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A system structure with trajectory planning and control for robotic dynamic manipulation

Advanced Robotics 1996年第7期11.0卷 695-711页

作者： Zheng, Xin-Zhi Ono, Kazuya Yamakita, Masaki Katayama, Masazumi Ito, Koji Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama 226 Japan Department of Information and Computer Sciences Toyohashi University of Technology Toyohashi 441 Japan Department of Control and System Engineering Tokyo Institute of Technology Tokyo 152 Japan Ishikawajima-Harima Heavy Industries Co. Ltd. Tokyo Japan

We present a control framework for robot systems to perform dynamic manipulation tasks, with robotic batting as an example. A properly preplanned trajectory for manipulators is recognized to be important to increase the probability of success. A nominal path for a manipulator to travelin a swing motion is computed while optimizing the stochastic dynamic manipulability measure to cope with the unpredictable deviation of the ball. A nominal trajectory along the path is then planned in a minimum-time fashion for the benefit of catching the ball as accurately as possible, thebehavior of which is observed visually and estimated on-line. A control structure consisting interpolatively of a path velocity controller to follow the nominal trajectory and a resolved-acceleration-natured ball-deviation compensating controller, together with a ball motion prediction, isproposed. The effectiveness of the proposed approach is examined using computer simulations. The strategy provided in this paper will be useful to make manipulators perform further task requirements better for a wide range of dynamic manipulations. © VSP and Robotics Society of Japan 1998.

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A divide-and-inner product parallel algorithm for polynomial evaluation

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Parallel Algorithms and Applications 1995年第1期6卷 63-66页

作者： Hu, Jie Li, Lei Nakamura, Tadao Department of Information System Engineering Aomori University Aomori 030 2-3-1 Kobata Japan Graduate School of Information Science Tohoku University Sendai 980 Japan

In this paper, a divide-and-inner product parallel algorithm for evaluating a polynomial of degree N (N + 1 = KL) on a MIMD computer is presented. It needs 2K + log2L steps to evaluate a polynomial of degree N in para... 详细信息

In this paper, a divide-and-inner product parallel algorithm for evaluating a polynomial of degree N (N + 1 = KL) on a MIMD computer is presented. It needs 2K + log₂L steps to evaluate a polynomial of degree N in parallel on L + 1 processors (L ≤ 2K - 21og₂ K) which is a decrease of log₂ L steps as compared with the L-order Horner’s method [1], and which is a decrease of (2 log₂L)^1/2 steps as compared with the some MIMD algorithms [3, 4]. The new algorithm is simple in structure and easy to be realized. © 1995, Taylor & Francis Group, LLC. All rights reserved.

关键词： Divide-and-inner product Parallel polynomial evaluation

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Synchronized motion by multiple mobile robots using communication

Synchronized motion by multiple mobile robots using communic...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Ozaki H. Asama Y. Ishida A. Matsumoto K. Yokota H. Kaetsu I. Endo Graduate School of Science and Engineering Saitama University Japan Chemical Engineering Laboratory Institute for Physical and Chemical Research Japan Information Network System Center University of Tokyo Japan Faculty of Engineering Utsunomiya University Japan

This paper addresses a method for synchronizing motion by multiple autonomous mobile robots using radio communication. The autonomous and decentralized robot system, ACTRESS, is a multi-agent robotic system including multiple autonomous mobile robots. The autonomous mobile robots are developed so as not only to act individually, but also to cooperate with the other robots if they cannot accomplish the task alone. The synchronized motion is sometimes required to execute such cooperative tasks. Every agent of ACTRESS is equipped with the communication system, which enables a message passing between any robotic agents. The prototype ACTRESS system is introduced, and cooperation among multiple robotic agents is discussed. A method for synchronization using the communication system is proposed. The method is applied to the prototype system, and side-by-side motion on the actual mobile robots is implemented as a example of synchronized motion.

关键词： Mobile robots Mobile communication Robotics and automation Prototypes Robot sensing systems Chemical engineering Motion control Communication system control Control systems Message passing

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Robustness of 1/f fluctuations in P‐P intervals of cat’s electrocardiogram

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AIP Conference Proceedings 1993年第1期285卷 687-692页

作者： M. Yamamoto M. Nakao Y. Mizutani T. Takahashi H. Arai Y. Nakamura M. Norimatsu N. Ikuta R. Ando S. Nitta T. Yambe Lab. of Neurophysiology & Bioinformatics Dept. of System Information Sciences Graduate School of Information Sciences Tohoku University Sendai 980 Japan Center for Laboratory Animal Science Tohoku College of Pharmacy Dept. of Medical Engineering and Cardiology Div. of Organ Pathophysiology Institute of Development Aging and Cancer Tohoku University

Power spectral analyses have been performed on PP intervals of cat’s electrocardiogram recorded during about 100 hrs under 3 experimental conditions: one with hard exogenous disturbances and others with the minimal in either a small or a large range of movement of the animal. Irrespective of the marked differences in the experimental conditions, a very similar 1/f profile of power spectrum has been obtained in the frequency range, 10−5–10−1 Hz. The 1/f spectrum tended to extend to the frequency range below 10−5Hz. The 1/f fluctuations in heart beat periods seem to have endogenous origins.

