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Advances in Intelligent and Soft Computing 2011年 97卷 257-269页

作者： Walkowiak, Tomasz Michalska, Katarzyna Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland

ISBN: (纸本)9783642213922

The chapter presents a method of Web-based information system dependability analysis based on functional and reliability approach. A service availability is predicted by developed by authors a two level simulator (using Monte-Carlo based estimation). Taxonomy of the faults is described. Numerical experiments were performed on a test case scenario that was modeled as a network of interacting tasks and technical infrastructure required for the service realization. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Reliability analysis

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How to predict future in a world of antibody-antigen chromosomes

How to predict future in a world of antibody-antigen chromos...

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Federated Conference on computer Science and Information Systems (FedCSIS)

作者： Zbigniew Pliszka Olgierd Unold Wroclaw Public Library Wroclaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The paper deals with a representation of the antibody-antigen chromosomes. The proposed new binary decoding allows us to prove the dependence between subsequent generations of chromosomes, using quick and simple operations on chromosomes indices, instead of processing the binary strings. Some formal properties of the immune system were expressed based on this representation. A consistency theoretical proof for epistatic properties as well as exploration possibilities of a crossover operator was given.

关键词： Biological cells Mathematical model Immune system Encoding Aerospace electronics Equations Indexes

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Energy-Efficient Scheduling Algorithms for Periodic Power Management for Real-Time Event Streams

Energy-Efficient Scheduling Algorithms for Periodic Power Ma...

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Kai Huang Jian-Jia Chen Lothar Thiele fortiss GmbH Munich Germany Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany ETH Zurich Computer Engineering and Networks Laboratory Switzerland

As modern VLSI technology is scaling to the deep sub-micron domain, embedded systems face a power-efficiency problem, i.e., static power consumption caused by the leakage current. This paper explores how to use dynamic power management to reduce static power consumption while guaranteeing hard real-time properties. To tackle event arrivals with non-deterministic patterns, the arrival curve model is adopted to describe event arrivals in the interval domain. To reduce runtime overhead, periodic power management is investigated, which turns on and off a system with a fixed period. To reduce the timing complexity of computing such a periodic scheme, two algorithms, which are based on a linear-segmented representation of the arrival curve model, are proposed to trade the complexity with accuracy for energy reduction. We also present simulation results to demonstrate the effectiveness of our algorithms.

关键词： Power demand Real time systems Computational modeling Silicon Approximation algorithms Energy consumption Timing

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Parallel estimation of the cost function for the flexible scheduling problemI

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Procedia computer Science 2011年 4卷 2236-2245页

作者： Wojciech Boźejko Mariusz Uchroński Mieczysław Wodecki Institute of Computer Engineering Control and Robotics Wrocław University of Technology Janiszewskiego 11-17 50-372 Wrocław Poland Institute of Computer Science University of Wrocław Joliot-Curie 15 50-383 Wrocław Poland

The aim of this paper is to show how to determine the neighborhood of the complex discrete optimization problem and how to search it in the parallel environment, this being illustrated by an example of the hybrid scheduling, more precisely a flexible job shop problem. We present a parallel single-walk approach in this respect. A theoretical analysis based on PRAM model of parallel computing has been made. We propose a cost-optimal method of neighborhood generation parallelization.

关键词： parallel algorithm scheduling flexible job shop metaheuristics

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Adaptive backstepping and θ-D based controllers for a tilt-rotor aircraft

Adaptive backstepping and θ-D based controllers for a tilt-...

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Mediterranean Conference on control and Automation (MED)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.

关键词： Aerodynamics Aircraft Rotors Atmospheric modeling Attitude control control design

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Adaptive output-feedback control of planar hybrid step motors using position-only feedback

Adaptive output-feedback control of planar hybrid step motor...

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International Conference on control and Automation (ICCA)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of New york University Brooklyn NY USA

In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. The proposed controller utilizes only position measurements in each axis, and achieves practical stabilization of position tracking errors. Velocity and current measurements are not required for feedback. Furthermore, the only electromechanical motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized to remove requirement of knowledge of any other electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also corrects for the yaw rotation to achieve synchrony of motor and rotor teeth.

