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International Conference on Software engineering (ICSE)

作者： M.M. de Oliveira A.R. Rocha K. Chaves Weber Computer Science Department Catholic University of Brasilia Brazil Graduate School of Engineering-COPPE Federal University of Rio de Janeiro Rio de Janeiro Brazil Quality and Productivity Software Program/ Software Sub-committee Society for the Promotion of Excellence in Brazilian Software SOFTEX Brazil

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From standard to non-standard semantics by semantics modifiers

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International Journal of Foundations of computer science 2001年第2期12卷 171-211页

作者： Abramov, Sergei Glück, Robert Program Systems Institute Russian Academy of Sciences RU-152140 Pereslavl-Zalessky Russian Federation Department of Information and Computer Science School of Science and Engineering Waseda University Shinjuku-ku Tokyo 169-8555 Japan

An approach for systematically modifying the semantics of programming languages by semantics modifiers is described. Semantics modifiers are a class of programs that allow the development of general and reusable semantics components. Language independence is achieved through the interpretive approach: an interpreter serves as a mediator between the new language and the language for which the non-standard semantics was implemented. Inverse computation, equivalence transformation and neighborhood analysis are shown to be semantics modifiers. Experiments with these modifiers show the computational feasibility of this approach. Seven modifier projections are given which allow the efficient implementation of non-standard interpreters and non-standard compilers by program specialization or other powerful program transformation methods. © 2001 World Scientific Publishing Company.

关键词： interpreters non-standard semantics partial evaluation program transformation programming languages supercompilation

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Performance tuning of sliding mode controllers: structural analysis approach

Performance tuning of sliding mode controllers: structural a...

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American Control Conference (ACC)

作者： Bong Keun Kim Wan Kyun Chung Il Hong Suh Robotics and Bio-Mechatronics Laboratory Pohang University of Science and Technology South Korea INCORL School of Electrical Engineering and Computer Science Hanyang University South Korea

In this paper, a structural design method of sliding mode controller, which makes it possible to predict the performance of the closed loop system, is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, robust internal-loop compensator(RIC) is proposed. Next, using the structural characteristics of the RIC, disturbance attenuation property is analyzed and the performance of the closed-loop system of sliding mode controller is predicted. The proposed performance predictable design of sliding mode controller provides a systematic approach to the problem of robust stability and performance specifications in the presence of uncertainty.

关键词： Sliding mode control Performance analysis Control systems Robust control Uncertainty Design methodology Closed loop systems Attenuation Robust stability Optimal control

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Analysis and design criteria for a redundantly actuated 4-legged six degree-of-freedom parallel manipulator

Analysis and design criteria for a redundantly actuated 4-le...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Bung-Ju Yi D. Cox D. Tesar School of Electrical Engineering and Computer Science Hanyang University Ansan Gyeonggi South Korea Robotics Research Group University of Texas Austin Austin TX USA

ISBN: (纸本)0780365763

This work introduces a new architecture for a parallel, six degree of freedom manipulator. The kinematic analysis of this redundant manipulator is provided. The proposed parallel mechanism allows easy implementation of redundant actuators, and has relatively large workspace in comparison to conventional six degree of freedom parallel devices. The kinematic analysis performed forms the basis for the introduction of design criteria for the manipulator. Several design criteria are introduced and their use is illustrated by example design involving an initial geometric parameter analysis of the manipulator.

关键词： Leg Manipulators Parallel robots Kinematics Actuators Legged locomotion computer science computer architecture Payloads Fault tolerant systems

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High tech or high touch (panel session): automation and human mediation in libraries 01

High tech or high touch (panel session): automation and huma...