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MK 41 VERTICAL LAUNCHING system FLEET APPLICATION

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NAVAL ENGINEERS JOURNAL 1985年第4期97卷 174-184页

作者： KULESZ, JJ USN The Author is currently program manager for the MK 41 vertical launching system (PMS 410). A native of Pittsburgh Pa he was commissioned in June 1961 at the United States Naval Academy. After serving as missile handling and third divirrion officer on the USS Little Rock until September 1963 he attended the United States Naval Destroyer School. In August 1945 he assumed duties as weapons officer for USS De Haven. Captain Kulesz received the degree of master of science in electrical engineering in 1969 from the Naval Postgraduate School in Monterey and the graduate of the command and staff course at the Naval War College of the National War College of the Republic of Germany. He served as commanding officer on the USS Conflict and as deputy combat systems engineer for the AEGIS project at Naval Sea Systems Command. Prior to assignment as program manager at PMS 410 Captain Kulesz was the AEGIS department head at the Naval Ship Weapons Systems Engineering Station Pt. Hueneme.

The unique physical construction and launch control system architecture of the MK 41 vertical launching system (VLS) makes it particularly adaptable to a variety of missiles and ship classes. The U.S. Navy began installing the MK 41 VLS in deep draft combatants early this year. system attributes such as increased firepower, reduced manning and training requirements, high reliability and low maintainability indicate the MK 41 will best answer the fleet's requirement for highly capable launchers at minimum life cycle cost. Several launcher variants can be readily configured from MK 41 launcher components. Two lengths have been developed and proved during land based and at-sea tests. These MK 41 derivatives retain all the benefits of the VLS while permitting a tailored defense capability throughout the surface fleet.

关键词： WARSHIPS

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COMPUTER AIDS FOR SHIP DESIGN, INTEGRATION AND CONTROL

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NAVAL ENGINEERS JOURNAL 1980年第2期92卷 73-87页

作者： CARLSON, CM JOHNSON, RA HELMING, FW Mr. Craig M. Carlson received his B.S. degree in Naval Architecture and Marine Engineering from the University of Michigan in 1970 and began his career with the Department of the Navy at the Naval Ship Engineering Center (NAVSEC). In 1972. he returned to the University of Michigan under the NAVSEC Long Term Training Program and received his M.S. degree in Naval Architecture and Marine Engineering. After returning to the Ship Arrangements Branch at NAVSEC. he was assigned as Task Leader for General Arrangements for the PGG PCG PHM. and MCM ship designs and was awarded Outstanding Performance Awards in 1974 and 1975. In addition he was Manager of the Arrangement Subsystem of the Navy's Computer-Aided Ship Design and Construction Program (CASDAC). In October 1979. he became Manager of the CASDAC Hull Design System. Currently. he also is enrolled in the M.S. of Computer Science Program at Johns Hopkins University. Mr. Carlson previously has presented technical papers at ASNE Day 1974 and 1978 as well as at the 1979 DOD Manufacturing Technology Advisory Group Conference. Besides ASNE. which he joined in 1972. he is a member of SNAME. ASE. and the U.S. Naval Institute. Mr. Robert A. Johnson is a Naval Architect in Surface Combatants Design (SEA 03D3). Ship Design Integration Directorate Naval Sea Systems Command. He received an Associate in Engineering degree in Drafting and Design Technology in 1959. his B.S. degree in Aerospace Engineering in 1965. and his M.S. degree in Engineering Mechanics in 1970. all from the Pennsylvania State University. In 1973. he was selected for the NA VSEC Hull Division s Long Term Training Program at the University of Michigan subsequently receiving his M.S.E. degree in Naval Architecture in 1974. Mr. Johnson began his career with the Ordnance Research Laboratory at Pennsylvania State University in 1959 where he worked. on the design of hydroelastic submarine models and conducted research in the area of flow induced structural vibrations. In 1967 he joined HRB-Singer at State Colle

This paper presents an integrated approach to Computer-Aided Ship Design for U.S. Navy preliminary and contract design. An integrated Hull Design system (HDS), currently under development by the Hull Group of the Naval Sea systems Command (NAVSEA 32). is the vehicle for the discussion. This paper is directed toward practicing ship design professionals and the managers of the ship design process. Primary emphasis of this paper, and of the development effort currently under way, is on aiding ship design professionals in their work. Focus is on integration and management control of the extremely complex set of processes which make up naval ship design. The terminology of the Ship Designer and Design Manager is used. The reader needs no familiarity with the technologies of computer science.

