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Vision and force driven sensorimotor primitives for robotic assembly skills

Vision and force driven sensorimotor primitives for robotic ...

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： J.d. Morrow B.J. Nelson P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.

关键词： Force sensors Robotic assembly Robot sensing systems Robot programming Connectors Libraries computer aided manufacturing Sensor systems Manufacturing systems Robot vision systems

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Shape from motion decomposition as a learning approach for autonomous agents

Shape from motion decomposition as a learning approach for a...

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IEEE International Conference on Systems, Man and Cybernetics

作者： R.M. Voyles J.d. Morrow P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

This paper explores shape from motion decomposition as a learning tool for autonomous agents. Shape from motion is a process through which an agent learns the "shape" of some interaction with the world by imparting motion through some subspace of the world. The technique applies singular value decomposition to observations of the motion to extract the eigenvectors. The authors show how shape from motion applied to a fingertip force sensor "learns" a more precise calibration matrix with less effort than traditional least squares approaches. The authors also demonstrate primordial learning on a primitive "infant" mobile robot.

关键词： Shape Calibration computer vision Force sensors Matrix decomposition Autonomous agents Ontologies Singular value decomposition Robustness Principal component analysis

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A MINIMAL SYNCHRONIZATION OVERHEAd AFFINITY SCHEdULING ALGORITHM FOR SHAREd-MEMORY MULTIPROCESSORS

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International Journal of High Speed Computing 1995年第2期7卷 231-249页

作者： YI-MIN WANG RUEI-CHUAN CHANG Department of Computer and Information Science National Chiao Tung University Hsinchu Taiwan Republic of China He is a Ph.D. student at the Department of Computer and Information Science National Chiao Tung University Hsinchu Taiwan Republic of China. To whom all correspondence should be sent he is with the Department of Computer and Information Science National Chiao Tung University Hsinchu Taiwan Republic of China and Institute of Information Science Academia Sinica Nankang Taipei Republic of China.

In addition to load balancing and synchronization overhead, affinity is an important consideration for loop scheduling algorithms in modern multiprocessors. Algorithms based on affinity, like affinity scheduling (AFS), do perform better than dynamic algorithms, such as guided self-scheduling (GSS) and trapezoid self-scheduling (TSS). However, there is still room for improvement in affinity scheduling. This paper suggests a modification to AFS which combines the advantages of both GSS and AFS. Experimental results confirm the effectiveness of the proposed modification.

关键词： Independent parallel loop affinity scheduling load balance low synchronization

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Book reviews

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Journal of Modern Italian Studies 1995年第1期1卷 144-187页

作者： Robert S. dombroski[a] Stefano Fenoaltea[b] John A. davis[c] Alexander de Grand[d] Simona Piattoni[e] Michael Miller Topp[f] Silvana Patriarca[g] Anthony L. Cardoza[h] Chiara Saraceno[i] Alice Kelikian[j] daniela Luigia Caglioti[k] donna Gabaccia[l] Jane Schneider[m] douglas A. Wertman[n] Patrick McCarthy[o] [a] City University of New York [b] Princeton University [c] University of Connecticut [d] North Carolina State University [e] Political Science University of Tromse [f] University of Texas El Paso [g] Columbia University [h] Loyola University of Chicago [i] Department of the Social Sciences University of Turin Italy [j] Department of History Brandeis University [k] University of Naples [l] University of North Carolina Charlotte [m] Ph.D. Program in Anthropology Graduate School and University Center City University of New York [n] US Information Agency [o] The Johns Hopkins Bologna Center

