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Evaluating the Robustness of Complementary Channel Ferroelectric FETs Against Total Ionizing dose Towards Radiation-Tolerant Embedded Nonvolatile Memory

TechRxiv

引用

TechRxiv 2023年

作者： Jiang, Zhouhang Guo, Zixiang Luo, Xuyi Sayed, Munazza Faris, Zubair Mulaosmanovic, Halid duenkel, Stefan Soss, Steven Beyer, Sven Gong, Xiao Kurinec, Santosh Narayanan, Vijaykrishnan Amrouch, Hussam Zhang, Enxia Fleetwood, daniel M. Schrimpf, Ronald d. Ni, Kai The Microsystems Engineering Ph.D. Program The Mechanical Engineering Rochester Institute of Technology RochesterNY14623 United States The Department of Electrical and Computer Engineering Vanderbilt University NashvilleTN37235 United States University of Stuttgart Stuttgart70174 Germany Germany The Munich Institute of Robotics and Machine Intelligence Arcisstrasse 21 Munich80333 Germany The GlobalFoundries Fab1 LLC Dresden Germany The Department of Electrical Computer Engineering National University of Singapore 119077 Singapore The Department of Computer Science and Engineering Penn State University University ParkPA16802 United States The Department of Electrical and Microelectric Engineering Rochester Institute of Technology RochesterNY14623 United States

In this work, a thorough assessment of the robustness of complementary channel HfO2 ferroelectric FET (FeFET) against total ionizing dose (TId) radiation is conducted, with the goal of determining its suitability for use as high-performance and energy-efficient embedded nonvolatile memory (eNVM) for space applications. We demonstrate that: i) ferroelectric HfO2 thin film is robust against X-ray and proton irradiation;ii) FeFET exhibits a polarization state dependent radiation sensitivity where the high-VTH (HVT) state sees noticeable negative VTH shift and low-VTH (LVT) is immune to irradiation, irrespective of the channel type;iii) the state dependence is ascribed to the depolarization field in the HVT, which points toward the channel and facilitates the transport and trapping of radiation-generated holes close to the channel. In the future, radiation hardening techniques need to be considered. © 2023, CC BY.

关键词： Radiation effects

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The role of input imaging combination and AdC threshold on segmentation of acute ischemic stroke lesion using U-Net

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European Radiology 2023年第9期33卷 6157-6167页

作者： Li, Ya-Hui Lin, Shao-Chieh Chung, Hsiao-Wen Chang, Chia-Ching Peng, Hsu-Hsia Huang, Teng-Yi Shen, Wu-Chung Tsai, Chon-Haw Lo, Yu-Chien Lee, Tung-Yang Juan, Cheng-Hsuan Juan, Cheng-En Chang, Hing-Chiu Liu, Yi-Jui Juan, Chun-Jung Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Medical Imaging China Medical University Hsinchu Hospital No. 199 Sec. 1 Xinglong Rd. Zhubei City Hsinchu County 302 Hsinchu Taiwan Ph.D. Program in Electrical and Communication Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Department of Management Science National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Biomedical Engineering and Environmental Sciences National Tsing Hua University Hsinchu Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging Medical University Hospital Taichung Taiwan Department of Neurology China Medical University Hospital Taichung Taiwan Cheng Ching Hospital Taichung Taiwan Master’s Program of Biomedical Informatics and Biomedical Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University No. 100 Wenhwa Rd. Seatwen Taichung 40724 Taiwan Department of Biomedical Engineering The Chinese University of Hong Kong ERB1112 11/F William M.W. Mong Engineering Building N.T Shatin Hong Kong Multi-Scale Medical Robotics Center The Chinese University of Hong Kong N.T Shatin Hong Kong Department of Biomedical Engineering National Defense Medical Center Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

