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Task-based compliance planning for multifingered hands

Task-based compliance planning for multifingered hands

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Byoung-Ho Kim Byung-Ju Yi Sang-Rok Oh Il Hong Suh School of Electrical Engineering and Computer Science Hanyang University Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780365763

Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. 2D and 3D examples are illustrated to show the characteristics of the task-based stiffness matrix. It is shown that some of coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.

关键词： Fingers Grasping Force sensors Computational geometry Force control Guidelines Robot sensing systems Robot control Orbital robotics computer science

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control Intelligent robots Robot kinematics Instruments computer science Intelligent systems Intelligent control Control system synthesis

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NASA Global Change Master Directory: an implementation of asynchronous management protocol in a heterogeneous distributed environment

NASA Global Change Master Directory: an implementation of as...

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International Symposium on Distributed Objects and Applications

作者： K.S. Nagendra O. Bukhres S. Sikkupparbathyam M. Areal Z.B. Miled L. Olsen C. Gokey D. Kendig T. Northcutt R. Kordova G. Major Indiana University Purdue University Computer Science Department Purdue University School of Science Indianapolis IN USA Engineering and Technology Department of Electrical and Computer Engineering Indiana University Purdue University Purdue University Indianapolis IN USA Goddard Space Flight Center Global Change Data Center NASA Greenbelt MD USA

The Global Change Master Directory (GCMD) is an earth science repository that specifically tracks research data on global climatic change. The GCMD is migrating from a centralized architecture to a globally distributed replicated heterogeneous federated system. One of the greatest challenges facing database research is the integration of heterogeneous systems without compromising the local autonomy, reliability and transparency of the various databases that are participating in the integration. This paper discusses these challenges in the context of the design and implementation of the next version of the GCMD software (Version 8.0). The proposed system has been designed and developed using an object-oriented system architecture based on Java, RMI (Remote Method Invocation) and JDBC. This system enables other sources to be integrated into the GCMD system, with limited changes to the local system itself. This paper describes the components of the GCMD system and addresses the issues of heterogeneity, distribution and autonomy.

关键词： NASA Protocols Java Databases Space technology computer architecture Environmental management computer science Aerospace engineering Geoscience

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Methods for improving protein disorder prediction

Methods for improving protein disorder prediction

引用

International Joint Conference on Neural Networks (IJCNN)

作者： S. Vucetic P. Radivojac Z. Obradovic C.J. Brown A.K. Dunker School of Electrical Engineering and Computer Science Washington State University Pullman WA USA Center for Information Science and Technology Temple University Philadelphia PA USA Department of Biochemistry and Biophysics Washington State University Pullman WA USA

ISBN: (纸本)0780370449

In this paper we propose several methods for improving prediction of protein disorder. These include attribute construction from protein sequence, choice of classifier and postprocessing. While ensembles of neural networks achieved the higher accuracy, the difference as compared to logistic regression classifiers was smaller than 1%. Bagging of neural networks, where moving averages over windows of length 61 were used for attribute construction, combined with postprocessing by averaging predictions over windows of length 81 resulted in 82.6% accuracy for a larger set of ordered and disordered proteins than used previously. This result was a significant improvement over previous methodology, which gave an accuracy of 70.2%. Moreover, unlike the previous methodology, the modified attribute construction allowed prediction at protein ends.

关键词： Amino acids Neural networks Protein engineering Protein sequence Sequences Databases computer science Biochemistry Biophysics Information science

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A research project to investigate the impact of electricity system requirements on the design and optimal application of the Powerformer/sup TM/

A research project to investigate the impact of electricity ...

引用

IEEE PES Transmission and Distribution Conference and Exposition

作者： M. Darveniza T.K. Saha B. Berggren M.A. Leijon P.O. Wright University of Queensland Australia School of Computer Science and Electrical Engineering University of Queensland Australia Department of HV Electromagnetic Systems ABB Corporate Research Center Sweden Faculty of Science and Technology University of Uppsala Sweden Department H High Voltage Engineering ABB Corporate Research Center Sweden Transmission Planning Powerlink Queensland Australia

This paper describes the aims and the methodology of a major collaborative research project between the University of Queensland and Australian and Swedish industry partners, including ABB Corporate Research (Sweden), Alstom Power (Sweden and Australia), PowerLink Queensland, Stanwell Corporation, C S Energy and Tarong Energy. The project investigates the likely benefits of significance to the Queensland system, which will arise from the optimisation of the new Powerformer technology for the generation of electricity at transmission or sub-transmission voltages, i.e. without step-up transformers.

关键词： Power generation Australia Power transformer insulation Cable insulation Character generation Conductors Collaboration Power system stability Grounding Power system dynamics

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Performance comparison of a point-scale LSP model and the NOAH distributed SVAT model for soil moisture estimation using microwave remote sensing

Performance comparison of a point-scale LSP model and the NO...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： P.E. O'Neill A.Y. Hsu E.J. Kim C. Peters-Lidard A.W. England Laboratory for Hydrospheric Processes NASA''s Goddard Space Flight Center Greenbelt MD USA SSAI USDA Hydrology Laboratory Beltsville MD USA School of Civil and Environmental Engineering Georgia Institute of Technology Atlanta GA USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

Soil moisture is a critical state variable in land surface hydrology, and has a significant influence on interactions between the land surface and the atmosphere through the exchange of water vapor and sensible heat. Assessment of the ability of passive microwave remote sensing to measure accurately the spatial and temporal variations of soil moisture is an essential first step for the successful incorporation of soil moisture data in many important applications such as mesoscale weather forecasting, climate modeling, agricultural productivity, watershed hydrology, ecological processes, and natural hazards research. An important part of this assessment is to understand the. relationship between soil moisture derived from microwave remote sensing and soil moisture as used and predicted by various models of the land surface water and energy balance, including soil-vegetation atmosphere transfer schemes (SVATS). Characterization of the relationship between microwave-derived and SVAT-modeled soil moisture is important at both point and distributed spatial scales, and this issue forms the basis of our current research. Two models used in this study include (1) the new modular vectorized version of the University of Michigan Land Surface Process/Radiobrightness (LSP/R) model. and (2) the NOAH Land Surface Model by NOAA NCEP, Oregon State University, the Army, and the Office of Hydrology. Both models are initialized with appropriate soil and vegetation parameters and are driven by local meteorological data.