Walter L. Adamson (1993)Avant‐Garde Florence: From Modernism to Fascism(Cambridge and London: Harvard University Press). pp.i‐x, 1‐337, $39.95, ISBN 0‐674‐05525‐X *** Zamagni (1993)The Economic History of Italy, 1860‐1990(Oxford: Clarendon Press), pp. i‐xv, 1‐413, $75.50, ISBN 0‐12‐775420‐2 hardback.F. Barbagallo (1994)La modernità squilibrata del Mezzogiorno d'Italia(Turin: Einaudi, Piccola Biblioteca) pp. 1‐120, 20,000 lire, ISBN 88‐06‐135023 paperback; P. Bevilacqua ( 1993)Breve storia dell'Italia meridionale dall'Ottocento a oggi(Rome: donzelli Editore) pp. i‐xvii, 1‐176, 25,000 lire, ISBN 88‐79‐89003‐4 paperback; L Cafagna ( 1994)Nord e sud. Non fare a pezzi l'unità d'Italia(Venice: Marsilio, I Grilli) pp. 1‐155, 18,000 lire, ISBN 88‐31‐75982‐5 *** Rosselli (1994)Liberal Socialism, ed. Nadia Urbinati and translated by William McCuaig (Princeton: Princeton University Press), pp.i‐ixv, 1‐138, $12.95, ISBN 0‐691‐02560‐6 *** Putnam ( 1993)Making democracy Work. Civic Traditions in Modern Italy(Princeton: Princeton University Press), $24.95, ISBN 0‐691‐07889‐0 *** Pernicone (1993)Italian Anarchism, 1864‐1892(Princeton, NJ: Princeton University Press), pp. i‐xiv, 1‐326, $39.50, ISBN 0‐691‐0S692‐7 *** Riall (1994)The Italian Risorgimento. State, Society and National Unification(London and New York: Routledge), pp. 1‐101, $11.95, ISBN 0‐415‐05775‐2 *** Meriggi (1993)Milano borghese: Circoli ed élites nell'Ottocento(Venice: Marsilio Editore), pp. 1‐222, 32,000 lire, ISBN 88‐31‐75564‐1 *** I. Kertzer (1993)Sacrificed for Honor, Italian Infant Abandonment and the Politics of Reproductive Control(Boston: Beacon Press), pp.i‐xiii, 1‐252, $25, ISBN 0‐8070‐5604‐9 hardback ($ 16 paperback).Margherita Pelaja (1994)Matrimonio e sessualità a Roma nell'Ottocento(Bari: Laterza), pp. 1‐193, 38,000 lire, ISBN 88‐42‐04365‐6 *** Morris (1993)The Political Economy of Shopkeeping in Milan 1885

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A RISK-BASEd APPROACH FOR MANAGING HAZARdOUS-WASTE

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GROUNd WATER MONITORING ANd REMEdIATION 1995年第1期15卷 79-89页

作者： CHIANG, CY PETKOVSKY, Pd MCALLISTER, PM Chen Y. Chiang received his Ph.D. in environmental engineering from Rice University. He is a senior research engineer in Environmental RD&T at Shell Development Co.'s Westhollow Technology Center (3333 Hwy. 6 South Houston TX 77082 fax (713) 544–8727). He serves on the Hydrologic Science Panel of the National Science Foundation and on the Ground Water/Soil Technical Task Force of the American Petroleum Institute. He also serves on the Advisory Board of the Rutgers DARPA/ONR research program. His research interests include in situ bioremediation processes ground water/soil sampling and monitoring multiphase fluid flow phenomenon and risk/ exposure assessment. Paul Petkovsky is a senior research technician in the Groundwater Modeling Group of Environmental RD&T at Shell Development Co.'s Westhollow Technology Center. His responsibilities include site data analysis and the numerical modeling of the fate and transport of organics in ground water. He is currently pursuing a B.S. in chemical engineering with an environmental emphasis at the University of Houston. Paul McAllister received a B.S. in chemical engineering from the University of Kansas in 1987 and a Ph.D. in chemical engineering from the University of Notre Dame in 1991. He is currently an associate research engineer in Environmental RD&T at Shell Development Co.'s Westhollow Technology Center. Since joining Shell he has conducted research and provided technical support on ground water modeling and remediation issues. His research interests include in situ bioremediation of ground water and residual hydrocarbons natural attenuation of contaminants and subsurface fate and transport phenomena in the subsurface.

In 1992, the U.S. Environmental Protection Agency (EPA) proposed risk-based management of hazardous waste. A major component of the proposed rule is the determination of non-site-specific screening concentration levels from waste leachate. Ground water at a downgradient exposure point must not exceed those screening levels, or more stringent requirements would apply. The screening concentration level is determined with verified models and equations that simulate the transport and attenuation of chemicals as they travel from the source area to the exposure point. A consortium of screening levels is determined in this paper by considering varying physical, chemical, and biological conditions. In addition, a method is developed for multicomponent leaching from contaminated soils in a landfill to determine the time-dependent behavior of a finite source. Finally, this paper discusses infiltration rate through the clay liner.

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OPTIMUM FREQUENCY REUSE IN MOBILE TELEphONY SYSTEMS

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INTERNATIONAL JOURNAL OF COMMUNICATION SYSTEMS 1995年第3期8卷 185-190页