Background: To evaluate the effect of the weighting of input imaging combo and AdC threshold on the performance of the U-Net and to find an optimized input imaging combo and AdC threshold in segmenting acute ischemic stroke (AIS) lesion. Methods: This study retrospectively enrolled a total of 212 patients having AIS. Four combos, including AdC-AdC-AdC (AAA), dWI-AdC-AdC (dAA), dWI-dWI-AdC (ddA), and dWI-dWI-dWI (ddd), were used as input images, respectively. Three AdC thresholds including 0.6, 0.8 and 1.8 × 10^–3 mm²/s were applied. dice similarity coefficient (dSC) was used to evaluate the segmentation performance of U-Nets. Nonparametric Kruskal–Wallis test with Tukey–Kramer post-hoc tests were used for comparison. A p <.05 was considered statistically significant. Results: The dSC significantly varied among different combos of images and different AdC thresholds. Hybrid U-Nets outperformed uniform U-Nets at AdC thresholds of 0.6 × 10^–3 mm²/s and 0.8 × 10^–3 mm²/s (p <.001). The U-Net with imaging combo of ddd had segmentation performance similar to hybrid U-Nets at an AdC threshold of 1.8 × 10^–3 mm²/s (p =.062 to 1). The U-Net using the imaging combo of dAA at the AdC threshold of 0.6 × 10^–3 mm²/s achieved the highest dSC in the segmentation of AIS lesion. Conclusions: The segmentation performance of U-Net for AIS varies among the input imaging combos and AdC thresholds. The U-Net is optimized by choosing the imaging combo of dAA at an AdC threshold of 0.6 × 10^–3 mm²/s in segmentating AIS lesion with highest dSC. Key Points: • Segmentation performance of U-Net for AIS differs among input imaging combos. • Segmentation performance of U-Net for AIS differs among AdC thresholds. • U-Net is optimized using dAA with AdC = 0.6 × 10^–3mm²/s. © 2023, The Author(s), under exclusive licence to European Society of Radiology.

关键词： deep Learning diffusion Magnetic Resonance Imaging Ischemic Stroke Neural Networks, Computer Retrospective Study

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An expedited model for identifying potential patients with periodic leg movements

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Journal of Sleep Research 2024年第6期33卷 e14198页

作者： Chen, Po-Yueh Lin, Shang-Yang Wu, Chung-Sheng Hung, Shih-Han Chen, david Hsin-Kuang Liu, Wen-Te Lin, Yi-Chih Department of Otolaryngology Wan Fang Hospital Taipei Medical University Taipei Taiwan Department of Otolaryngology School of Medicine College of Medicine Taipei Medical University Taipei Taiwan Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan Department of Primary Care Medicine Shuang-Ho Hospital Taipei Medical University New Taipei City Taiwan International Master/Ph.D. Program in Medicine College of Medicine Taipei Medical University Taipei Taiwan Department of Medical Education Shuang-Ho Hospital Taipei Medical University New Taipei City Taiwan Department of Chest Medicine Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan Sleep Center Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan Department of Otolaryngology Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan School of Public Health College of Public Health Taipei Medical University Taipei Taiwan

Periodic leg movements during sleep (PLMS) may have crucial consequences in adults. This study aimed to identify baseline characteristics, symptoms, or questionnaires that could help to identify sleep-disordered breathing patients with significant PLMS. Patients aged 20–80 years who underwent polysomnography for assessing sleep disturbance were included. Various factors such as sex, age, body measurements, symptoms, apnea–hypopnea index (AHI), and sleep quality scales were analysed to determine the presence of PLMS. The study included 1480 patients with a mean age of 46.4 ± 13.4 years, among whom 110 (7.4%) had significant PLMS with a PLM index of 15 or higher. There were no significant differences observed in terms of sex or BMI between patients with and without significant PLMS. However, the odds ratios (OR) for PLMS were 4.33, 4.41, and 4.23 in patients who were aged over 50 years, had insomnia, or had an ESS score of less than 10, respectively. Notably, the OR increased up to 67.89 times in patients who presented with all three risk factors. Our analysis identified significant risk factors for PLMS: age over 50, self-reported insomnia, and lower daytime sleepiness levels. These findings aid in identifying potential PLMS patients, facilitating confirmatory examinations and managing associated comorbidities. © 2024 European Sleep Research Society.

关键词： daytime sleepiness insomnia obstructive sleep apnea periodic leg movements during sleep vertigo

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Automating Care by Self-maintainability for Full Laboratory Automation

