An on-line scheme to failure diagnosis is proposed for dynamic systems under adaptive control, which is designed based on a direct approach to self-tuning regulator. Failure modes occurred in the system are assumed to...
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An on-line scheme to failure diagnosis is proposed for dynamic systems under adaptive control, which is designed based on a direct approach to self-tuning regulator. Failure modes occurred in the system are assumed to be described by unexpected changes in physical parameters of the system. The parameter changes in the controlled system can effectively be detected by using Kullback Discrimination Information (KDI) as an index for model discrimination. In order to decide whether the detected system parameter change is caused by a failure or not, a fuzzy inference approach to failure decision is considered. Some appropriate membership functions which describe fuzzy events of failures are constructed to perform the fuzzy inference. In this way, useful knowledge about failure modes which is available from, e.g., experts can be introduced into the model- based diagnosis technique. Simulation studies of a second-order damped oscillator have been carried out to demonstrate the effectiveness of the method.
A method of reducing overhead caused by the processor synchronization process and common memory access in finely grained tasks is described. The authors propose a hardware configuration to eliminate the synchronizatio...
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A method of reducing overhead caused by the processor synchronization process and common memory access in finely grained tasks is described. The authors propose a hardware configuration to eliminate the synchronization time and a scheduler which minimizes the redundant accesses to shared memory. The proposed scheduler algorithm is processed in parallel. The processes share the common upper bound and the lower bound function which includes the preparation time for shared memory access. The effectiveness of the proposed scheme was confirmed by applying it to the computation of Newton-Euler equations for dynamic arm control, using a multiple digital signal processing system with four TMS320C25 processors.< >
A method is given to estimate the geometry and motion of a moving body surface from image sequences. To this aim a parametric model of the surface is used, in order to reformulate the problem to one of parameter estim...
A method is given to estimate the geometry and motion of a moving body surface from image sequences. To this aim a parametric model of the surface is used, in order to reformulate the problem to one of parameter estimation. After linearization of the model standard linear estimation methods can be used to estimate the parameters. The main contribution of this paper is that a method is provided to perform the linearization without specifying the model. Therefore structure from motion estimation and nonrigid body motion estimation can be performed regardless of the model.
Task-dependent response - eg, in instrument calibration, spatial positioning and the like - is a long nursed requirement: transition to the end state very fast, albeit imprecise, followed by slower but very accurate f...
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This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the produc...
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This paper presents ROSI-Layout, a computer aided planning system for the generation of suitable workcell layouts for robot assembly applications. The idea is to derive first the spatial transformations for the product parts, which lead to the assembly of the final product. A global database provides the product data and the precedence graph. This information comes from product design and assembly planning. The design of spatial transformations is derived from constraints given by the geometric shape of the product parts and from rules that define how assembly with robots should be accomplished. This is followed by the generation of a suitable layout. A layout can be developed that is specially designed for the product to be assembled. During the entire planning session, the database manages all planning data and ensures consisteny. ROSI-Layout is an extension of the RObot Simulation system ROSI.
A concept for the intelligent control of subsystems of a flexible assembly cell is presented. Unknown or uncertain data about the real world may lead towards failure during an assembly task. Therefore, a fault toleran...
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This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Ma...
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This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Many parameters of the physical model may be adjusted to obtain simulation results close to reality. For processing of the picture data the SPIDER program is added to the simulation of the camera. Though a complete vision system is created. An example shows the simulation of a CCD-camera and a scene with workpieces taken from the ‘European Benchmark’ [COL85].
The most straightforward way to incorporate knowledge of formant perception in LPC scalar quantization is by quantizing the LPC poles. The authors measured directly the perceptual sensitivity to changes in the poles d...
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The most straightforward way to incorporate knowledge of formant perception in LPC scalar quantization is by quantizing the LPC poles. The authors measured directly the perceptual sensitivity to changes in the poles during continuous speech, and used these data in the design of a scalar quantization scheme. The average pole-frequency just noticeable difference (JND) was found to strongly decrease with increasing formant bandwidth, and to depend to a lesser degree on the frequency. A considerable coding efficiency was achieved by utilizing the JND data and the measured distribution ranges of the pole frequencies. A 30 bits per frame quantization produced similar speech quality as that obtained with a standard 41 bits quantization of the reflection coefficients.< >
作者：
M. HagemannFaculty for Informatics
Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany
A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. The system is implemented on an IBM PC. The spec...
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ISBN:
(纸本)0897912586
A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. The system is implemented on an IBM PC. The special characteristics of the language and the tools are their suitability for the description of embedded real-time systems. The most useful feature of the system is the possibility of graphical input and output as an alternative of the mere textual specification. Transformation between textual and graphical representation is done by the PROREC system.< >
Many profoundly hearing-impaired individuals that use hearing-aid devices suffer from poor auditory capacity, and therefore mainly rely on speechreading information. Previous studies suggest that presenting signals ca...
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Many profoundly hearing-impaired individuals that use hearing-aid devices suffer from poor auditory capacity, and therefore mainly rely on speechreading information. Previous studies suggest that presenting signals carrying prosodic information has great potential for improving speechreading. The authors present the computerized intonator, which is a microprogrammed acoustic pitch-aid device that provides the user in real-time with the fundamental frequency modulated by the amplitude envelope. The device implementation provides maximum flexibility for designing the output stimuli to suit individual needs. The benefit of the device is presently being evaluated using the connected discourse tracking test.< >
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