New Compliance-Mechanism Design for Small Companion Robots

The compliance mechanisms used on robotic arms can be classified into two major categories: mechanical and electronic. The ideal characteristics of a compliance mechanism include small volume, simple mechanical structure, low cost, large complaint range, and high precision and accuracy under displacement control. Most mechanical compliance mechanisms are able to meet the first three conditions but have a small compliant range and low precision and accuracy under displacement control. The electronic compliance mechanism is hardly limited in the degree of deformation and comes with a higher precision and accuracy under the displacement control, but its sensors are expensive and the system is difficult to control. To combine the advantages of both types, this research aims to develop a new design of compliance mechanism in which a small-scale torque-limiting mechanism with a self-locking feature is installed between the actuator and the arm structure to minimize the volume while providing an ample torque limit. When the robotic arm is overloaded under an external force, a slide will occur inside the compliance mechanism so that the robotic arm will move along the direction of the external force to avoid damage. The robotic arm will automatically return to its original position after the external force is removed. The new compliance mechanism not only exceeds most of the current mechanical designs in the range of compliance but also does not affect the precision and accuracy of the displacement control. Furthermore, the new compliance mechanism does not require any sensors, which will benefit small robotic arms.     

Efficient detection and tracking of moving objects in geo-coordinates

We present a system to detect and track moving objects from an airborne platform. Given a global map, such as a satellite image, our approach can locate and track the targets in geo-coordinates, namely longitude and latitude obtained from geo-registration. A motion model in geo-coordinates is more physically meaningful than the one in image coordinates. We propose to use a two-step geo-registration approach to stitch images acquired by satellite and UAV cameras. Mutual information is used to find correspondences between these two very different modalities. After motion segmentation and geo-registration, tracking is performed in a hierarchical manner: at the temporally local level, moving image blobs extracted by motion segmentation are associated into tracklets; at the global level, tracklets are linked by their appearance and spatio-temporal consistency on the global map. To achieve efficient time performance, graphics processing unit techniques are applied in the geo-registration and motion detection modules, which are the bottleneck of the whole system. Experiments show that our method can efficiently deal with long term occlusion and segmented tracks even when targets fall out the field of view.     

Measurement of static and dynamic mechanical behavior of micro and nano-scale thin metal films: using micro-cantilever beam deflection

We present the results of a novel micro-beam deflection test used to investigate the static and dynamic mechanical behavior of submicron-thick metal films. The method demonstrated in this study allows researchers to observe the motion of micro and nano-scale thin films responding to electrostatic loads, by means of laser reflection measurements at frequency rates of up to 500 Hz. Researchers fabricated a supporting frame and a novel triangular shaped “paddle” beam designed to provide uniform plane stress distribution while undergoing deflection. A simple geometric calculation, based on cantilever deflection, enabled the degree of strain to be determined, which in turn provided the Young’s modus for aluminum film of a given thickness. We also studied the dynamic behavior using the dynamic frequency response of the beam, generated by electrostatic forces under various loads and vacuum pressure conditions. Our results showed that air damping has a significant influence on the free damping behavior of specimens, and only a minor influence on damping frequency. We determined the loss angle and frequency using sweep frequency and free damping methods, which were very consistent with paddle resonant frequencies. The loss angle obtained from a simple silicon micro-beam was 2.001 × 10^−4°using the free damping method and 2.23 × 10^−4°using the sweep frequency method. The dynamic response loss mechanism measured in this experiment provides incentive for the further study of grain boundary motion and dislocation motion in thin films.     

Motor noise generation and prediction for high spinning speed hard disk drive

The acoustic level of a hard disk drive is an important specification. This is especially so for enterprise HDD which is required to operate under a high spinning speed. In order to reduce the acoustics level of a HDD, an in depth understanding behind the mechanisms whereby the noise is being generated in a HDD should be established. This paper will study the acoustics characteristics of a high speed permanent magnet brushless DC motor (PM BLDC) and investigate the physics underlying the generation of noise associated with a motor. An analysis procedure of the PM BLDC motor noise generating mechanisms is proposed. Through finite element analysis and experimental verification, the results indicate that the major noise source for the high speed PM BLDC motor is due to the presence of electromagnetic (EM) torque ripples. Furthermore, it has been observed that the noise radiated by a HDD can be amplified when its structural dynamics are close to the frequency components of the noise source. Finally, a methodology which discusses the steps involved in the prediction of motor radiated noise will be presented.     