arXiv

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arXiv 2025年

作者： Ochiai, Koji Tahara-Arai, Yuya Kato, Akari Kaizu, Kazunari Kariyazaki, Hirokazu Umeno, Makoto Takahashi, Koichi Kanda, Genki N. Ozaki, Haruka Laboratory for Biologically Inspired Computing RIKEN Center for Biosystems Dynamics Research 6-7-1 Minatojima Minamimachi Chuo-ku Hyogo Kobe650-0047 Japan Bioinformatics Laboratory Institute of Medicine University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8577 Japan Ph.D. Program in Humanics School of Integrative and Global Majors University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8577 Japan Laboratory Automation Suppliers’ Association 2-1-8 Minatojima Minamimachi Chuo-ku Hyogo Kobe650-0047 Japan Cell Modeling and Simulation Group Exploratory Research Center on Life and Living Systems National Institutes of Natural Sciences 5-1 Higashiyama Myodaiji Aichi Okazaki444-8787 Japan Robotics Division YASKAWA Electric Corporation 2-1 Kurosaki Shiroishi Yahatanishi-ku Kitakyushu Fukuoka806-0004 Japan BAIKEIDO LLC 3-8-1 Asano Kokurakita-ku Kitakyushu Fukuoka802-0001 Japan Graduate School of Media and Governance Keio University 5322 Endo Fujisawa-shi Kanagawa252-0882 Japan Medical Research Laboratory Institute of Integrated Research Institute of Science Tokyo 1-5-45 Yushima Bunkyo-ku Tokyo113-8519 Japan Center for Artificial Intelligence Research University of Tsukuba 1-1-1 Tennodai Ibaraki Tsukuba305-8577 Japan

The automation of experiments in life sciences and chemistry has significantly advanced with the development of various instruments and AI technologies. However, achieving full laboratory automation, where experiments conceived by scientists are seamlessly executed in automated laboratories, remains a challenge. We identify the lack of automation in planning and operational tasks—critical human-managed processes collectively termed "care"—as a major barrier. Automating care is the key enabler for full laboratory automation. To address this, we propose the concept of self-maintainability (SeM): the ability of a laboratory system to autonomously adapt to internal and external disturbances, maintaining operational readiness akin to living cells. A SeM-enabled laboratory features autonomous recognition of its state, dynamic resource and information management, and adaptive responses to unexpected conditions. This shifts the planning and execution of experimental workflows, including scheduling and reagent allocation, from humans to the system. We present a conceptual framework for implementing SeM-enabled laboratories, comprising three modules—Requirement manager, Labware manager, and device manager—and a Central manager. SeM not only enables scientists to execute envisioned experiments seamlessly but also provides developers with a design concept that drives the technological innovations needed for full automation. Copyright © 2025, The Authors. All rights reserved.

关键词： Information management

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5th National Congress of the Italian Society of physiotherapy

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Archives of physiotherapy 2016年第1期6卷 1-42页