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Abstracts

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Environmental Management 1977年第1期1卷 67-96页

作者： Frankenfeld, John W. Schulz, Wolfgang McMurty, George J. Petersen, Gary W. May, G. A. Hering, F. S. Schwartz, J. I. Heywood, J. B. Chigier, N. A. Grohse, E. W. Walker, J. D. Colwell, R. R. Petrakis, L. Pergament, H. S. Thorpe, R. D. Schoepf, Richard W. Krzyczkowski, Roman Henneman, Suzanne S. Hudson, Charles L. Putnam, Evelyn S. Thiesen, Donna J. Parks, G. A. McCarty, Perry L. Leckie, J. O. Schrumpf, Barry J. Simonson, G. H. Paine, D. P. Lawrence, R. D. Pyott, W. T. Leh, M. Elders, W. Combs, J. Caplen, T. Harrison, F. L. Wong, K. M. Heft., R. E. Charnell, Robert L. Lehmann, Edward J. Mallon, Lawrence G. Hatfield, Cecile Adams, Gerald H. Johanning, James Talvitie, Antti Noll, Kenneth E. Miller, Terry Smiarowski, Joseph F. Willis, Cleve E. Foster, John H. Schlesinger, Benjamin Daetz, Douglas Lear, Donald U. Smith, Mona F. Hundemann, Audrey S. Crockett, Pernell W. Werner, Kirk G. Carroll, Thomas E. Maase, David L. Genco, Joseph E. Ifeadi, Christopher N. Lowman, F. G. Christensen, S. W. Van Winkle, W. Mattice, J. S. Harrison, Elizabeth A. Barker, James C. Chesness, Jerry L. Smith, Ralph E. Shaheeen, Donald G. Raney, R. Keith Borton, T. Wezernak, C. T. Raney, R. K. Sherwani, Jabbor K. Moreau, David H. Eisenberg, Norman A. Lynch, Cornelius J. Breeding, Roger J. Johnson, J. D. Foster, K. E. Mouat, D. A. Clark, R. Hyden, John William Owen, Wilfred Bayfield, Neil G. Barrow, Graham C. Stolz, Stephanie B. Wienckowski, Louis A. Brown, Betram S. Keyfitz, Nathan Wilson, W. L. Newman, Peter W. G. Bammi, Deepak Bammi, Dalip Goddard, James E. Chisholm, Tony Walsh, Cliff Brennan, Geoffrey Thompson, K. S. Richardson, R. Jensen, Clayton E. Brown, Dail W. Mirabito, John A. Cowing, Thomas G. Binghamton, Suny Siehl, George H. Albrecht, O. W. Alexander, Ariel Barde, Jean -Philippe Darby, William P. McMichael, Francis Clay Dunlap, Robert W. Muckleston, Keith W. Frankenhoff, Charles A. Giulini, Lorenzo T. Wyatt, T. Black, Peter E. Keating, William Thomas Leonard, M. E. Fisher, E. L. Brunelle, M. F. Dickinson, J. E. Pethig, Rudiger Clapham Exxon Research & Engineering Co. Linden Government Research Lab Coast Guard Washington D.C. Department of Transportation Washington D.C. Office For Remote Sensing of Earth Resources. NASA Earth Resources Survey Program Pennsylvania State University Washington D.C. Department of the Navy Washington D.C. Cambridge. Dept. of Mechanical Engineering Massachusetts Inst. of Technology USA Huntsville. School of Graduate Studies and Research Alabama Univ. USA Dept. of Microbiology. Office of Naval Research Maryland Univ. Arlington Research and Development Co. Pittsburgh AeroChem Research Labs. Inc. Princeton Dept. of the Interior Office of Library Services. Bibliographic Series (Final) Washington D.C. Interplan Corp. Santa Barbara Urban Mass Transportation Adm. Washington D.C. Naval Underwater Systems Center Newport Calif. Mercury Project. National Science Found Stanford Univ Washington D.C. Div. of Advanced Environmental Research & Tech. USA Corvallis. NASA Earth Resources Survey Program Oregon State Univ. Washington D.C. Riverside. Inst. of Geophysics and Planetary Physics National Science Foundation California Univ. Washington D.C. Livermore Lawrence Livermore Lab. California Univ. USA Atlantic Oceanographic and Meteorological Labs. National Oceanic and Atmospheric Administration Miami National Technical Information Service Springfield Miami Univ. Coral Gables School of Law National Oceanic and Atmospheric Administration Rockville National Academy of Sciences Office of Sea Grant Washington D. C. School of Law National Oceanic and Atmospheric Administration Office of Sea Grant. Rockville Norman. Dept. of Civil Engineering and Environmental Science. Urban Mass Transportation Administration Oklahoma Univ. Washington D. C. Knoxville.Dept. of Civil Engineering. Federal Highway Administration Tennessee Univ. Washington D. C. Amherst.Water Resources Research Center. Office of Water Research and Technology Massachusetts Univ. Washington D. C. Calif. Dept. of Industria

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Novel method for evaluating frequency response of permeabilities in the c-plane and along the c-axis of z-type hexagonal ferrite

Novel method for evaluating frequency response of permeabili...