关键词： Soil moisture Land surface Atmospheric modeling Hydrology Atmosphere Biological system modeling Predictive models Electromagnetic heating Water heating Passive microwave remote sensing

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Ultrahigh resolution, functional optical coherence tomography using state of the art femtosecond laser technology

Ultrahigh resolution, functional optical coherence tomograph...

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Pacific Rim Conference on Lasers and Electro-Optics (CLEO/Pacific Rim)

作者： W. Drexler U. Morgner F.X. Kartner R.K. Ghanta J.S. Schuman J.G. Fujimoto Institute of Medical Physics University of Technology Vienna Vienna Austria Department of Electrical Engineering and Computer Science and Research Laboratory of Electronics Massachusetts Institute of Technology Cambridge MA USA Institute of Medical Physics University of Vienna Vienna Austria Institute for High-Frequency Technology Quantum Electronics University of Karlsruhe Karlsruhe Germany New England Eye Center Tufts University School of Medicine Boston MA USA New England Eye Center School of Medicine Boston MA USA

Using state of the art femtosecond laser technology, in vivo optical coherence tomography imaging with subcellular level resolution is achieved, enabling optical biopsy, the in situ visualization of biological tissue at the level of histopathology. Spectroscopic OCT allows the extraction of spatially resolved functional or biochemical properties.

关键词： Tomography Ultrafast optics Spatial resolution Biomedical optical imaging In vivo Optical imaging Image resolution Biopsy Visualization Biological tissues

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Measurement and modeling of two tone transfer characteristics of high power amplifiers

Measurement and modeling of two tone transfer characteristic...

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2000 30th European Microwave Conference, EuMC 2000

作者： Yang, Youngoo Yi, Jaehyok Kim, Bumman Kim, Youngsik Park, Myungkyu Department of Electronic and Electrical Engineering Microwave Application Research Center Pohang University of Science and Technology San 31 Hyoja-Dong Kyungbuk Namku Pohang 790-784 Korea Republic of School of Computer Science and Electronic Engineering Handong University Korea Republic of LG Information and Communication Korea Republic of

The high power amplifier with class AB operation has a large memory effect and high non-linearity. The usual AM-AM and AM-PM data cannot properly describe the large distortion characteristics. We present an accurate block model of the amplifier based on the two tone transfer characteristics. The measurement setup of the two tone transfer characteristics are described. The measured and modeled amplitude and phase data of the two tone harmonics versus input power level are presented. This behavioral model will be very useful for the design of a predistortion linearizer of high power amplifiers and for the nonlinear system simulation with a large memory effect. © 2000 IEEE.

关键词： Power amplifiers

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Ultrahigh Resolution Ophthalmic Imaging with Optical Coherence Tomography

Ultrahigh Resolution Ophthalmic Imaging with Optical Coheren...

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Biomedical Optical Spectroscopy and Diagnostics, BOSD 2000

作者： Ghanta, Ravi K. Drexler, Wolfgang Margner, Uwe Kärtner, Franz Ippen, Erich P. Fujimoto, James G. Schuman, Joel S. Burseil, Sven Department of Electrical Engineering and Computer Science Research Laboratory of Electronics Massachusetts Institute of Technology CambridgeMA02139 United States New England Eye Center Tufts Medical School BostonMA02111 United States Jostin Diabetes Center Harvard Medical School BostonMA02112 United States

ISBN: (纸本)155752632X

In vivo ultrahigh resolution, spectroscopic optical coherence tomography (OCT) with 3μm axial resolution allows for an unprecedented visualization of microstructure relevant to pathology in the anterior eye and retina. The visualization of retinal morphology and intraretinal structures shown here demonstrate the potential for this technique to identify early structural and functional changes associated with retinal diseases, such as diabetic retinopathy and glaucoma. Ultrahigh resolution OCT allows delineation of corneal morphology, including the corneal epithelium and endothelium. Ultrahigh resolution OCT also allows for the imaging of animal models of disease, such as transgenic mice, providing a powerful research tool to better understand disease pathogenesis and evaluate therapies. © 1999 Optical Society of America.

关键词： Visualization

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Measurement and Modeling of Two Tone Transfer Characteristics of High Power Amplifiers

Measurement and Modeling of Two Tone Transfer Characteristic...

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European Conference on Microwave

作者： Youngoo Yang Jaehyok Yi Bumman Kim Youngsik Kim Myungkyu Park Department of Electronic and Electrical Engineering and Microwave Application Research Center Pohang University of Science and Technology Pohang Gyeongbuk South Korea School of Computer Science and Electronic Engineering Handong University South Korea

关键词： Power measurement High power amplifiers Distortion measurement Power system modeling Power amplifiers Power generation Frequency Phase measurement Radiofrequency amplifiers Gain

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