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The shape from motion approach to rapid and precise force/torque sensor calibration

JOURNAL OF dYNAMIC SYSTEMS MEASUREMENT ANd CONTROL-TRANSACTIONS OF THE ASME 1997年第2期119卷 229-235页

作者： Voyles, RM Morrow, Jd Khosla, PK Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA 15213-3891 Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213

We present a new technique for multi-axis force/torque sensor calibration called shape from motion. The novel aspect of this technique is that it does nor require explicit knowledge of the redundant applied load vectors, yet it retains the noise rejection of a highly redundant data set and the rigor of least squares. The result is a much faster, slightly more accurate calibration procedure. A constant-magnitude force (produced by a mass in a gravity field) is randomly moved through the sensing space while raw data is continuously gathered. Using only the raw sensor signals, the motion of the force vector (the ''motion'') and the calibration matrix (the ''shape'') are simultaneously extracted by singular value decomposition. We have applied this technique to several types of force/torque sensors and present experimental results for a 2-dOF fingertip and a 6-dOF wrist sensor with comparisons to the standard least squares approach.

关键词： Torque Calibration Gravity (Force) Signals Noise (Sound) Stress Shapes Sensors

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Video abstracting

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COMMUNICATIONS OF THE ACM 1997年第12期40卷 54-62页

作者： Lienhart, R Pfeiffer, S Effelsberg, W Ph.D. candidate and research assistant in the chair of Praktische Informatik IV at the University of Mannheim in Germany professor of computer science and heads the chair of Praktische Informatik IV at the University of Mannheim in Germany

Pulling together clips of a feature film selected for such content as text, dialogs, and explosions yields a video abstract that can be put onto an html page for browsing.

关键词： Image compression

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phenomenal consciousness and what it's like

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BEHAVIORAL ANd BRAIN scienceS 1997年第1期20卷 156-&页

作者： Rosenthal, dM Ph.D. Program in Philosophy and Concentration in Cognitive Science City University of New York Graduate School New York NY 10036-8099 drosenth@broadway.gc.cuny.edu

Even if A-consciousness and P-consciousness were conceptually distinct, it is no fallacy for researchers relying on a suitable theory to infer one from the other. But P-consciousness conceptually implies A-consciousness - unless one or the other is mere ersatz consciousness. And we can best explain mental states' being conscious, in any intuitively natural sense, by appeal to higher-order thoughts.

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More on training strategies for critic and action neural networks in dual heuristic programming method

More on training strategies for critic and action neural net...

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IEEE International Conference on Systems, Man and Cybernetics

作者： G.G. Lendaris C. Paintz T. Shannon Systems Science & Electrical Engineering Portland State University Portland OR USA Electrical Engineering Portland State University Portland OR USA Systems Science Ph.D. Program Portland State University Portland OR USA

The article describes a modification to the usual procedures for training of critic and action neural networks in the dual heuristic programming (dHP) method (d. Prokhorov and d. Wunsch, 1996; R. Santiago, 1995; P. Werbos, 1994). This modification entails updating both the critic and the action networks at each computational cycle, rather than only one at a time. The distinction lies in the introduction of a (real) second copy of the critic network whose weights are adjusted less often and the "desired value" for training the other critic is obtained from this critic copy. Previously (G. Lendaris and C. Paintz, 1997), the proposed modified training strategy was demonstrated on the pole cart controller problem: the full 6 dimensional state vector was input to the critic and action NNs, however, the utility function only involved pole angle, not distance along the track (x). For the first set of results presented here, the 3 states associated with the x variable were eliminated from the inputs to the NNs, keeping the same utility function previously defined. This resulted in improved learning and controller performance. From this point, the method is applied to two additional problems, each of increasing complexity: for the first, an x-related term is added to the utility function for the pole cart problem, and simultaneously, the x-related states were added back in to the NNs (i.e., increase number of state variables used from 3 to 6); the second relates to steering a vehicle with independent drive motors on each wheel. The problem contexts and experimental results are provided.

