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Internal force-based impedance control for cooperating manipulators

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 1996年第1期12卷 78-89页

作者： Bonitz, RG Hsia, TC Systems Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.

关键词： Impedance Force control Motion control Manipulator dynamics Velocity control Robot sensing systems End effectors Kinematics Stability Computational modeling

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GROWTH OF GAN BY ECR-ASSISTED MBE

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PHYSICA B 1993年第1-4期185卷 36-49页

作者： MOUSTAKAS, TD LEI, T MOLNAR, RJ Molecular Beam Epitaxy Laboratory Department of Electrical Computer and Systems Engineering Boston University MA USA

High-quality GaN films have been grown on a variety of substrates by electron cyclotron resonance microwave plasma-assisted molecular beam epitaxy (ECR-MBE). The films were grown in two steps. First, a GaN-buffer was grown at low temperature and then the rest of the film was grown at higher temperatures. We found that this method of growth leads to a relatively small two-dimensional nucleation rate (approximately 20 nuclei/mum2 h) and high lateral growth rate (100 times faster than the vertical growth rate). This type of quasi-layer-by-layer growth results in a smooth surface morphology to within 100 angstrom. Growth on Si(100) leads to single-crystalline GaN films having the zinc-blende structure. Growth on Si(111) leads to GaN films having the wurtzitic structure with a large concentration of stacking faults. The crystallographic orientation and the surface morphology of GaN films on sapphire depends on the orientation of sapphire. To this date, the best films were grown on the basal plane of sapphire.

关键词： Semiconducting gallium compounds

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NEURAL NETWORK APPROACH TO DPCM SYSTEM-DESIGN FOR IMAGE-CODING

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IEE PROCEEDINGS-I COMMUNICATIONS SPEECH AND VISION 1992年第5期139卷 501-507页

作者： MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark USA

This paper presents a neural network approach to differential pulse code modulation (DPCM) design for the encoding of images. Instead of traditional algorithms for the computation of the relevant coefficients, such as the autocovariance and autocorrelation methods, the predictor is designed by supervised training of a neural network on examples, i.e. on a typical sequence of pixel values. This allows the use of nonlinear as well as linear correlations. Efficient and fast neural net architectures, for nonlinear one-dimensional DPCM (NNDPCM) as well as two-dimensional adaptive DPCM (NNADPCM), have been designed and applied to still image coding. computer simulation experiments have shown that the resulting encoders work very well. At a transmission rate of 1 bit/pixel, the 1-D NNDPCM offers an advantage of about 4dB in peak signal-to-noise ratio over the standard linear DPCM system. At a bit rate of 0.525 bit/pixel, the 2-D NNADPCM achieves 29.5 dB for the 512 x 512 Lena image, while there is little visible distortion in the reconstructed image. This performance is comparable to that of the best schemes known to date, whether DPCM based or not, while maintaining a lower encoding complexity. Furthermore, this establishes that there is substantial amount of nonlinear content available for 1-D and 2-D prediction in DPCM image coding.

关键词： IMAGE CODING NEURAL NETWORKS PREDICTION ALGORITHM

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Locally distinguishing inputs for systems on Lie groups and parallelism

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PROCEEDINGS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND engineering SCIENCES 1997年第1966期453卷 2391-2395页

作者： Apostolou, N Kazakos, D Control Systems Laboratory Department of Electrical and Computer Engineering University of Patras 26500 Patras Greece

This paper is concerned with invariant systems on Lie groups. A sufficient condition for a piecewise constant input to distinguish between any two distinct initial states contained in some open neighbourhood of the state space is given. This condition involves the parallel translation of vectors along curves thus relating observability to parallelism.

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A BIST SCHEME FOR A SNR, GAIN TRACKING, AND FREQUENCY-RESPONSE TEST OF A SIGMA-DELTA ADC

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IEEE TRANSACTIONS ON CIRCUITS AND systems II-ANALOG AND DIGITAL SIGNAL PROCESSING 1995年第1期42卷 1-15页

作者： TONER, MF ROBERTS, GW Department of Electrical Engineering Microelectronics and Computer Systems Laboratory McGill University Montreal Canada

Built-in-self test (BIST) for VLSI systems is desirable in order to reduce the cost per chip of production-time testing by the manufacturer, In addition, it can provide the means to perform in-the-held diagnostics, This paper discusses a mixed analog-digital BIST (MADBIST) for a signal-to-noise-ratio test, gain tracking test, and frequency response test of a Sigma-Delta analog-to-digital converter, The MADBIST strategy for the SNR, GT, and FR tests of the ADC is introduced, accuracy issues are discussed, and experimental results are presented.

关键词： Built-in self-test Frequency response System testing Analog-digital conversion Very large scale integration Costs Manufacturing Signal to noise ratio Delta-sigma modulation Group technology

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BOOLEAN NETWORK PROBABILITIES AND NETWORK DESIGN

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IEEE TRANSACTIONS ON computerS 1978年第2期27卷 187-189页

作者： MCCLUSKEY, EJ PARKER, KP SHEDLETSKY, JJ Digital Systems Laboratory Department of Computer Science and Electrical Engineering Stanford University

The correspondence between Boolean network probabilities and the design formalisms of Ledley and Aiken is demonstrated.