关键词： Permanent magnet motors Reluctance motors Observers Force Windings Robustness Current measurement

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Human hand: Kinematics, statics and dynamics

Human hand: Kinematics, statics and dynamics

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41st International Conference on Environmental Systems 2011, ICES 2011

作者： Chen, Fai Chen Favetto, Alain Mousavi, Mehdi Ambrosio, Elisa P. Appendino, Silvia Battezzato, Alessandro Manfredi, Diego Pescarmona, Francesco Bona, Basilio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy

ISBN: (纸本)9781600869488

The human hand is an extremely complex system due to its large number of degrees of freedom (DoF) within a significantly reduced space. Moreover, it is required for most of the tasks performed by humans. That is why it is necessary to understand deeply all the characteristics of the human hand in order to develop devices interacting with it: to support it, to substitute injured parts, to help the recovery from injuries, or to enhance the performances while preserving its natural level of dexterity. The aim of this paper is to provide a complete and exhaustive summary of the kinematic, static and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons. Both fields provide promising opportunities in research and space applications;the former through humanoid robotic helpers (e.g., Eurobot, Robonaut), the latter through the rising necessity to help the astronauts during Extravehicular Activity (EVA). In literature, several papers can be found analyzing kinematics, workspace, constraints and forces of the human hand2,4. However this information is scattered among several papers, regarding in particular the exerted forces and the dependencies of joint forces and velocities from the angular values of the same joint or the adjacent one. Direct and inverse kinematics are presented for all the fingers and the data related to maximum forces, velocities, acceleration for each joint of each finger has been collected and is presented in this work. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Space applications

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Spacesuits and EVA gloves evolution and future trends of extravehicular activity gloves

Spacesuits and EVA gloves evolution and future trends of ext...

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41st International Conference on Environmental Systems 2011, ICES 2011

作者： Mousavi, M. Mehdi S. Ambrosio, Elisa Paola Appendino, Silvia Chen, Fai Chen Favetto, Alain Manfredi, Diego Pescarmona, Francesco Somà, Aurelio Italian Institute of Technology Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Mechanics Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy Center for Space Human Robotics Corso Trento 21 10129 Torino Italy Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 10129 Torino Italy

ISBN: (纸本)9781600869488

The total time of Extravehicular Activity (EVA) performed by astronauts has increased significantly during the past few years. On the other hand, the bulk and stiffness of the suit itself and in particular of the gloves generate some difficulties for the astronauts to perform their tasks in space. Therefore, it is necessary to improve the EVA glove technology for future needs. Since a lack of categorized information for those who want to improve EVA gloves is evident, in this work a survey on related literature has been carried out and fundamental data has been categorized. The paper starts with an overview on the historical and chronological progress of EVA suits and EVA gloves followed by a review of the previously demonstrated EVA gloves including American and Russian ones. The remaining part of the paper is dedicated to the characteristics of current EVA gloves and to present and future trends in research for further improvements. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Manned space flight

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Multiscale processing performance for motion capture

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Machine Graphics and Vision 2011年第3期20卷 251-266页

作者： Jablonski, Bartosz Kulbacki, Marek Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland Polish-Japanese Institute of Information Technology Koszykowa 86 02-008 Warszawa Poland

Motion capture systems help record human motion as a sequence of joint angle vectors and analyse it in multiple degrees of freedom with high accuracy. Motion, as many other signals, might contain information which is stored on many different scales. Hence the use of a multiscale model might help correctly distinguish or analyse motion properties. In this paper we analyse the capabilities of a multiscale motion model to help distinguish meaningful motion features, whilst the unnecessary components (like noise) get removed. We performed experiments based on real motion capture data to analyse the discriminative properties of the multiscale approach. The main goal of experiments was to check the clustering performance of a multiscale model. The detailed results are presented and discussed, showing the capabilities and advantages of multiscale model application.

关键词： Degrees of freedom (mechanics)

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