作者： KAZANTZAKIS, MG dEMESTICHAS, PP ANAGNOSTOU, ME National Technical University of Athens Computer Science Division Department of Electrical and Computer Engineering Heroon Polytechneiou 9 Zografou Athens 15773 Greece Michael G. Kazantzakii was born in Athens Greece in 1962. He received both the Diploma and Ph.D. Degree from the Electrical Engineering Department of the National Technical University of Athens in 1986 and 1992 respectively. During the period 1992–1993 he was a member of the Staff of the Hellenic Navy Research Centre working in the area of underwater acoustics. Since 1994 he has been a researcher at the National Technical University of Athens Department of Electrical Engineering and Computer Science Telecommunications Laboratory. His interests include data mobile and integrated services networks. Panagiotis P. Demestichas was born in Athens Greece in 1967. He received the Diploma in electrical engineering from the National Technical University of Athens (NTUA) Athens in 1993. At present he is a research assistant at NTUA working towards his Ph.D. dissertation. He participated in the BRITE/EURAM-EURATN and in the RACE-TOMQAT and MONET projects. His research interests are in the areas of broadband and mobile networks queueing theory algorithms and complexity theory. He is a Member of the Technical Chamber of Greece. Miltiades E. Anagnostou was born in Athens in 1958. He received the Electrical Engineers Diploma from the National Technical University of Athens (NTUA) in 1981. During the period 1981–1987 he was a teaching assistant at NTUA. In 1987 he received his Ph.D. in the area of computer networks. In 1987–1989 he served the Greek army in the Air Force Research and Development Center. In 1989–1991 he was a Lecturer and since 1991 he has been an Assistant Professor in the Computer Science Division Department of Electrical and Computer Engineering of the NTUA. He teaches courses on modern telecommunications formal specification of protocols stochastic processes and queueing theory. Since 1981 Dr. Anagnostou has been involved

The reason why cellular mobile telephony systems exist is that they allow frequency reuse. dynamic allocation algorithms improve the network efficiency and the service quality. dynamic allocation is closely related to the following instantaneous allocation problem: given a number of channels (frequencies), a cell structure and the number of calls to be accommodated in each cell, find the optimum allocation of channels to cells subject to restrictions concerning the distance of cells, where the same frequency can be reused. In this paper we formulate and solve this problem by showing that it can be reduced to a 0-1 programming problem. Finally we present results, and draw subsequent conclusions.

关键词： MOBILE TELEphONY FREQUENCY ALLOCATION UMTS

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LOW-FLOW PURGING ANd SAMPLING OF GROUNd-WATER MONITORING WELLS WITH dEdICATEd SYSTEMS

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GROUNd WATER MONITORING ANd REMEdIATION 1995年第1期15卷 116-123页

作者： PULS, RW PAUL, CJ Robert W. Puls is currently employed at the R.S. Kerr Environmental Research Laboratory (RSKERL) U.S. EPA Subsurface Systems Branch in the Research Division (Acta OK 74820). 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 RSKERL since 1987. Recent topics of particular interest include the following: 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 the purposes of risk assessment remedial performance at hazardous waste sites. Cynthia J. Paul is currently employed by the U.S. EPA at RSKERL. She received her bachelor's degree from East Central University in 1990 and will complete her master's degree in environmental science at the University of Oklahoma in 1995. Her research interests include adsorption-desorption and oxidation-reduction reactions of inorganics as related to subsurface contaminant fate and transport. Other interests include ground water sampling methodologies and turbidity effects on volatile organic contaminants.

A field study was conducted to assess purging requirements for dedicated sampling systems in conventional monitoring wells and for pumps encased in short screens and buried within a shallow sandy aquifer. Low-flow purging methods were used, and wells were purged until water quality indicator parameters (dissolved oxygen, specific conductance, turbidity) and contaminant concentrations (chromate, trichloroethylene, dichloroethylene) reached equilibrium. Eight wells, varying in depth from 4.6 to 15.2 m below ground surface, were studied. The data show that purge volumes were independent of well depth or casing volumes. Contaminant concentrations equilibrated with less than 7.5 L of purge volume in all wells. Initial contaminant concentration values were generally within 20 percent of final values. Water quality parameters equilibrated in less than 10 L in all wells and were conservative measures for indicating the presence of adjacent formation water. Water quality parameters equilibrated faster in dedicated sampling systems than in portable systems and initial turbidity levels were lower.

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An equivalent transformation of multiterminal nets to two-terminal net-sets in the topological via minimization problem

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ELECTRONICS ANd COMMUNICATIONS IN JAPAN PART III-FUNdAMENTAL ELECTRONIC science 1995年第12期78卷 37-47页

作者： Fujiyoshi, K Kajitani, Y School of Information Sciences Japan Advanced Institute of Science and Technology Ishikawa Japan 923-12 Members Yoji kajiitani:received his Ph.D. in 1969 from Tokyo Institute of Technology where he became a Research Associate in 1969 and later an Associate Professor and Professor. Presently he is a Professor at Hohriku Advanced Institute of Scientific Technology and is Director of Research Complex CAD21 Tokyo Institute of Technology. He is engaged in research on application of graph theory especially in computer-assisted VLSI. He is the recipient of the Paper Award in 1969 1973 and 1985 the Yonezawa Prize in 1971 and the Karuizawa CAS Workshop Special Award in 1989 I.E.I.C.E. Japan. He became an IEEE Fellow in 1992.

