Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates

To consider large deformation problems in multibody system simulations afinite element approach, called absolute nodal coordinate.formulation,has been proposed. In this formulation absolute nodal coordinates andtheir material derivatives are applied to represent both deformation andrigid body motion. The choice of nodal variables allows a fullynonlinear representation of rigid body motion and can provide the exactrigid body inertia in the case of large rotations. The methodology isespecially suited for but not limited to modeling of beams, cables andshells in multibody dynamics.This paper summarizes the absolute nodal coordinate formulation for a 3D Euler–Bernoulli beam model, in particular the definition of nodal variables, corresponding generalized elastic and inertia forces and equations of motion. The element stiffness matrix is a nonlinear function of the nodal variables even in the case of linearized strain/displacement relations. Nonlinear strain/displacement relations can be calculated from the global displacements using quadrature formulae.Computational examples are given which demonstrate the capabilities of the applied methodology. Consequences of the choice of shape.functions on the representation of internal forces are discussed. Linearized strain/displacement modeling is compared to the nonlinear approach and significant advantages of the latter, when using the absolute nodal coordinate formulation, are outlined.     

Classification of hand postures against complex backgrounds using elastic graph matching

A system for person-independent classification of hand postures against complex backgrounds in video images is presented. The system employs elastic graph matching, which has already been successfully applied for object and face recognition. We use the bunch graph technique to model variance in hand posture appearance between different subjects and variance in backgrounds. Our system does not need a separate segmentation stage but closely integrates finding the object boundaries with posture classification.     

MOBSY: Integration of vision and dialogue in service robots

Abstract. This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based receptionist for visitors to our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics. Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological and on the technical level. We describe the task and the techniques involved. Finally, we discuss the experiences that we gained with MOBSY during a live performance at our institute.     

A correlation framework for the CORBA component model

Large distributed systems, including real-time embedded systems, are increasingly being built using sophisticated middleware frameworks. Communication in such systems is often realized using in terms of asynchronous events whose propagation is implemented by an underlying publish/subscribe service that hooks components into a generic event communication channel. Event correlation—a mechanism for monitoring and filtering events—has been introduced in some of these systems as an effective technique for reducing network traffic and computation time. Unfortunately, even though event correlation is used heavily in frameworks such as ACE/TAO’s real-time event-channel and in mission critical contexts such as Boeing’s Bold Stroke avionics middleware, the industry standard CORBA Component Model (CCM) does not include a specification of event correlation. While previous proposals for event correlation usually offer sophisticated facilities to detect combinations in the stream of incoming events, they have not been constructed to fit within the CCM type system, and they offer relatively little support for transforming and rearranging filtered events into meaningful output events. In this paper, we present the design rationale, syntax, and semantics for a new and highly flexible model for event correlation that is designed for integration into the CCM type system. Our model has been integrated and tested in the Cadena development and analysis framework, which has been designed to support development of mission-control applications in the Boeing Bold Stroke framework. This work was supported in part by the US Army Research Office (DAAD190110564), by DARPA/IXO’s PCES program (AFRL Contract F33615-00-C-3044), by NSF (CCR-0306607) and by Lockheed Martin.     

Reflex-oscillations in evolved single leg neurocontrollers for walking machines

As a prerequisite for developing neural control for walking machines that are able to autonomously navigate through rough terrain, artificial structure evolution is used to generate various single leg controllers. The structure and dynamical properties of the evolved (recurrent) neural networks are then analysed to identify elementary mechanisms of sensor-driven walking behaviour. Based on the biological understanding that legged locomotion implies a highly decentralised and modular control, neuromodules for single, morphological distinct legs of a hexapod walking machine were developed by using a physical simulation. Each of the legs has three degrees of freedom (DOF). The presented results demonstrate how extremely small reflex-oscillators, which inherently rely on the sensorimotor loop and e.g. hysteresis effects, generate effective locomotion. Varying the fitness function by randomly changing the environmental conditions during evolution, neural control mechanisms are identified which allow for robust and adaptive locomotion. Relations to biological findings are discussed.     

Formal aspects of optimistic concurrency control in a multiple version database system

Formal aspects of optimistic concurrency control in a multiple version database system are discussed. It is distinguished between element-optimistic and set-optimistic methods. In an element-optimistic method the unit of scheduling for the concurrency control is one action/transaction, while in a set-optimistic method a set of transactions is scheduled. The underlying decision problems of serializability are defined and shown to be NP-complete in a model, which is typical for most modern transaction oriented database management systems. Therefore it is most probable, that both optimistic concurrency control types cannot be implemented efficiently in the general case.     

Test selection based on communicating nondeterministic finite-statemachines using a generalized Wp-method

Presents a method of generating test sequences for concurrent programs and communication protocols that are modeled as communicating nondeterministic finite-state machines (CNFSMs). A conformance relation, called trace-equivalence, is defined within this model, serving as a guide to test generation. A test generation method for a single nondeterministic finite-state machine (NFSM) is developed, which is an improved and generalized version of the Wp-method that generates test sequences only for deterministic finite-state machines. It is applicable to both nondeterministic and deterministic finite-state machines. When applied to deterministic finite-state machines, it yields usually smaller test suites with full fault coverage than the existing methods that also provide full fault coverage, provided that the number of states in implementation NFSMs are bounded by a known integer. For a system of CNFSMs, the test sequences are generated in the following manner: a system of CNFSMs is first reduced into a single NFSM by reachability analysis; then the test sequences are generated from the resulting NFSM using the generalized Wp-method