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Conference on Lasers and Electro-Optics (CLEO)

作者： Sung Hwan Cho Chun Hao Chen Frank S. Tsai Jessica Godin Yu-Hwa Lo Materials Science & Engineering Program Jacobs School of Engineering University of California San Diego La Jolla CA USA Department of Bioengineering Jacobs School of Engineering University of California San Diego La Jolla CA USA Department of Electrical & Computer Engineering Jacobs School of Engineering University of California San Diego La Jolla CA USA

K562 mammalian cells are sorted using a highly integrated microfabricated fluorescence-activated cell sorter (∝FACS). The sample cells are purified with an enrichment factor of 230 at a high throughput (>1,000 cel... 详细信息

关键词： Sorting Biomedical optical imaging Cells (biology) Optical signal processing Microfluidics Actuators Control systems Jacobian matrices Fluorescence Throughput

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A non-linear approach to solving linear algorithmic problems

A non-linear approach to solving linear algorithmic problems

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Frontiers in Education (FIE) Conference

作者： Orna Muller Bruria Haberman Software Engineering Department Teaching & Learning Center Ort Braude College of Engineering Karmiel Israel Computer Science Department Holon Institute of Technology Israel CS Academia & Industry program for talented high-school Davidson Institute of Science Education Weizmann Institute of Science Rehovot Israel

Solving algorithmic problems and implementing them in code is a major theme in introductory computer science courses. Problems related to string manipulation are common and of great importance in various domains. In the context of computer science education, solving algorithmic problems of this type may be very challenging for novices, even for the more competent students. Analysis of novice students' solutions to a specific class of problems dealing with string manipulation revealed that a widespread intuitive and non-linear approach was used to solve these problems, which led to cumbersome and erroneous solutions. On the other hand, a straightforward linear approach that leads to shorter and more elegant solutions is uncommon. Uncovering students' common and unsatisfactory approaches in problem solving have significant implications on instruction.

关键词： Problem-solving Taxonomy programming profession Algorithm design and analysis Syntactics

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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Development of alignment inspection system for ball grid array packaging

Development of alignment inspection system for ball grid arr...

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International Symposium on Optomechatronic Technologies, ISOT

作者： Hyunki Lee Jeong Yul Jeon Kwang Ill Ko Hyungsuck Cho Min Young Kim Research and Development Robot Vision Team Kohyoung Company Limited Seoul South Korea Kohyoung Company Limited Seoul South Korea Robotics Engineering Department DGIST Daegu South Korea School of Electrical Engineering and Computer Science Kyungpook National University Daegu South Korea

The ball grid array (BGA) has become one of the most popular packaging alternatives for high I/O devices in the industry with many advantages: high interconnection density and less packaging space and so on. In these days, the size of chip becomes small and the size of ball grid also becomes small, so the process of BGA alignment becomes more important and difficult. In this paper, the BGA alignment system before the oven process step is managed. The main difficult of inspecting the BGA alignment is that the substrate is always tilted due to irregular carrier size and in-line process. In this paper, to overcome this problem, tilt angle of substrate is measured by phase measuring profilometry (PMP), and then the compensated alignment offset calculation algorithm is suggested. The performance of our system is checked by a series of real experiments.

关键词： Substrates Packaging Pixel Calibration Cameras Inspection Phase measurement

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Individual-based simulation of sexual selection: A quantitative genetic approach

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Procedia computer science 2010年第1期1卷 2003-2011页

作者： D. van Dijk P.M.A. Sloot J.C. Tay M.C. Schut Computational Science University of Amsterdam Sciencepark 107 1098 XG Amsterdam The Netherlands Evolutionary and Complex Systems Program School of Computer Engineering Nanyang Technological University Singapore 639798 Singapore Department of Artificial Intelligence Vrije Universiteit Amsterdam 1081 HV Amsterdam The Netherlands

Sexual selection has been mathematically modeled using quantitative genetics as well as population genetics. Two-locus simulation models have been used to study the evolution of male display and female preference. We present an individual-based simulation model of sexual selection in a quantitative genetic context. We show that under certain conditions Fisherian self-reinforcing sexual selection takes effect, predicted by Lande’s analytic model of female choice. We also show that the dynamics involved in the co-evolution of male display and female preference is much more complex than mathematics would predict. We therefore argue that the study of sexual selection through individual-based simulation could give new and more realistic insight into a world dominated by overly simplified equations.