In via-minimization in topological routing on a k-layer, an equivalent transformation of a t-terminal net to a collection of two-terminal nets is considered. An equivalent transformation to a special structure of two-terminal nets, which is called a two-terminal net-body, is presented for the case when available vias are through-hole vias and t less than or equal to k and for the case when available vias are adjacent-layer vias and t = 3. The key issue is the proof that the routings of the t-terminal nets in optimum routing are classified into a few fixed number of cases with respect to the division of the layers and that each net is equivalently replaced with a two-terminal net-body.

关键词： layout via-minimization multiterminal net topological routing equivalent transformation

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CONCURRENT LARGE-SIGNAL SIMULATION OF AN ACTIVE MICROSTRIP ANTENNA

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INTERNATIONAL JOURNAL OF NUMERICAL MOdELLING-ELECTRONIC NETWORKS dEVICES ANd FIELdS 1995年第1期8卷 3-12页

作者： MCdOWALL, dS FUSCO, VF High Frequency Electronics Laboratory. Department of Electrical and Electronic Engineering The Queen's University of Belfast Ashby Building Stranmillis Road Belfast BT9 5AH U.K. D. Stewart McDowall was born in Dublin Republic of Ireland in 1967. He received the M. Eng. degree in Electrical and Electronic Engineering from the Queen's University of Belfast in 1990. In the same year he was presented with a Distinction Award from the Departmnet of Education of Northern Ireland and he is currently pursuing his Ph.D. in the Microwave Research Group at Q.U.B. His principal research area is the electromagnetic field mapping of microwave systems using concurrent programming. He is an Associate Member of the Institute of Electrical Engineers. Vincent F. Fusco was educated at the Queens's University of Belfast where he obtained the degree of Ph.D. in 1982. He has worked as a research engineer on short-range radar and radio telemetry systems. Currently he is a reader in Microwave Communications in the School of Electrical engineering and Computer Science the Queen's University of Belfast. His current research interests include non-linear microwave circuit simulatino and concurrent programming techniques for electromagnetic field problems with particular emphasis on EMC applications. He has published numerous research papers in these areas. He is the author of the bookMicrowave Circuits Analysis and Computer Aided Design Prentice-Hall 1987. Dr Fusco is a Chartered Electrical Engineer and a Member of the Institute of Electrical Engineers.

This paper details the use of a circuit-based EM modelling technique combined with a harmonic balance simulator used to model the radiation from the microstrip bodies comprising an active antenna circuit. The modelling approach adopted for the planar bodies in the circuit will be shown to allow the use of concurrent algorithms in order to reduce overall computational time.

关键词： Microstrip antennas

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An implementation of parallel production systems with two load balancing mechanisms

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SYSTEMS ANd computerS IN JAPAN 1995年第14期26卷 1-14页

作者： Miyazaki, J Yokota, H Member School of Information Science Japan Advanced Institute of Science and Technology Ishikawa-ken Japan 923 Received his B.E. degree from Tokyo Institute of Technology Tokyo Japan in 1992 and his M.S. degree from Japan Advanced Institute of Science and Technology (JAIST) Ishikawa Japan in 1994. He is a Ph.D. student at School of Information Science JAIST. His research interests include parallel rule base systems active database systems and high performance I/O systems. He is a member of the Institute of Electronics Information and Communication Engineers of Japan and Information Processing Society of Japan. Received his B.E. M.E. and Dr. of Eng. degrees from Tokyo Institute of Technology in 1980 1982 and 1991 respectively. He joined Fujitsu Ltd. in 1982 and was a researcher at the Institute of New Generation Computer Technology (ICOT) from 1982 to 1986 and at Fujitsu Laboratories Ltd. from 1986 to 1992. He is an Associate Professor of School of Information Science Japan Advanced Institute of Science and Technology (JAIST). HIS research interests include parallel computer architecture for databases and data engineering. He is a member of IPS I.E.I.C.E. JSAI IEEE and ACM.

An implementation method is proposed for parallel production systems on multicomputers, or message-passing computers, to speed up execution time. There have been proposed parallel production systems using hash mechanism, but they cause a skewed load distribution problem. To obtain more efficient balance of load, the method addressed here and named clustered parallel production systems (CPPS) adopts two load balancing strategies: hash and demand-driven. Taking account of the cost of termination detection, the execution time of the CPPS and simple hash method are estimated, and implement on an nCube2. The estimation meets the execution results. The CPPS provides much better load balance to improve scalability.

关键词： parallel production system multicomputer message-passing parallel computer load balancing

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