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2011 IEEE 5th International Conference on Cybernetics and Intelligent systems, CIS 2011

作者： Pang, Chee Khiang Ng, Tsan Sheng Lewis, Frank L. Lee, Tong Heng Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Department of Industrial and Systems Engineering National University of Singapore Singapore Singapore Automation and Robotics Research Institute University of Texas at Arlington Fort Worth TX 76118 United States

ISBN: (纸本)9781612841984

We propose a systems design procedure to integrate mechanical design, structural prototyping, and servo evaluation through careful comprehension of the servo-mechanical-prototype production cycle commonly employed in mechatronic industries. Our approach focuses on the Modal Parametric Identification (MPI) of key feedback parameters for fast exchange of design specifications and information to enable efficient conduct of product design evaluations and support schedule compression of the R&D project life cycle. Using the commercial Hard Disk Drive (HDD) as a case example, we demonstrate how our approach allows inter-disciplinary specifications to be communicated amongst engineers from different backgrounds to speed up the R&D process for the next generation of intelligent manufacturing. This provides the project management team with powerful decision-making tools for project strategy formulation, and improvements in project outcome are potentially massive because of the low costs of change. © 2011 IEEE.

关键词： Human resource management

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Optimal Control on Lie Groups: Implementation Details of the Projection Operator Approach

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IFAC Proceedings Volumes 2011年第1期44卷 14567-14572页

作者： Alessandro Saccon John Hauser A. Pedro Aguiar Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical Computer and Energy Engineering University of Colorado Boulder

Abstract This paper discusses key implementation details required for computing the solution of a continuous-time optimal control problem on a Lie group using the projection operator approach. In particular, we provide the explicit formulas to compute the time-varying linear quadratic problem which defines the search direction step of the algorithm. We also show that the projection operator approach on Lie groups generates a sequence of adjoint state trajectories that converges, as a local minimum is approached, to the adjoint state trajectory of the first order necessary conditions of the Pontryagin's Maximum Principle, placing it between direct and indirect optimization methods. As illustrative example, an optimization problem on SO(3) is introduced and numerical results of the projection operator approach are presented, highlighting second order converge rate of the method.

关键词： Optimal control Lie groups direct method rotation matrix

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A Frenkel-Poole model of dielectric charging in CMOS MEMS

A Frenkel-Poole model of dielectric charging in CMOS MEMS

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Dorsey, K.L. Fedder, G.K. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States Robotics Institute Carnegie Mellon University Pittsburgh PA United States Institute for Complex and Engineered Systems Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)9781457701573

Electrostatic actuation is commonly used for MEMS devices such as resonators, sensors, and RF switches, but parasitic charge in the dielectric layers of the devices may cause performance issues (e.g., drift, pull-in) or decreased device lifetime. We present a precise predictive model of dielectric charging in a CMOS MEMS resonator using Frenkel-Poole conduction. The model is able to predict frequency drift within 5% of measured drift data. Use of these predictive models will lead to electrostatically actuated MEMS devices with increased stability. © 2011 IEEE.

关键词： Electrostatic actuators

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A multimodal-corpus data collection system for cognitive acoustic scene analysis

A multimodal-corpus data collection system for cognitive aco...

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2011 45th Annual Conference on Information Sciences and systems, CISS 2011

作者： Georgiou, Julius Pouliquen, Philippe Cassidy, Andrew Garreau, Guillaume Andreou, Charalambos Stuarts, Guillermo D'Urbal, Cyrille Andreou, Andreas G. Denham, Susan Wennekers, Thomas Mill, Robert Winkler, István Bohm, Tamás Szalárdy, Orsolya Klump, Georg M. Jones, Simon Bendixen, Alexandra Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus Department of Electrical and Computer Engineering Johns Hopkins University Baltimore MD 21218 United States Department of Psychology Centre for Robotics and Neural Systems University of Plymouth United Kingdom Institute for Psychology Hungarian Academy of Sciences Budapest Hungary Department of Biology and Environmental Sciences University of Oldenburg Oldenburg Germany Institute of Psychology University of Leipzig Leipzig Germany

ISBN: (纸本)9781424498475

We report on the design and the collection of a multi-modal data corpus for cognitive acoustic scene analysis. Sounds are generated by stationary and moving sources (people), that is by omni-directional speakers mounted on people's heads. One or two subjects walk along predetermined systematic and random paths, in synchrony and out of sync. Sound is captured in multiple microphone systems, including a four MEMS microphone directional array, two electret microphones situated in the ears of a stuffed gerbil head, and a Head Acoustics, head-shoulder unit with ICP microphones. Three micro-Doppler units operating at different frequencies were employed to capture gait and the articulatory signatures as well as location of the people in the scene. Three ground vibration sensors were recording the footsteps of the walking people. A 3D MESA camera as well as a web-cam provided 2D and 3D visual data for system calibration and ground truth. Data were collected in three environments ranging from a well controlled environment (anechoic chamber), an indoor environment (large classroom) and the natural environment of an outside courtyard. A software tool has been developed for the browsing and visualization of the data. © 2011 IEEE.

关键词： Data visualization

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Collaborative sequential-based detection in wireless sensor networks

Collaborative sequential-based detection in wireless sensor ...

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Asilomar Conference on Signals, systems & computers

作者： Sabina Zejnilović Joao Pedro Gomes Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics-Instituto Superior Técnico (ISR/IST) Technical University of Lisbon Lisboa Portugal

Due to limited power resources, energy efficiency is an important aspect of detection in wireless sensor networks. We propose a collaborative detection scheme, based on sequential hypothesis testing, where a randomly chosen node may initiate a collaboration, collecting observations from neighboring nodes to test the hypotheses. Our simulation results show that for large networks and high SNR, the proposed scheme leads to lower communication cost and similar performance when compared to a standard detection setup, where all the observations are collected in a fusion node. We also examine how the energy efficiency of this scheme evolves as a function of the network structure.

