A New Geometric Subproblem to Extend Solvability of Inverse Kinematics Based on Screw Theory for 6R Robot Manipulators

Geometric inverse kinematics procedures that divide the whole problem into several subproblems with known solutions, and make use of screw motion operators have been developed in the past for 6R robot manipulators. These geometric procedures are widely used because the solutions of the subproblems are geometrically meaningful and numerically stable. Nonetheless, the existing subproblems limit the types of 6R robot structural configurations for which the inverse kinematics can be solved. This work presents the solution of a novel geometric subproblem that solves the joint angles of a general anthropomorphic arm. Using this new subproblem, an inverse kinematics procedure is derived which is applicable to a wider range of 6R robot manipulators. The inverse kinematics of a closed curve were carried out, in both simulations and experiments, to validate computational cost and realizability of the proposed approach. Multiple 6R robot manipulators with different structural configurations were used to validate the generality of the method. The results are compared with those of other methods in the screw theory framework. The obtained results show that our approach is the most general and the most efficient.

     

A high-throughput and high-capacity IPv6 routing lookup system

With the growing number of routing entries, IP routing lookup has become the major performance bottleneck in backbone routers. In this paper, a complete hardware-based routing lookup system is proposed to achieve high-throughput and high-capacity for IPv6. The proposed system is a cache-centric, hash-based architecture that contains a routing lookup application specific integrated circuit (ASIC) and a memory set. A hash function is used to reduce lookup time for the routing table and ternary content addressable memory (TCAM) effectively resolves the collision problem. The gate count of the ASIC, excluding the binary content addressable memory (BCAM), is about 5306 gates, using an in-house 0.18 μm CMOS single-poly six-metal standard cell library. The results of post-layout simulations show that the ASIC operates in 3.6 ns so that the routing lookup system approaches 260 Mega lookups per second (Mlps), which is sufficient for 100 Gbps networks. The memory density is good, with each routing entry requiring only 64 bits. Moreover, the routing table only needs 10.24 KB on-chip BCAM, 20.04 KB off-chip TCAM and 29.29 MB DRAM for 3.6 M routing entries in the proposed system.     

Implementing a diffusion model optimized by a hybrid evolutionary algorithm to forecast notebook shipments

Taiwan computer firms need to forecast trends in notebook shipments. The Bass diffusion model has been successfully applied to describe the empirical adoption curve for many new products and technological innovations. In order to improve the parameter estimates, a hybrid evolutionary algorithm, which couples genetic algorithms (GAs) with particle swarm optimization (PSO), is proposed. This hybrid approach can produce more accurate estimates of the parameters for the Bass diffusion model. In addition, the price index plays an important role in the notebook market. Thus, the modified diffusion model is proposed to investigate the forecasting performance for notebook shipments. The results illustrate that a hybrid approach outperforms other methods such as nonlinear algorithm, GA and PSO in terms of mean absolute percentage error.     

A Fuzzy Ontological Knowledge Document Clustering Methodology

This correspondence presents a novel hierarchical clustering approach for knowledge document self-organization, particularly for patent analysis. Current keyword-based methodologies for document content management tend to be inconsistent and ineffective when partial meanings of the technical content are used for cluster analysis. Thus, a new methodology to automatically interpret and cluster knowledge documents using an ontology schema is presented. Moreover, a fuzzy logic control approach is used to match suitable document cluster(s) for given patents based on their derived ontological semantic webs. Finally, three case studies are used to test the approach. The first test case analyzed and clustered 100 patents for chemical and mechanical polishing retrieved from the World Intellectual Property Organization (WIPO). The second test case analyzed and clustered 100 patent news articles retrieved from online Web sites. The third case analyzed and clustered 100 patents for radio-frequency identification retrieved from WIPO. The results show that the fuzzy ontology-based document clustering approach outperforms the K-means approach in precision, recall, F-measure, and Shannon's entropy.     

Img2Logo: Generating Golden Ratio Logos from Images

Logos are one of the most important graphic design forms that use an abstracted shape to clearly represent the spirit of a community. Among various styles of abstraction, a particular golden-ratio design is frequently employed by designers to create a concise and regular logo. In this context, designers utilize a set of circular arcs with golden ratios (i.e., all arcs are taken from circles whose radii form a geometric series based on the golden ratio) as the design elements to manually approximate a target shape. This error-prone process requires a large amount of time and effort, posing a significant challenge for design space exploration. In this work, we present a novel computational framework that can automatically generate golden ratio logo abstractions from an input image. Our framework is based on a set of carefully identified design principles and a constrained optimization formulation respecting these principles. We also propose a progressive approach that can efficiently solve the optimization problem, resulting in a sequence of abstractions that approximate the input at decreasing levels of detail. We evaluate our work by testing on images with different formats including real photos, clip arts, and line drawings. We also extensively validate the key components and compare our results with manual results by designers to demonstrate the effectiveness of our framework. Moreover, our framework can largely benefit design space exploration via easy specification of design parameters such as abstraction levels, golden circle sizes, etc.     

