Independent Hybrid Force/Motion Control of Constrained Six-Degrees-of-Freedom Manipulators

Controlling the dynamics of a constrained manipulator includesposition tracking as well as stabilization of the contact wrench.In this paper we derive a control scheme, that makes it possible to treat position and force control independently.The approach is based on a mass-orthogonal splitting of the space of joint torques, allowing independent actuation and therefore independent specification of control laws. An appropriate definition of the reference wrenchmakes it possible to achieve independent stability of the position and force loop.     

Generic remeshing of 3D triangular meshes with metric-dependent discrete voronoi diagrams

In this paper, we propose a generic framework for 3D surface remeshing. Based on a metric-driven Discrete Voronoi Diagram construction, our output is an optimized 3D triangular mesh with a user defined vertex budget. Our approach can deal with a wide range of applications, from high quality mesh generation to shape approximation. By using appropriate metric constraints the method generates isotropic or anisotropic elements. Based on point-sampling, our algorithm combines the robustness and theoretical strength of Delaunay criteria with the efficiency of entirely discrete geometry processing . Besides the general described framework, we show experimental results using isotropic, quadric-enhanced isotropic and anisotropic metrics which prove the efficiency of our method on large meshes, for a low computational cost.     

Resource-efficient routing and scheduling of time-constrained streaming communication on networks-on-chip

Network-on-chip-based multiprocessor systems-on-chip are considered as future embedded systems platforms. One of the steps in mapping an application onto such a parallel platform involves scheduling the communication on the network-on-chip. This paper presents different scheduling strategies that minimize resource usage by exploiting all scheduling freedom offered by networks-on-chip. It also introduces a technique to take the dynamism in applications into account when scheduling the communication of an application on the network-on-chip while minimizing the resource usage. Our experiments show that resource-utilization is improved when compared to existing techniques.     

Perceptual issues in the use of head-mounted visual displays

OBJECTIVE: We provide a review and analysis of much of the published literature on visual perception issues that impact the design and use of head-mounted displays (HMDs). BACKGROUND: Unlike the previous literature on HMDs, this review draws heavily from the basic vision literature in order to help provide insight for future design solutions for HMDs. METHOD: Included in this review are articles and books found cited in other works as well as articles and books obtained from an Internet search. RESULTS: Issues discussed include the effect of brightness and contrast on depth of field, dark focus, dark vergence, and perceptual constancy; the effect of accommodation-vergence synergy on perceptual constancy, eyestrain, and discomfort; the relationship of field of view to the functioning of different visual pathways and the types of visual-motor tasks mediated by them; the relationship of binocular input to visual suppression; and the importance of head movements, head tracking, and display update lag. CONCLUSION: This paper offers a set of recommendations for the design and use of HMDs. APPLICATION: Consideration of the basic vision literature will provide insight for future design solutions for HMDs.     

Numerical calculations on microwave propagation through rain

Calculations on transmission effects through rain are presented. Based on a special form of the radiative transfer equation treated in [1], numerical values are given for coherent propagation through a medium composed of a set of uncanted spheroidal drops, oscillating raindrops and bistatic radar scattering crosssections of rain of uncanted spheroidal drops. Calculations have been made for the range 10–100 GHz. Examples are chosen for Ots frequency bands (11.5 and 14 GHz) and Louvainla-Neuve experimental link (12 GHz).     

Finite-element analysis for magnetic resonance image artifact evaluation

The static magnetic field of a magnetic resonance imaging scanner can be distorted by the presence of materials, perturbing the spatial encoding process in magnetic resonance imaging and often resulting in image artifacts. The relationship between the image artifact size and magnetic susceptibility of the material specimen is of interest to engineers for the design of devices that are to be compatible with the imaging volume of the scanner. In this study, a finite-element method was used to simulate the distorted magnetic field of samples with different susceptibilities. With the knowledge of the external- and self- magnetic field interactions, a Lorentz correction was applied to compute the magnetic field deviation. The simulated results were then validated by the corresponding experimental magnetic resonance images.     

Water quality in a surface-flow constructed treatment wetland polishing tertiary effluent from a municipal wastewater treatment plant

Constructed treatment wetlands (CTWs) are unique ecotechnologies that can sustainably treat a range of wastewaters. This study focused on a 0.23 ha vegetated surface-flow CTW polishing nitrate-rich (3-6 mg-N/L) tertiary effluent from a municipal wastewater treatment plant. Water quality was monitored longitudinally in the fall of 2009 and 2010. The CTW cooled water by from around 20 °C to <15 °C in both years. Longitudinal temperature profiles were successfully modeled using an energy balance approach (2009 R(2) = 0.69; 2010 R(2) = 0.92). The magnitude of key model fitting parameters, including albedo (0.1-0.2) and convective transfer coefficient (0.1-0.9 MJ/m(2) d °C), were within ranges reported in the literature. In both years, dissolved oxygen decreased through the wetland from 6-7 mg/L to 3-4 mg/L, yielding an oxygen mass consumption rate of 0.08-0.09 g/m(2) d. Longitudinal nitrate profiles were well represented by the P-k-C* model (2009 R(2) = 0.88; 2010 R(2) = 0.92). First order removal rates were 20.2 m/yr in 2009 and 29.0 m/yr in 2010 at a P value of 6.0. Levels of ammonia and total phosphorus increased negligibly through the wetland, remaining below 0.25 mg/L. This study shows that vegetated surface-flow CTWs are well suited to cool and polish low-BOD nitrate-dominated tertiary effluents with little degradation of other water quality parameters of concern, including phosphorus and ammonia.     

An exact approach for maximizing the lifetime of sensor networks with adjustable sensing ranges

This paper addresses the problem of target coverage for wireless sensor networks, where the sensing range of sensors can vary, thereby saving energy when only close targets need to be monitored. Two versions of this problem are addressed. In the first version, sensing ranges are supposed to be continuously adjustable (up to the maximum sensing range). In the second version, sensing ranges have to be chosen among a set of predefined values common to all sensors. An exact approach based on a column generation algorithm is proposed for solving these problems. The use of a genetic algorithm within the column generation scheme significantly decreases computation time, which results in an efficient exact approach.     

Efficient solution of the 3G network planning problem

The 3G universal mobile telecommunications system (UMTS) planning problem is combinatorially explosive and difficult to solve optimally, though solution methods exist for its three main subproblems (cell, access network, and core network planning). We previously formulated the entire problem as a single integrated mixed-integer linear program (MIP) and showed that only small instances of this global planning problem can be solved to optimality by a commercial MIP solver within a reasonable amount of time ( St-Hilaire, Chamberland, & Pierre, 2006). Heuristic methods are needed for larger instances. This paper provides the first complete formulation for the heuristic sequential method ( St-Hilaire, Chamberland, & Pierre, 2005) that re-partitions the global formulation into the three conventional subproblems and solves them in sequence using a MIP solver. This greatly improves the solution time, but at the expense of solution quality. We also develop a new hybrid heuristic that uses the results of the sequential method to generate constraints that provide tighter bounds for the global planning problem with the goal of reaching the provable optimum solution much more quickly. We empirically evaluate the speed and solution accuracy of four solution methods: (i) the direct MIP solution of the global planning problem, (ii) a local search heuristic applied to the global planning problem, (iii) the sequential method and (iv) the new hybrid method. The results show that the sequential method provides very good results in a fraction of the time needed for the direct MIP solution of the global problem, and that optimum results can be provided by the hybrid heuristic in greatly reduced time.