关键词： Collaboration Wireless sensor networks Signal to noise ratio Testing Network topology Monitoring Wireless communication

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Large deviations analysis of consensus+innovations detection in random networks

Large deviations analysis of consensus+innovations detection...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Dragana Bajović Dušan Jakovetić José M. F. Moura João Xavier Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Technical University of Lisbon Lisboa Portugal

We study the large deviations performance of consensus+innovations distributed detection over random networks, where each sensor, at each time k, weight averages its decision variable with its neighbors decision variables (consensus), and accounts for its new observation (innovation). Sensor observations are independent identically distributed (i.i.d.) both in time and space, but have generic (non Gaussian) distributions. The underlying network is random, described by a sequence of i.i.d. stochastic, symmetric weight matrices W(k); we measure the corresponding speed of consensus by |log r|, where r is the second largest eigenvalue of the second moment of W(k). We show that distributed detection exhibits a phase transition behavior with respect to |log r|: when |log r| is above a threshold, distributed detection is equivalent to the optimal centralized detector, i.e., has the error exponent equal to the Chernoff information. We explicitly quantify the optimality threshold for |log r| as a function of the log-moment generating function Λ 0 (·) of a sensor's log- likelihood ratio. When below the threshold, we analytically find the achievable error exponent as a function of r and Λ 0 (·). Finally, we illustrate by an example the dependence of the optimality threshold on the type of the sensor observations distribution.

关键词： Detectors Technological innovation Robot sensing systems Educational institutions Vectors USA Councils Symmetric matrices

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Refined Si-CMOS-MEMS process using AOE, drie and preform bonding

Refined Si-CMOS-MEMS process using AOE, drie and preform bon...

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International Solid-State Sensors, Actuators and Microsystems Conference

作者： Fang, Y.-J. Mukherjee, T. Fedder, G.K. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Institute for Complex Engineered Systems Carnegie Mellon University Pittsburgh PA 15213 United States

ISBN: (纸本)9781457701573

This paper presents a Si-CMOS-MEMS fabrication process that forms released structures out of a 10 m CMOS metal and oxide stack along with a 50 μm-thick section of the underlying silicon substrate. The process employs back-side silicon grinding that provides silicon mean roughness of 20 nm and maximum peak-to-valley roughness of 264 nm. The thinned MEMS substrate is bonded with solder preforms to a silicon base. Advanced Oxide Etch (AOE) of the CMOS MEMS stack has a rate of 527 nm/min and leaves no polymer residue. Three different thermal shunting methods during the silicon DRIE step are studied to alleviate isotropic silicon etch artifacts. Test of a Si-CMOS-MEMS crab-leg resonator validates the process. The device has a quality factor of 750 and resonant frequency of 36.4 kHz in air. © 2011 IEEE.

关键词： Natural frequencies

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Emergent Behavior in Large Scale Networks

Emergent Behavior in Large Scale Networks

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IEEE Conference on Decision and Control

作者： Augusto Santos Jose M. F. Moura Department of Electrical and Computer Engineering Carnegie Mellon University USA and Institute for Systems and Robotics Instituto Superior Tecnico Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University USA

ISBN: (纸本)9781612848006

We apply mean field asymptotic analysis to explain the emergence of global behavior in large scale networks. The underlying motivating application is epidemics like computer virus spreading, for example, in wide campus local networks. We consider multiple classes of viruses, each type bearing their own statistical characterization - exogenous contamination, contagious propagation, and healing. The network state (distribution of nodes infected by each class in the network) is a jump Markov process, not necessarily reversible, making it a challenge to obtain its invariant distribution. By suitable renormalization, in the limit of a large network (number of nodes,) the macroscopic behavior of the network is described by the solution of a set of deterministic nonlinear differential equations (Riccati type.) We show that, under the heavy traffic assumption, the relevant underlying dynamics induces a coherent nontrivial metastable behavior in a macroscopic space-time scale: a slight imbalance on the effective spreading rate of one class over the others determines a significantly greater steady state predominance of this class over the others, regardless of the initial distribution.

关键词： computer viruses Network Ganglia Local Area Networks sea-floor spreading

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction Sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Cost-efficient built-in repair analysis for embedded memories with on-chip ECC

Cost-efficient built-in repair analysis for embedded memorie...

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International Symposium on Access Spaces (ISAS)

作者： Hongbin Sun Jizhong Zhao Fei Wang Nanning Zheng Tong Zhang Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an Shaanxi China Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

This paper concerns low-cost implementation of built-in repair analysis (BIRA) for embedded memories. As embedded memories become more and more dominant in system-on-chip (SoC) design, it is very crucial to achieve sufficiently high embedded memory yield. Due to the increasing number of diversified embedded memories on chip, external memory testing and redundancy repair analysis become inadequate and the use of BIRA becomes more attractive and even indispensable. The essential challenge of BIRA design is to how to minimize its unnegligible implementation cost without sacrificing the achievable repair rate. The key feature that distinguishes this work from prior work is that, motivated by the fact that almost all the embedded memories use error correction code (ECC) for soft error tolerance, we propose to appropriately leverage such existing built-in error correction capability to enable very low-cost BIRA implementations while maintaining the same and even higher defect repair rate and the same soft error tolerance. With this underlying theme, this paper presents a specific design solution, and its effectiveness and advantages over existing solutions has been successfully demonstrated using computer simulations.

关键词： Maintenance engineering Error correction codes System-on-a-chip Redundancy Testing Arrays Error correction

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