Self-adaptive interval type-2 neural fuzzy network control for PMLSM drives

This paper proposes a self-adaptive interval type-2 neural fuzzy network (SAIT2NFN) control system for the high-precision motion control of permanent magnet linear synchronous motor (PMLSM) drives. The antecedent parts in the SAIT2NFN use interval type-2 fuzzy sets to handle uncertainties in PMLSM drives, including payload variation, external disturbance, and sense noise. The SAIT2NFN is firstly trained to model the inverse dynamics of PMLSM through concurrent structure and parameter learning. The fuzzy rules in the SAIT2NFN can be generated automatically by using online clustering algorithm to obtain a suitable-sized network structure, and a back propagation is proposed to adjust all network parameters. Then, a robust SAIT2NFN inverse control system that consists of the SAIT2NFN and an error-feedback controller is proposed to control the PMLSM drive in a changing environment. Moreover, the Kalman filtering algorithm with a dead zone is derived using Lyapunov stability theorem for online fine-tuning all network parameters to guarantee the convergence of the SAIT2NFN. Experimental results show that the proposed SAIT2NFN control system achieves the best tracking performance in comparison with type-1 NFN control systems.     

Random walk based rank aggregation to improving web search

In Web search, with the aid of related query recommendation, Web users can revise their initial queries in several serial rounds in pursuit of finding needed Web pages. In this paper, we address the Web search problem on aggregating search results of related queries to improve the retrieval quality. Given an initial query and the suggested related queries, our search system concurrently processes their search result lists from an existing search engine and then forms a single list aggregated by all the retrieved lists. We specifically propose a generic rank aggregation framework which consists of three steps. First we build a so-called Win/Loss graph of Web pages according to a competition rule, and then apply the random walk mechanism on the Win/Loss graph. Last we sort these Web pages by their ranks using a PageRank-like rank mechanism. The proposed framework considers not only the number of wins that an item won in competitions, but also the quality of its competitor items in calculating the ranking of Web page items. Experimental results show that our search system can clearly improve the retrieval quality in a parallel manner over the traditional search strategy that serially returns result lists. Moreover, we also provide empirical evidences as to demonstrate how different rank aggregation methods affect the retrieval quality.     

An efficient fuzzy weighted average algorithm for the military UAV selecting under group decision-making

The fuzzy weighted average (FWA), which is a function of fuzzy numbers and is useful as an aggregation method in engineering or management science based on fuzzy sets theory. It provides a discrete approximate solution by α-cuts level representation of fuzzy sets and interval analysis. Since the FWA method has an exponential complexity, thus several researches have focused on reducing this complexity. This paper also presents an enhanced fuzzy weighted average approach to achieve the objective of reducing the complexity. This proposed approach is through an improved initial solution for original FWA algorithm, and a two-phase concept by extending and applying both the algorithms of Chang et al. [4] and Guu [14]. Although the complexity of the proposed FWA algorithm is O(n) the same as Guu [14] which is the best level achieved to date. But from the experimental results appear that the proposed algorithm is more efficient, which only needs a few evaluated numbers and spend much less overall CPU time than Guu [14] and other FWA algorithms. In order to demonstrate the usefulness of this study, a practical example for unmanned aerial vehicle (UAV) selecting under military requirement has illustrated. Additionally, a computer-based interface, which helps the decision maker make decisions more efficiently, has been developed.     

Deriving industrial logistics hub reference models for manufacturing based economies

Global enterprises require extended logistics operations that integrate channel intermediaries into the network. The method for deriving integrated models for logistics hubs that improve the efficiency of manufacturers’ global operations is the focus of this paper. Under government sponsorship, six industrial logistics hubs were implemented by leading manufacturing sectors across Taiwan over a five year period from 2004 until 2008. Each industry sector had unique industry characteristics, business strategies, and logistics models. Therefore, this paper describes how generalized and quick to implement integrated logistics hubs are developed by studying the successful reference models and systems used by six independent industrial sectors. The research results provide a field tested method for deriving integrated logistics hub models in different manufacturing economies with notes that provide sufficient methodological detail for repeating the construction of logistics hubs in other manufacturing economies.     

基于路径表达式的XML索引查询技术

为减少结构连接操作时对输入数据大小的依赖、在大部分实际情况下提高算法效率,研究了当前结构连接算法产生大量中间结果而导致过多连接次数的问题,提出一种新的基于结构摘要的索引技术。对路径树和XML树分别编码,使用少量预先计算的路径信息。在结构连接时执行交叉操作,该操作由位图在较短时间内实现,并且只返回结点所在路径的位置信息,减少了I/O次数。实验结果表明了其具有较高的查询效率,并且查询时间不依赖于输入数据的规模。     

水稻指纹图谱的计算机检索方法

为了解决人工鉴别水稻指纹图谱效率低下的问题,提出一种计算机辅助鉴别方法。提取用SSR分子标记技术构建的水稻DNA图谱条带轮廓,计算各条带区域的质心,将条带质心转换形成特征向量,并利用支持向量机构造出品种分类器,从而实现对未知样品的自动分类。该方法利用支持向量机较强的泛化能力,解决特征提取后不同品种样本之间细微差别所带来的识别困难。实验结果表明,该方法识别率总体上比欧几里得距离分类要高,可以辅助提高水稻品种鉴别效率。