关键词： Neural networks Intelligent networks Equations design methodology Sliding mode control computer networks Vehicle driving Wheels Analytical models Signal generators

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Tropism-based cognition for the interpretation of context-dependent gestures

Tropism-based cognition for the interpretation of context-de...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R.M. Voyles A. Agah P.K. Khosla G.A. Bekey Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Bio Robotics Division Mechanical Engineering Laboratory Tsukuba Japan Department of Elect. and Comp. Eng Carnegie Mellon University Pittsburgh PA USA Department of Computer Science University of Southern California Los Angeles CA USA

The tropism system cognitive architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agents for the interpretation of human tactile gestures for robotic trajectory specification and modification. The fine-grained nature of the architecture and the use of the port-based object framework for agent instantiation allows the manual construction of a capable agent set that is reconfigurable and reusable across different gesture-based interaction tasks.

关键词： Cognition Cognitive robotics Shape computer architecture Robot sensing systems Manipulators Humans Multiagent systems Robot programming Mice

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USGS compiles data set for national assessment of VOCs in ground water

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GROUNd WATER MONITORING ANd REMEdIATION 1997年第4期17卷 147-157页

作者： Lapham, WW Neitzert, KM Moran, MJ Zogorski, JS Wayne W. Lapham is ground water specialist for the U.S. Geological Survey's National Water-Quality Assessment Program (MS 413 12201 Sunrise Valley Dr. Reston VA 20192 e-mail: wlapham.er.usgs.gov) and also coordinates the work described in this article for the VOC National Synthesis Project of the NAWQA Program. He has worked for the USGS since 1976. He has a Ph.D. degree in hydrology an M.S. degree in geology and a B.S. degree in mechanical engineering. Kathleen M. Neitzert is a computer assistant with the USGS assisting the VOC National Synthesis Project (U.S. Geological Survey 111 Kansas SW Huron SD 57350) with data base activities for the NAWQA Program. She has been with the USGS since 1983 and has a B.A. degree in secondary education from South Dakota State University. Michael J. Moran is a doctoral student in geological engineering (hydrogeology) at the South Dakota School of Mines and Technology (U.S. Geological Survey 1608 Mt. View Rd. Rapid City SD 57702). He is working part-time at the USGS in Rapid City South Dakota on the assessment described in this article for the NAWQA VOC National Synthesis. John S. Zogorski is chief VOC National Synthesis Project (U.S. Geological Survey 1608 Mt. View Rd. Rapid City SD 57702 e-mail: jszogors. cr.usgs.gov) which is being completed by the U.S. Geological Survey as part of the NAWQA Program. He has worked for the USGS since 1992 and previously held a variety of academic positions. His Ph.D. and M.S. degrees are from Rutgers University (environmental sciences) and B.S. degree is from Drexel University (civil engineering).

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Hot methanol extraction for the analysis of volatile organic chemicals in subsurface core samples from dover Air Force Base, delaware

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GROUNd WATER MONITORING ANd REMEdIATION 1997年第1期17卷 104-121页

作者： Ball, WP Xia, G durfee, dP Wilson, Rd Brown, MJ Mackay, dM William P. Ball is an assistant professor in the Department of Geography and environmental engineering at Johns Hopkins University (313 Ames Hall 3400 N. Charles St. Baltimore MD 21218). His research interests are in the physical and chemical processes that control contaminant fate in aqueous systems both in the natural environment and in engineered processes of treatment and remediation. Recent work has included both laboratory and computer modeling studies related to contaminant fate and transport in subsurface environments. Ball holds M.S. and Ph.D. degrees in environmental engineering and science from Stanford University and a B.S. degree in civil engineering from the University of Virginia. He is a registered pro-fessional engineer in the state of Virginia. Guoshou Xia is a Ph.D. candidate at Johns Hopkins University He was previously a lecturer in the Department of Civil Engineering at Southeast University in China. He received his B.S. degree in chemistry from Hefei University and his M.S. degree in environmental engineering from East China University of Chemical Technology. His current research interests are in the area ofsubsurface contaminant transport with emphasis on better understanding the nature of organic contaminant interactions with subsurface solids. Donald P. Durfee received his M.S. degree in environmental engineering from Johns Hopkins University in 1993 and is currently a Ph.D. student at Johns Hopkins. He is studying contaminant fate and transport in the subsurface and is also interested in site characterization and remediation issues. Ryan D. Wilson is a research associate and Ph.D. student in the Department of Earth Sciences at the University of Waterloo Waterloo Ontario. His research interests include field and modeling studies of semipassive remediation technologies and the behavior of gaseous tracers. Wilson received his B.Sc. in geology from the University of Alberta in 1987 and his M.Sc. in earth sciences (hydrogeology) from the University of Waterloo in 1993. Michael J. Br