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Proceedings of the 1st ACM/IEEE-CS joint conference on Digital libraries

作者： David Levy William Arms Oren Etzioni Diane Nester Barbara Tillett Information School University of Washington Computer Science Department Cornell University Department of Computer Science and Engineering University of Washington Public Services Collections Library of Congress Integrated Library System Program Office Library of Congress

ISBN: (纸本)9781581133455

There are those who now think that traditional library services, such as cataloging and reference, will no longer be needed in the future, or at least will be fully automated. Others are equally adamant that human intervention is not only important but essential. Underlying such positions are a host of assumptions - about the continued existence and place of paper, the role of human intelligence and interpretation, the nature of research, and the significance of the human element. This panel brings together experts in libraries and digital technology to uncover such issues and assumptions and to discuss and debate the place of people and machines in cataloging and reference work.

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines Systems engineering and theory computer science computer errors

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Fuzzy logic control of a robot manipulator based on visual servoing

Fuzzy logic control of a robot manipulator based on visual s...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： C.S. Kim W.H. Seo S.H. Han O. Khatib Department of Mechanical Design Graduate School of Kyungnam University Masan South Korea Division of Mechanical Engineering and Automation Kyungnam University Masan South Korea Computer Science and Robotics Laboratory Department University of Stanford Stanford CA USA

ISBN: (纸本)0780370902

In this paper, a solution to a manipulation control problem (target identification and grasping) using a real platform in combination with a vision system is proposed. The task for the end-effector is to approach a randomly placed spherical object of known size. The control law is approximated by using an approach based on fuzzy logic. The controller determines the parameters of the target (a spherical object acquired from the vision system mounted on the manipulator) using a vision algorithm. The fuzzy rules are built in a supervised way, after studying the behavior of the system. Experimental results obtained using an industrial manipulator (AM1 with 6 DOF model in Samsung Electronics Co., Ltd., Korea) are presented.

关键词： Fuzzy logic Robot control Manipulators Visual servoing Control systems Machine vision Fuzzy systems Electrical equipment industry Electronics industry Industrial electronics

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Sensor-friendly vehicle and roadway systems

Sensor-friendly vehicle and roadway systems

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IEEE Instrumentation and Measurement Technology Conference

作者： P. Griffiths D. Langer J.A. Misener M. Siegel C. Thorpe Department of Mechanical Engineering Vehicle Dynamics Laboratory University of California Berkeley Berkeley CA USA ZF USA Inc. Pittsburgh PA USA California PATH University of California Berkeley Richmond CA USA School of Computer Science The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)0780366468

Sensor-friendly vehicle and roadway systems consist of complementary signal sensor and reflector or transmitter technologies, which provide information about the threat of a collision. These technologies can be composed into cooperative collision avoidance systems, which can supplement or replace single vehicle-based systems. Experiments were run on the four most promising technologies to determine their performance and reliability; the four technologies were passive license plates with enhanced radar return, roadside obstacle-mounted radar-reflecting corner cubes, fluorescent paint for lane and obstacle marking, and light emitting diode brake-light messaging. These technologies all focus on improving the signal-to-noise ratio of the collision avoidance sensor. We believe that experimental results indicate that further proof-of-concept refinements are needed, but in general these systems represent technologically sound, cooperative vehicle-roadway components and that sensor friendly systems could eventually translate into a significant benefit in terms of lives saved.

关键词： Road vehicles Sensor systems Collision avoidance Acoustic sensors Transmitters Road accidents Licenses Passive radar Fluorescence Paints

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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A room temperature unipolar quantum dot intersubband long wavelength (13.3 /spl mu/m) laser

A room temperature unipolar quantum dot intersubband long wa...

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IEEE Photonics Conference (IPC)

作者： S. Krishna P. Bhattacharya J. Singh J. Urayama T.B. Norris P.J. McCann K. Namjou Applied Physics Program Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA School of Electrical and Computer Engineering University of Oklahama Norman OK USA

Summary form only given. We report the room temperature operation of a novel unipolar self-organized quantum dot FIR laser (13.3 /spl mu/m) based on transitions between discrete bound electron states in self-organized... 详细信息

关键词： Quantum dot lasers US Department of Transportation Electrons Infrared detectors Stationary state Finite impulse response filter Land surface temperature Infrared spectra Spectroscopy Laser radar

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