关键词： Combinational circuits fault detection probabilistic testing

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An Adaptive Multiparameter Penalty Selection Method for Multiconstraint and Multiblock ADMM

arXiv

引用

arXiv 2025年

作者： Lozenski, Luke McCann, Michael T. Wohlberg, Brendt Oden Institute for Computational Engineering and Sciences The University of Texas at Austin AustinTX78712 United States Department of Electrical and Systems Engineering Washington University in St. Louis St. LouisMO63130 United States Theoretical Division Los Alamos National Laboratory Los AlamosNM87545 United States Computer Computational and Statistical Sciences Division Los Alamos National Laboratory Los AlamosNM87545 United States

This work presents a new method for online selection of multiple penalty parameters for the alternating direction method of multipliers (ADMM) algorithm applied to optimization problems with multiple constraints or functionals with block matrix components. ADMM is widely used for solving constrained optimization problems in a variety of fields, including signal and image processing. Implementations of ADMM often utilize a single hyperparameter, referred to as the penalty parameter, which needs to be tuned to control the rate of convergence. However, in problems with multiple constraints, ADMM may demonstrate slow convergence regardless of penalty parameter selection due to scale differences between constraints. Accounting for scale differences between constraints to improve convergence in these cases requires introducing a penalty parameter for each constraint. The proposed method is able to adaptively account for differences in scale between constraints, providing robustness with respect to problem transformations and initial selection of penalty parameters. It is also simple to understand and implement. Our numerical experiments demonstrate that the proposed method performs favorably compared to a variety of existing penalty parameter selection methods. © 2025, CC BY-NC-ND.

关键词： Constrained optimization

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Denoising Reuse: Exploiting Inter-frame Motion Consistency for Efficient Video Generation

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Chenyu Yan, Shuo Chen, Yixuan Wang, Xianwei Wang, Yujiang Dong, Mingzhi Yang, Xiaochen Li, Dongsheng Zhu, Rui Clifton, David A. Dick, Robert P. Lv, Qin Yang, Fan Lu, Tun Gu, Ning Shang, Li Fudan University School of Computer Science Shanghai China Fudan University Shanghai Key Laboratory of Data Science Shanghai China Shanghai Institute of Intelligent Electronics & Systems Shanghai China Oxford Suzhou Centre for Advanced Research Suzhou China University of Bath Bath United Kingdom University of Glasgow School of Mathematics and Statistics United Kingdom Microsoft Research Asia Shanghai China University of London Bayes Business School City United Kingdom University of Oxford Department of Engineering Science Oxford United Kingdom University of Michigan Department of Electrical Engineering and Computer Science College of Engineering Ann ArborMI United States University of Colorado Boulder BoulderCO United States

Denoising-based diffusion models have attained impressive image synthesis;however, their applications on videos can lead to unaffordable computational costs due to the per-frame denoising operations. In pursuit of efficient video generation, we present a Diffusion Reuse MOtion (Dr. Mo) network to accelerate the video-based denoising process. Our crucial observation is that the latent representations in early denoising steps between adjacent video frames exhibit high consistencies with motion clues. Inspired by the discovery, we propose to accelerate the video denoising process by incorporating lightweight, learnable motion features. Specifically, Dr. Mo will only compute all denoising steps for base frames. For a non-based frame, Dr. Mo will propagate the pre-computed based latents of a particular step with interframe motions to obtain a fast estimation of its coarse-grained latent representation, from which the denoising will continue to obtain more sensitive and fine-grained representations. On top of this, Dr. Mo employs a meta-network named Denoising Step Selector (DSS) to dynamically determine the step to perform motion-based propagations for each frame, ensuring the correct transformation of multi-granularity visual features. Extensive evaluations on video generation and editing tasks indicate that Dr. Mo delivers widely applicable acceleration for diffusion-based video generations while effectively retaining the visual quality and style. Video generation and visualization results can be found at https://***. © 1991-2012 IEEE.

关键词： HTTP

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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ANALYSIS AND DESIGN OF LATCH-CONTROLLED SYNCHRONOUS DIGITAL CIRCUITS

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IEEE TRANSACTIONS ON computer-AIDED DESIGN OF INTEGRATED CIRCUITS AND systems 1992年第3期11卷 322-333页

作者： SAKALLAH, KA MUDGE, TN OLUKOTUN, OA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Computer Systems Laboratory University of Stanford Stanford CA USA

We present a succinct formulation of the timing constraints for latch-controlled synchronous digital circuits. We show that the constraints are mildly nonlinear and prove the equivalence of the nonlinear optimal cycle time calculation problem to an associated and simpler linear programming (LP) problem. We present an LP-based algorithm which is guaranteed to obtain the optimal cycle time for arbitrary circuits controlled by a general class of multiphase overlapped clocks. We illustrate the formulation and an initial implementation of the algorithm on some example circuits.

关键词： Digital circuits Latches Clocks Timing Linear programming Propagation delay Circuit analysis Logic Inspection Circuit topology

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