关键词： Sexual selection Individual-based modeling Agent-based modeling

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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Mission-oriented design: A fully autonomous mobile urban robot

Mission-oriented design: A fully autonomous mobile urban rob...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Qun Zhang Pey Yuen Tao Aswin Thomas Abraham Brice Rebsamen Chenguang Yang Shuzhi Sam Ge NUS Graduate School of Integrative Sciences and Engineering NGS National University of Singapore Singapore A Star Agency of Science Technology & Research National University of Singapore Singapore Department of Electrical & Computer Engineering Temasek Laboratories National University of Singapore Singapore Department of Bioengineering Imperial College London National University of Singapore Singapore Social Robotics Laboratory Interactive & Digital Media Institute (IDMI) Department of Electrical & Computer Engineering National University of Singapore Singapore

This paper describes a fully autonomous mobile urban robot-X1, which can perform multiple tasks autonomously in an unknown urban environment without human guidance, including mobile reconnaissance, target searching, and object manipulation. The mission-oriented design, which allows reliability and extensibility of the robotic system, includes a high degree of modularity for both hardware and software architecture, and coordination between tasks. Our strategy specifically addresses fundamental issues such as autonomous navigation in unknown urban environments and vision-based object manipulation. All the functionalities have been proved effective in the real urban environments. The robot platform is being built to provide valuable experiences on autonomous robotics research.

关键词： Path planning Navigation Elevators Robot kinematics Robot sensing systems

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Crawling gait realization of the mini-modular climbing caterpillar robot

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Progress in Natural science:Materials International 2009年第12期19卷 1821-1829页

作者： Wei Wang~(a,*),Kun Wang~a,Houxiang Zhang~b a robotics Institute,school of Mechanical engineering and Automation,Beihang University,Beijing 100083,China b TAMS,Department of computer science,University of Hamburg,Vogt-Koelln-Strasse 30,Hamburg 22527,Germany [a]Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100083 China [b]TAMS Department of Computer Science University of Hamburg Vogt-Koelln-Strasse 30 Hamburg 22527 Germany

The concept of a modular climbing caterpillar robot is inspired by the kinematics of real *** typical kinematics models and gaits are investigated based on the crawling motion of the inchworm and the tobacco *** to the fixed constraints between the suckers and the wall,the gait of a caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain,and then to an open chain in *** the open chain periods,an unsymmetrical phase method(UPM) is used to ensure the reliable attachment of the passive suckers to the *** the closed-chain state,a four-link kinematics model is adopted to fulfill the fixed *** combining the two methods together,the complete joint control trajectories are acquired for a modular caterpillar robot with seven *** last,on-site tests confirm the proposed principles and the validity of the climbing gait.

关键词： Climbing robot Modular Biologically inspired Gait

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SpMT WaveCache: Exploiting thread-level parallelism in WaveScalar

SpMT WaveCache: Exploiting thread-level parallelism in WaveS...

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2009 WRI World Congress on computer science and Information engineering, CSIE 2009

作者： Pei, Songwen Wu, Baifeng Du, Min Chen, Gang Marzulo, Leandro A. J. Franca, Felipe M. G. School of Computer Science Fudan University 200433 Shanghai China Systems Engineering and Computer Science Program COPPE Rio de Janeiro Brazil

ISBN: (纸本)9780769535074

Speculative Multithreading (SpMT) increases the performance by means of executing multiple threads speculatively to exploit thread-level parallelism. By combining software and hardware approaches, we have improved the capabilities of previous WaveScalar ISA on the basis of Transactional Memory system for the WaveCache Architecture. Threads are extracted at the course of static compiling, and speculatively executed as a thread-level transaction that is supported by extra hardware components, such as Thread-Context-Table (TCT) and Thread-Memory-History (TMH). We have evaluated the SpMT WaveCache with 6 real benchmarks from SPEC, Mediabench and Mibench. On the whole, the SpMT WaveCache outperforms superscalar architecture ranging from 2X to 3X, and great performance gains are achieved over original WaveCache and Transactional WaveCache as well. © 2008 IEEE.

关键词： Memory architecture

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Target-adjusted model for Kernel-based tracker

Target-adjusted model for Kernel-based tracker

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作者： Choe, Jeehyun Goya Seok, Joon-Hong Kim, Jeong-Jung Lee, Ju-Jang Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

ISBN: (纸本)9784990288037

Kernel-based tracker shows robust performances in various object tracking technologies. Due to its robustness and accuracy, Kernel-based tracker using Mean-shift algorithm is regarded as one of the best ways to apply in object tracking technology in computer vision fields. However, it has a drawback. It fails tracking when faced with a speedy object moving beyond its window size within one image frame interval time. These failures are reduced with the use of Target-adjusted kernel models proposed in this paper. These models are designed to reflect the previously known target information. Same to the conventional kernel model in kernel-based object tracker, this model also contains the target information of both the color and the distance. Experimental results show that the time required for the calculations in tracking process is lessened so that causing lesser failures by applying this Target-adjusted model. Building a Target-adjusted model requires the previously known color data of the target. The model is designed to focus on the colors in the target object by using look-up tables. These look-up tables enable to reduce the size of the color bins in a model so that unnecessary trivial computations can be regarded. ©ISAROB 2009.

关键词： Color

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