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作者： Kato, T. Mikami, H. Noguchi, S. Advanced Electronics Research Laboratory Hitachi Metals Ltd. Kumagaya Saitama 360-0843 Japan Department of Materials Science and Engineering Graduate School of Engineering Tohoku University Sendai 980-8579 Japan Magnetic Materials Research Laboratory NEOMAX Company Hitachi Metals Ltd. Egawa Shimamoto-cho Mishima-gun Osaka 618-0013 Japan Information System Componets Company Hitachi Metals Ltd. Nanei-cho Tottori-shi Tottori 689-1121 Japan

In this study, a novel method was developed to evaluate the permeability along a certain direction (directional permeability) in the high-frequency range. Two kinds of polycrystalline textured Z-type hexagonal ferrites whose easy planes of magnetization lie in a cetain plane and in a certain direction were prepared by molding under a magnetic field; these ferrites were used in this method. The permeabilities that were measured from three toroids cut from these textured ferrites were converted to directional permeabilities by examining the relationship between the permeability measured from the toroid and directional permeability. It was noted that the highest directional permeability of over 50 was obtained along the c-plane below 300 MHz, whereas negative permeability values were observed from 1.2 to 10 GHz. On the other hand, the lowest directional permeability of 4 was obtained along the direction that is normal to the c-plane. These results can be made use of designing various inductive devices. © 2009 IEEE.

关键词： Ferrites

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A clonal selection algorithm for optimization in electromagnetics

A clonal selection algorithm for optimization in electromagn...

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作者： Campelo, Felipe Guimarães, Frederico G. Igarashi, Hajime Ramírez, Jaime A. Research Group of Informatics for System Synthesis Graduate School of Information Science and Technology Hokkaido University Sapporo 060-0814 Japan Department of Electrical Engineering Federal University of Minas Gerais Belo Horizonte MG 31270-010 Brazil

This paper proposes the real-coded clonal selection algorithm (RCSA) for use in electromagnetic design optimization. Some features of the algorithm, such as the number of clones, mutation range, and the fraction of the population selected each generation are discussed. The TEAM Workshop problem 22 is investigated, in order to illustrate the performance of the algorithm in a real electromagnetic problem. The results obtained, a set of optimal solutions representing a broader range of options for the designer, are compared with those achieved by a genetic algorithm, showing the efficiency of the RCSA in practical optimization problems. © 2005 IEEE.

关键词： Electromagnetic fields

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Evaluation of thin film noise suppressor applied to noise emulator chip implemented in 65 nm CMOS technology

Evaluation of thin film noise suppressor applied to noise em...

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作者： Muroga, Sho Endo, Yasushi Kodate, Wataru Sasaki, Yoshiaki Yoshikawa, Kumpei Sasaki, Yuta Nagata, Makoto Yamaguchi, Masahiro Department of Electrical and Communication Engineering Graduate School of Engineering Tohoku University Sendai Miyagi 980-8579 Japan Department of Information Science Graduate School of System Informatics Kobe University Kobe Hyogo 657-8501 Japan New Industry Creation Hatchery Center (NICHe) Tohoku University Sendai Miyagi 980-8579 Japan

This paper reports the shielding effect of soft magnetic film as a thin film noise suppressor applied to a test chip implemented in 65 nm seven metal CMOS technology. This test chip is equipped with a noise generator circuit. The 0.2-1-μm-thick magnetic films, which are integrated with polyimide substrates, are mounted onto the noise generator circuit in the test chip, and 2-μm-thick magnetic film is directly integrated to the passivation of the test chip. These films are deposited by RF magnetron spattering. The shield effect is evaluated by magnetic near-field measurement using planar shielded loop probe and 3-D full-wave electromagnetic field simulation. As a result, we successfully demonstrate a shield effect of 7.7 dB at a crock frequency of 200 MHz with 2-μ m-thick CoZrNb film. Furthermore, the result of the thickness dependence of the shielding effect revealed that a permeability-thickness product (μr × tm) of 1 950 μ m is required as the design target for obtaining 10 dB suppression. © 2011 IEEE.

关键词： Thin films

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