The evaluation of contaminant concentrations in ground water and soil is an essential aspect of most hazardous waste remedial investigations. This paper describes methods applied toward obtaining, preserving, and analyzing subsurface samples for the determination of VOC concentrations in the saturated region of an unconfined coastal plain aquifer at dover Air Force Base (dAFB), delaware. The described protocol involved headspace-free subsampling of cores, field preservation of subsamples in methanol, and overnight extraction of the VOCs at elevated temperature (70 degrees C). Methanol-extracted compounds were subsequently transferred to hexane and analyzed by gas chromatography. The method was found to achieve quantitative extraction from the aquifer sands in a single step, although extraction from fine-grained and more strongly sorbing aquitard samples required multiple methanol extractions to achieve comparable recovery. An extensive set of dAFB results is presented as an indication of how these methods can be applied toward characterizing field-scale contamination with a high degree of resolution and accuracy. These data have enabled a quantitative estimate of the contaminant distribution at this site and offer valuable insight into processes of contaminant migration into the underlying aquitard. In these regards, the methods used are believed to have provided much more accurate results than could have been obtained using more commonly applied techniques.

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Impact of turbidity on TCE and degradation products in ground water

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GROUNd WATER MONITORING ANd REMEdIATION 1997年第1期17卷 128-133页

作者： Paul, CJ Puls, RW Robert IX Puls is currently employed at the R.S. Kerr Environmental Research Center of the National Risk Management Research Laboratory U.S. EPA. He received his Ph.D. in soil and water science from the University of Arizona. Following completion of his doctorate he worked on the High Level Nuclear Waste Repository Research Program (DOE) investigating the fate and transport of radionuclides in ground water. He has been employed at RSKERCsince 1987. His recent topics of interest include surface chemical factors which influence colloidal stability and transport in subsurface systems surface redox-mediated transformations of inorganic contaminants in soils and ground water in situ remediation of contaminated metals sites and the development of ground water sampling techniques that provide representative and reproducible contaminant concentrations for risk assessment and remedial performance monitoring at hazardous waste sites.

Elevated particulate concentrations in ground water samples can bias contaminant concentration data. This has been particularly problematic for metal analyses where artificially increased turbidity levels can affect metals concentrations and confound interpretation of the data. However, few studies have been conducted to determine the impact of particulates on trichloroethylene (TCE), cis-dichloroethylene (c-dCE), and vinyl chloride concentrations. Laboratory batch studies and field investigations were conducted to evaluate the effects of suspended solids on VOC concentrations in ground water samples analyzed by purge-and-trap gas chromatography. Three different solids were used to assess the effects of suspended particulates. The solids were aquifer material from a field site in North Carolina and two reference clay minerals (kaolinite and Namontmorillonite). during the laboratory portion of this study, the solids were used to determine effects on TCE concentrations under controlled laboratory conditions. The same solids were used in a field study to compare the laboratory results with field results. Solids were added to the sample vials prior to sample collection to intentionally increase turbidity levels in the water samples. Results of the study indicate essentially no decrease in TCE, c-dCE, or vinyl chloride concentrations due to increased turbidity levels.