作者： Alessandro Aina Elisabetta Sarasso Marco Barbero Barbara Cagnie Elena Castelli Chad Cook Silvano Ferrari Andrea Foglia Paolo Bizzarri donatella Giraudo Chris Littlewood Paolo Pillastrini daniele Piscitelli Michele Romano Andrea Tettamanti Carla Vanti Stefano Vercelli Lennard Voogt Aceto Maria Spina Emanuele Silvestre Francesco Carotenuto Antonio Cerillo Ilaria Orefice Giuseppe Paone Paolo Bassi Raffaele Fiorito Serena Aina Alessandro M. Bonfanti M. Pasquetti Bortolami Arianna Pillastrini Paolo Vanti Carla d. Brioschi A. Pedretti M. Vitali G. Fraschini A. Tettamanti G. Castellini S. Gianola L. Moja S. Bonovas G. Banfi Greta Castellini Monica Gasparini Silvia Gianola Valentina Pecoraro Lorenzo Moja A. Andreano Pamela Frigerio Michela Agostini Andrea Turolla Rosa Bolotta davide Corbetta Valeria Sirtori Paolo Gozzer Erica Guariento Linda Li G Castellini L Moja S Gianola S Bonovas Alessandro Chiarotto Caroline B. Terwee Maarten Boers Raymond W. Ostelo Lara J. Maxwell George A. Wells Peter Tugwell Ron Clijsen Cesar Fernandez-de-las-Penas Ciceri Matteo Rossetti Sara Vercelli Stefano M. Cislaghi G. Penone G. Marinelli G. Rezzan G. Melegati R. Gatti Colombo Claudio Tolosa Francesca Andrea Moriondo Stefano doronzio Matteo Paci Marco Monticone Garzonio Fabiola Zanetta Anna Bargeri Serena Cerone Giorgia Sartorio Francesco Filippo Ghirlanda Alessandro Schneebeli Corrado Cescon G. Gioia S. Faccendini A. Aina G. Granzotto F. Gattinoni L. Coppola I. Gava M. Frassinelli Lorenzo Guidotti Marco Postiglione Bruna Lombardi diego Leoni Michele Egloff davide Storer Roberto Gatti Magno Tiziano Tettamanti Andrea daniele Maremmani Giuseppe Plebani Sebastiano Cencini Federica Moresi Matteo Isnardi Alberto Gallace N. Moretti Maselli M. Testa Stefano Negrini Sabrina donzelli Francesco Saveri Alessandra Negrini Silvana Parzini Fabio Zaina Leonardo Nesi Francesco Ferrarello Valeria Anna Maria Bianchi Luca Nannetti Giuditta Mini Mariangela Marchettini Fabio Piccolo Federica Agosta Massimo Filippi Andrea Falini Paola Adamo Federico Temporiti Rob Physiotherapist Dip. MDT private practice Milan Italy Laboratory of Movement Analysis Division of Neuroscience San Raffaele Scientific Institute and Vita-Salute San Raffaele University Milan Italy Neuroimaging Research Unit San Raffaele Scientific Institute Vita-Salute San Raffaele University Milan Italy Rehabilitation Research Laboratory Department of Business Economics Health and Social Care University of Applied Sciences and Arts of Southern Switzerland SUPSI Manno Switzerland Department of Business Health and Social Care University of Applied Sciences and Arts of Southern Switzerland (SUPSI) Manno Switzerland Department of Business Economics Health and Social Care University of Applied Sciences and Arts of Southern Switzerland SUPSI Manno Switzerland Department of Rehabilitation Sciences and Physiotherapy Ghent University Ghent Belgium San Raffaele Scientific Institute and Vita Salute University Milan Italy Division of Physical Therapy Duke University Durham NC USA Master of Manual Therapy and Musculoskeletal Rehabilitation Molecular Medicine Department of Human Anatomy University of Padova Padova Italy Master of Manual Therapy and Musculoskeletal Rehabilitation University of Padova Padova Italy Physiotherapists Orthopaedic Manual Therapists (OMT) Private practitioners Civitanova Marche Italy San Raffaele Turro Hospital Milan Italy University of Sheffield Sheffield UK Department of Biomedical and Neuromotor Sciences University of Bologna Bologna Italy Ph.D. Candidate in Neuroscience Department of Translational Medicine and Surgery University of Milano-Bicocca Milano Italy Department of Translational medicine and Surgery Program in Physical Therapy University of Bicocca Milan Italy Rehabilitation Department S. Anna Hospital Como Italy ISICO Istituto Scientifico Italiano Colonna Vertebrale Milan Italy Laboratory of Analysis and Rehabilitation of Motor Function Neuroscience Division San Raffaele Hospital Milan Italy School of Physiotherapy

S1 Criteria for exercises selection in subjects with low back painAlessandro AinaS2 Recent advances in pathophysiology and treatment of myofascial trigger pointsMarco BarberoS3 Rehabilitation of scapular dyskinesiaBar... 详细信息

S1 Criteria for exercises selection in subjects with low back pain

Alessandro Aina

S2 Recent advances in pathophysiology and treatment of myofascial trigger points

Marco Barbero

S3 Rehabilitation of scapular dyskinesia

Barbara Cagnie

S4 Musculoskeletal rehabilitation in subjects affected by neurological disorders

Elena Castelli

S5 Which examination tests suggest the best candidates for manual therapy

Chad Cook

S6 Case study: the role of the measurements for the identification of targets and guidance of the treatment

Silvano Ferrari

S7 Assessment of joint mobility: state of the art

Andrea Foglia, Paolo Bizzarri

S8 Core stabilization exercises in the treatment of urinary incontinence

donatella Giraudo

S9 Preventing surgical subacromial decompression through rotator cuff rehabilitation

Chris Littlewood

S10 Methodological aspects of Clinical Prediction Rules in the rehabilitation of Low Back Pain

Paolo Pillastrini

S11 Interpretability of outcome measures in musculoskeletal rehabilitation

daniele Piscitelli

S12 Conservative treatment of the misalignment of the spine: state of the art and perspectives

Michele Romano

S13 Balance training in subjects with musculoskeletal disorders

Andrea Tettamanti

S14 dosage of manual therapy: principles for clinical practice

Carla Vanti

S15 Are there speed limits in post-surgery lower limb rehabilitation?