RFID Positioning and Physiological Signals for Remote Medical Care

The safety of patients and the quality of medical care provided to them are vital for their wellbeing. This study establishes a set of RFID (Radio Frequency Identification)-based systems of patient care based on physiological signals in the pursuit of a remote medical care system. The RFID-based positioning system allows medical staff to continuously observe the patient's health and location. The staff can thus respond to medical emergencies in time and appropriately care for the patient. When the COVID-19 pandemic broke out, the proposed system was used to provide timely information on the location and body temperature of patients who had been screened for the disease. The results of experiments and comparative analyses show that the proposed system is superior to competing systems in use. The use of remote monitoring technology makes user interface easier to provide high-quality medical services to remote areas with sparse populations, and enables better care of the elderly and patients with mobility issues. It can be found from the experiments of this research that the accuracy of the position sensor and the ability of package delivery are the best among the other related studies. The presentation of the graphical interface is also the most cordial among human-computer interaction and the operation is simple and clear.     

Accuracy verification of a simple local three-dimensional displacement measurement method of DIC with two images coordinates

There are two methods applied for three-dimensional digital image correlation method to measure three-dimensional displacement. One is to measure the spatial coordinates of measuring points by analyzing the images. Then, the displacement vectors of these points can be calculated using the spatial coordinates of these points obtained at different stages. The other is to calibrate the parameters for individual measuring points locally. Then, the local displacements of these points can be measured directly. This study proposes a simple local three-dimensional displacement measurement method. Without any complicated distortion correction processes, this method can be used to measure small displacement in the three-dimensional space through a simple calibration process. A laboratory experiment and field experiment are carried out to prove the accuracy of this proposed method. Laboratory test errors of one-dimensional experiment are similar to the accuracy of the XYZ table; the error in Z-direction is only 0.0025% of the object distance. The measurement error of laboratory test is about 0.0033% of the object distance for local three-dimensional displacement measurement test. Test and analysis results of field test display that in-plane displacement error is only 0.12 mm, and the out-of-plane error is 1.1 mm for 20 m × 30 m measuring range. The out-of-plane error is only about 10 PPM of the object distance. These test and analysis results show that this proposed method can achieve very high accuracy under small displacement for both of laboratory and field tests.     

Translation, adaptation, and validation of the SF-36 Health Survey for use in Japan

Development of the Japanese SF-36 was completed in two phases: Phase 1: Japanese version 1.1 was produced according to International Quality of Life Assessment (IQOLA) project guidelines, but some results of psychometric tests were unexpected. First, scores varied little across physical-functioning items. Second, using factor analysis, we could not clearly distinguish the scales designed to measure the "physical" component of quality of life from those designed to measure the "mental" component. Phase 2: Focus-group discussions revealed that limited had often been interpreted as limited by a doctor. Therefore, is difficult to do was used instead (version 1.2). Results of two surveys indicated that version 1.2 yields scores that are reliable by internal consistency and test-retest standards and yields two principal components. In Japan, however, the pattern of correlations between some scales and the principal components differs from that in the United States. Iterative use of qualitative and quantitative methods was very important in developing the Japanese SF-36.     

Matrix molecular orientation in fiber-reinforced polypropylene composites

A distinctive crystalline morphology which develops in certain fiber-reinforced thermoplastics, termed "transcrystallinity", occurs as the result of dense nucleation of polymer crystals at the surface of reinforcing fibers. As these fiber-sponsored nuclei grow, they impinge upon one another, such that crystal growth occurs essentially perpendicular to the fiber axis. Previous studies concerning transcrystallized composites have generally focused on single-fiber composites or model systems. Our interest is in elucidating the crystal orientation in conventional fiber-reinforced composites, and in quantifying the fraction of transcrystallized matrix, where present. In the present work, we develop a wide-angle X-ray scattering (WAXS) technique to investigate composites formed from an isotactic polypropylene (PP) matrix with practical loading levels of unidirectional pitch-based carbon, polyacrylonitrile (PAN)-based carbon, or aramid fibers. The transcrystalline fraction of the crystalline matrix approaches 0.95 in pitch-based carbon composites and 0.50 in the aramid composites near fiber loadings of 30 vol %. In addition, a previously-unreported mode of matrix orientation is observed in composites containing the non-transcrystallizing PAN-based carbon fibers, arising from restrictions on the isotropic growth of PP crystallites by the unidirectional fibers. This "constrained growth" orientation can coexist with the transcrystallized matrix at lower fiber loadings.     

Guiding students to the right questions: adaptive navigation support in an E‐Learning system for Java programming

Rapid growth of the volume of interactive questions available to the students of modern E‐Learning courses placed the problem of personalized guidance on the agenda of E‐Learning researchers. Without proper guidance, students frequently select too simple or too complicated problems and ended either bored or discouraged. This paper explores a specific personalized guidance technology known as adaptive navigation support. We developed JavaGuide, a system, which guides students to appropriate questions in a Java programming course, and investigated the effect of personalized guidance a three‐semester long classroom study. The results of this study confirm the educational and motivational effects of adaptive navigation support.