Semi-globally Exponential Tracking Observer/Controller for Robots with Joint Hysteresis and Without Velocity Measurement

In this work, we consider a multiple degree of freedom robotic plant with joint hysteresis and without velocity measurement. We show, by construction, how a semi-globally exponential hysteresis observer/controller that assumes velocity measurement, a number of which we point out from the literature, can be combined/modified with a velocity observer to yield a combined semi-globally exponential tracking observer/controller. The resulting observer/controller estimates both the hysteresis state and the joint velocity. We prove that the combined estimation error and tracking error converges to zero semi-globally exponentially. One deemed contribution as compared to previous work for this same type of plant is that the usual requirement of velocity measurement has been removed; another is the proved semi-globally exponential result.     

Control of ignition delay in microfabricated hot-wire igniters: Simulation, fabrication, and experimental results

The presented work studied thermal interactions between laminated, metal-foil, hot-wire igniters and exothermic solid-state, composite chemical systems in order to demonstrate precise timing control of a thermal ignition process. The study includes FEA modeling, device fabrication, and characterization to demonstrate control microthruster ignition delays to within 2 ms. The modeling included studies of total ignition delay as well as the ignition delay variation versus process variations. Microthrusters were then fabricated via printed circuit board lamination, and the ignition performance was characterized. The characterization showed agreement with modeling to within 2-sigma for most cases. And the characterization demonstrated that the ignition delay could be controlled to within 0.36 and 0.84 ms for the best case. Furthermore, this performance was demonstrated with a small battery supply (200-600 mAh) and minimal electronics in the ignition system. This work extends the use of current microthrusters to short-lifetime applications that need high forces delivered in millisecond time intervals.     

Automatic Extraction of Heap Reference Properties in Object-Oriented Programs

We present a new technique for helping developers understand heap referencing properties of object-oriented programs and how the actions of the program affect these properties. Our dynamic analysis uses the aliasing properties of objects to synthesize a set of roles; each role represents an abstract object state intended to be of interest to the developer. We allow the developer to customize the analysis to explore the object states and behavior of the program at multiple different and potentially complementary levels of abstraction. The analysis uses roles as the basis for three abstractions: role transition diagrams, which present the observed transitions between roles and the methods responsible for the transitions; role relationship diagrams, which present the observed referencing relationships between objects playing different roles; and enhanced method interfaces, which present the observed roles of method parameters. Together, these abstractions provide useful information about important object and data structure properties and how the actions of the program affect these properties. We have implemented the role analysis and have used this implementation to explore the behavior of several Java programs. Our experience indicates that, when combined with a powerful graphical user interface, roles are a useful abstraction for helping developers explore and understand the behavior of object-oriented programs.     

Incidental Exposure,Selective Exposure,and Political Information Sharing: Integrating Online Exposure Patterns and Expression on Social Media

Political information sharing in social media offers citizens opportunities to engage with news and express their political views, but how do different patterns of online political information exposure, including both incidental and selective exposure, affect sharing? Using two‐wave panel survey data collected in the United States, we examine the relationship between incidental and selective exposure and their consequent links to political information sharing, across different levels of strength of political party affiliation. Our results demonstrate that incidental exposure to counter‐attitudinal information drives stronger partisans to more actively seek out like‐minded political content, which subsequently encourages political information sharing on social media. The results highlight the need to consider both types of political information exposure when modeling citizens' political behavior online.     

CNLs for the semantic web: a state of the art

One of the core challenges for building the semantic web is the creation of ontologies, a process known as ontology authoring. Controlled natural languages (CNLs) propose different frameworks for interfacing and creating ontologies in semantic web systems using restricted natural language. However, in order to engage non-expert users with no background in knowledge engineering, these language interfacing must be reliable, easy to understand and accepted by users. This paper includes the state-of-the-art for CNLs in terms of ontology authoring and the semantic web. In addition, it includes a detailed analysis of user evaluations with respect to each CNL and offers analytic conclusions with respect to the field.     

From insect to Internet: Situated control for networked robot teams

Ant-like systems take advantage of agents' situatedness to reduce or eliminate the need for centralized control or global knowledge. This reduces the need for complexity of individuals and leads to robust, scalable systems. Such insect-inspired situated approaches have proven effective both for task performance and task allocation. The desire for general, principled techniques for situated interaction has led us to study the exploitation of abstract situatedness – situatedness in non-physical environments. The port-arbitrated behavior-based control approach provides a well-structured abstract behavior space in which agents can participate in situated interaction. We focus on the problem of role assumption, distributed task allocation in which each agent selects its own task-performing role. This paper details our general, principled Broadcast of Local Eligibility (BLE) technique for role-assumption in such behavior-space-situated systems, and provides experimental results from the CMOMMT target-tracking task. This revised version was published online in August 2006 with corrections to the Cover Date.     

智能体在自然界建模中的应用研究

给出了动物模型的智能体设计和解决方案,扩展了智能体系统的概念。应用Swarm智能体系统和Kohonen网络,给出了一个将许多地貌、植物和动物结合起来Swarm解决方案。     

Effects of chemical protective equipment on team process performance in small unit rescue operations

In the event of a nuclear, biological, or chemical terrorist attack against civilians, both military and civilian emergency response teams must be able to respond and operate efficiently while wearing protective equipment. Chemical protective equipment protects the user by providing a barrier between the individual and hazardous environment. Unfortunately, the same equipment that is designed to support the user can potentially cause heat stress, reduced task efficiency, and reduced range-of-motion. Targeted Acceptable Responses to Generated Events of Tasks (TARGETS), an event-based team performance measurement methodology was used to investigate the effects of Mission Oriented Protective Posture (MOPP) on the behavioral processes underlying team performance during simulated rescue tasks. In addition, this study determined which team processes were related to team performance outcomes. Results of six primary analyses indicated that team process performance was not degraded by MOPP 4 on any rescue task and that the team processes critical for successful task performance are task-dependent. This article discusses the implications of these results with respect to the study design and the limitations of using an event-based team performance measurement methodology.