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Empirical testing: The prototyper's evaluation mechanism

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NAVAL ENGINEERS JOURNAL 1997年第1期109卷 41-46页

作者： Hafner, AN Arnold N. Hafner Ph.D.:is founder and president of Information Systems Research (ISR). He has twenty-five years of experience in systems development and is published in the field of systems development management. He served as corporate research scientist at Systems Exploration Inc. from 1988 to 1991 program director at Computer Science Corporation from 1983 to 1988 director of operations at Republic Management Systems Corporation from 1981 to 1983 and program manager at Computer Science Corporation from 1972 to 1981. A 1962 graduate of the US. Naval Academy he holds a doctoral degree in human behavior and engineering degrees in electronics and communications. He has taught courses on information systems and systems management at most of the colleges in the San Diego area. Dr. Hafner has presented fourteen refereed research papers while publishing sixteen articles and a book A Manager's Guide to Software System Development.

Evaluating complex systems is the subject of this paper, the third in a series investigating prototyping. It provides an interesting and helpful overview of how to evaluate systems prototypes and outlines the iterative stream of developer-user interactions that is replacing older approaches to testing and evaluating new military systems, which promise to reduce the time required to develop and field future military capabilities. Changes to the acquisition process, such as those the paper sketches, will facilitate the nation's rapid transit through its current revolution in military affairs.

关键词： Systems analysis

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Application of 3-d nonlinear wave-load and structural-response simulations in naval ship design

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 253-266页

作者： Engle, A Lin, W Salvesen, N Shin, Y Allen H. Engle:is a naval architect in the Hydrodynamic Division of the Naval Sea Systems /Command (NavSea). He received his B.S. degree in engineering scinece from the State University of New York at Buffalo in 1977 and his M.S. degree in ocean engineering from the Unviersity of Hawaii in 1979. Corrently Mr. Engle is the program director of the Navy's Hydrodynamic Loads Technology Development Program. Mr. Engle is Chairman of SNAME Panel on Hull Loadings (HS-1) and contributing member to the International Ship and Offshore Structures Congress's Committee on Dynamics. Moei-Min Lin:is a senior research scientist at the Ship technology Division of Sciences Applications International Corporation (SAIC). He received his B.S. degree in naval architecture and marine engineering from the National Cheng-Kung University Taiwan in 1977 and his Ph.D. degree in ocean engineering from MIT in 1985. He is an expert in computational ship hydrodynamics. He has been the P.I. for development of the Large Amplitude Motions Program (LAMP) system. Nils Salvesen:is the manager of the Ship Technology Division of the Science Application International Corporation (SAIC).He received his B.S. and Ph.D. degree from the Development Naval Architecture and Marine Engineering of the University of Michigan in 1960 and 1966 respectively. He has more then thirty years of experience in the development of ship motion simulation and wave load prediction methods. More than twenty-five years ago he developed the original strip-theory code on which the Navy's ship motions program (SMP) is based. Yung-Sup Shin:is the principal engineer responsible for the hydrodynamic projects in the Research and Development Department of the American Bureau of Shipping New York. He received a Ph.D. degree in hydrodynamic from the Department of Naval Architecture and Marine Engineering of the University of Michigan. In the past eighteen years at ABS he has been involved in the theortical development and analysis of various marine hydrodynamic problems. In recent year

despite the limits inherent within linearized frequency-domain ship motion and wave load computer codes, strip theory has been found to provide the design community with a fairly robust, practical design tool with reasonable accuracy for most conventional displacement monohulls. However, the advent of new design concepts including multi-hulls and application of new materials as well as the push to incorporate reliability methods within surface ship structural design criteria has highlighted the need for more rigorous methods of developing a lifetime load spectrum. In this paper, a multilevel computation system for predicting ship motions and wave loads, up through and including extreme sea conditions, is presented. This system includes a traditional strip theory approach and newly developed linear and nonlinear three-dimensional time-domain methods. The new nonlinear methods are currently in the process of being validated by the U.S. Navy. The status of the current development is presented. Sample numerical results from the new nonlinear methods are compared with both linear frequency domain predictions and model tests.

关键词： Naval vessels

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