Stefano Vercelli

S16 Classification of predominant neuropathic, nociceptive or central sensation pain

Lennard Voogt

P1 A wearable proprioceptive stabilizer (Equistasi®) for rehabilitation of balance disorders in multiple sclerosis patients: preliminary results of a randomized, double-blind, versus placebo controlled study

Aceto Maria, Spina Emanuele, Paone Paolo, Silvestre Francesco, Carotenuto Antonio, Ceri

关键词： Motor Imagery Oswestry disability Index Manual Therapy Myofascial Pain Syndrome Clinical Prediction Rule

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Autonomous Homing based on Laser-Camera Fusion System

Autonomous Homing based on Laser-Camera Fusion System

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： dong-Geol Choi Inwook Shim Yunsu Bok Tae Hyun Oh In So Kweon is a Ph.D. student of Robotics program KAIST Daejeon South Korea. is a Ph. D. student of Division of Future Vehicle KAIST Daejeon South Korea. is a postdoctoral researcher of Department of Electrical Engineering KAIST Daejeon South Korea. is a master student of Department of Electrical Engineering KAIST Daejeon South Korea. is a professor of Department of Electrical Engineering KAIST Daejeon South Korea.

ISBN: (纸本)9781467317375

Building maps of unknown environments is a critical factor for autonomous navigation and homing, and this problem is especially challenging in large-scale environments. Recently, sensor fusion systems such as combinations of cameras and laser sensors have become popular in the effort to ensure a general level of performance in this task. In this paper, we present a new homing method in a large-scale environment using a laser-camera fusion system. Instead of fusing data to form a single map builder, we adaptively select sensor data to handle environments which contain ambiguity. For autonomous homing, we propose a new mapping strategy for building a hybrid map and a return strategy for selecting the next target waypoints efficiently. The experimental results demonstrate that the proposed algorithm enables the autonomous homing of a robot in a large-scale indoor environments in real time.

关键词： Laser-Camera Fusion System mapping a return homing Homing behavior MAPPING(MATHEMATICAL) Laser sensors Unknown environments autonomous navigation Level of Performance Sensor fusion Sensor data task performance Cameras key factors mapping Fusion reactions Fusion, biological

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Towards energy efficiency in micro hovering air vehicles

Towards energy efficiency in micro hovering air vehicles

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2011 IEEE Aerospace Conference, AERO 2011

作者： Ratti, Jayant Vachtsevanos, George Ph.D. Robotics Program School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781424473502

Micro Aerial Vehicles (MAVs) have gained a significant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in VTOL/Hover-Capable MAVs till date has not shown performance improvement in flight endurance and payload capacities. In this paper we introduce and detail the Energy dynamics of a novel Quad-Wing MAV (QV) design and illustrate the improvement in-flight energy consumption, directed towards higher payload capacities and longer flight times. Additionally we show that independent wing control of the QV generates all 6 degrees of Freedom (doF) flight maneuvers. By the use of passive elastic elements, we can produce resonant flapping, generating lift and further improvements in energy savings. © 2011 IEEE.

关键词： Energy utilization

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Towards low-power, low-profile avionics architecture and control for micro aerial vehicles

Towards low-power, low-profile avionics architecture and con...

引用

2011 IEEE Aerospace Conference, AERO 2011

作者： Ratti, Jayant Moon, Jung-Ho Vachtsevanos, George Ph.D. Robotics Program Electrical and Computer Engg. Dept. Georgia Institute of Technology Atlanta GA 30332 United States Kangnung National Univ. Korea Republic of Georgia Institute of Technology Atlanta GA 30332 United States Electrical and Computer Engg. Dept. Georgia Institute of Technology Atlanta GA 30332 United States

ISBN: (纸本)9781424473502

The conventional Mini and Large scale UAV systems span anywhere from approximately 12 inches to 12 feet;endowing them with larger propulsion systems, batteries/fuel-tanks, which in turn provide ample footprint and power reserves for on-board avionics and wireless telemetry. The limitations thus imposed become apparent when shifting to Micro Aerial Vehicles (MAVs) and trying to equip them with equal or near-equal processing, sensing and communication capabilities, as their larger scale cousins. The conventional MAV as outlined by dARPA is a vehicle that can have a maximum dimension of 6 inches and weighs no more than 100 grams. Under these tight constraints, the footprint, weight and power reserves available to on-board avionics is drastically reduced. The paper presents the advent of a new line of Micro Architecture and Control (MARC) avionics systems with very low-power, multi-sensor, multi-processor avionics interconnect architecture designed specifically with the power and payload constraints of MAVs in mind. The results and a Real Time Operating System (RTOS) based Hardware in the Loop Simulation (HILS), flight control is discussed towards the end. © 2011 IEEE.

关键词： Flight simulators

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MOdELING ANd CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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

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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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