes include bandwidth compaction, channel reservation and degradation, with the help of which a call admission and control algorithm is developed. The performance of the proposed framework is captured through analytical modeling and simulation experiments. Analytically, the average carried traffic and the worst case buffer requirements for real-time and non-real-time calls are estimated. Simulation results show up to 21% improvement in the admission probability of real-time calls and up to 17% improvement in the admission probability of non-real-time calls, when various call control techniques like bandwidth compaction are employed. Using our channel reservation technique, we observe a 12% improvement in the call admission probability compared to another scheme proposed in the literature.

关键词： Wireless telecommunication systems

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