Kinematic Design of Modular Reconfigurable In-Parallel Robots

This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robots is based on a local frame representation of the Product-Of-Exponentials (POE) formula. Forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of three-legged modular parallel robots. Two three-legged reconfigurable parallel robot configurations are actually built according to the proposed design procedure.     

Effects of hydrogen on mechanical properties of vanadium-niobium alloys

Mechanical properties of V-Nb alloys were investigated from 78 to about 300 K. The effects of alloying composition on the yield and flow stress are consistent with a hardening model due to the “misfit”" of one element in the matrix of the other. Additions of up to about 0.6 at. pct of hydrogen have a moderate strengthening effect on the yield stress of high vanadium alloys, but relatively little effect on the high niobium alloys. Little or no effect of adding hydrogen to any of the alloys was observed for the strain hardening coefficient. High Nb alloys were found to be much less embrittled by small additions of hydrogen than were high V alloys. In addition, the failure of severely embrittled alloys was found to be initiated intergranularly by impingement of mechanical twins on grain boundaries. It is speculated that the grain boundaries may be enriched hydrogen.     

Run-to-run control of inductively coupled C2F6 plasma etching of SiO2: Construction of a numerical process with a computational fluid dynamics code

A numerical process to simulate SiO₂ dry etching with inductively coupled C₂F₆ plasmas has been constructed using a commercial CFD code as a first step to design a run-to-run control system. The simulator was found to reasonably predict the reactive ion etching behavior of C₂F₆ plasmas and used to investigate the effects of plasma operating variables on the etch rate and uniformity. The relationship between the operating variables and the etching characteristics was mathematically modeled through linear regression for future run-to-run control system design.     

Uncertainty analysis of nonlinear systems employing the first-order reliability method

In most mechanical systems, properties of the system elements have uncertainties due to several reasons. For example, mass, stiffness coefficient of a spring, damping coefficient of a damper or friction coefficients have uncertain characteristics. The uncertain characteristics of the elements have a direct effect on the system performance uncertainty. It is very important to estimate the performance uncertainty since the performance uncertainty is directly related to manufacturing yield and consumer satisfaction. Due to this reason, the performance uncertainty should be estimated accurately and considered in the system design. In this paper, performance measures are defined for nonlinear vibration systems and the performance measure uncertainties are estimated employing the first order reliability method (FORM). It was found that the FORM could provide good results in spite of the system nonlinear characteristics. Comparing to the results obtained by Monte Carlo Simulation (MCS), the accuracy of the uncertainty analysis results obtained by the FORM is validated.     

PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision

We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem.     

A literature review and classification of recommender systems research

Recommender systems have become an important research field since the emergence of the first paper on collaborative filtering in the mid-1990s. Although academic research on recommender systems has increased significantly over the past 10 years, there are deficiencies in the comprehensive literature review and classification of that research. For that reason, we reviewed 210 articles on recommender systems from 46 journals published between 2001 and 2010, and then classified those by the year of publication, the journals in which they appeared, their application fields, and their data mining techniques. The 210 articles are categorized into eight application fields (books, documents, images, movie, music, shopping, TV programs, and others) and eight data mining techniques (association rule, clustering, decision tree, k-nearest neighbor, link analysis, neural network, regression, and other heuristic methods). Our research provides information about trends in recommender systems research by examining the publication years of the articles, and provides practitioners and researchers with insight and future direction on recommender systems. We hope that this paper helps anyone who is interested in recommender systems research with insight for future research direction.     

Scalable Model of On-Wafer Interconnects for High-Speed CMOS ICs

This paper describes the development of an equivalent circuit model of on-wafer interconnects for high-speed CMOS integrated circuits. By strategically cascading two-pi blocks together, the lumped model can characterize the distributed effects. Besides, the elaborately proposed model characterizes the frequency-variant characteristics with frequency-independent components. Thus, the model can be easily plugged into commercial computer-aided design tools. By adopting a newly invented optimization algorithm, namely, particle swarm optimization (PSO), the model parameters are extracted and formulated as empirical expressions. Therein, with each set of the geometrical parameters, the interconnect behaviors can be accurately predicted. The accuracy of the model is validated by comparisons with the on-wafer measurements up to 30 GHz. Moreover, the scalability of the proposed model is also discussed     

Numerical Analysis of Coaxial Double Gate Schottky Barrier Carbon Nanotube Field Effect Transistors

Carbon nanotube field-effect transistors (CNTFETs) have been studied in recent years as a potential alternative to CMOS devices, because of the capability of ballistic transport. The ambipolar behavior of Schottky barrier CNTFETs limits the performance of these devices. A double gate design is proposed to suppress this behavior. In this structure the first gate located near the source contact controls carrier injection and the second gate located near the drain contact suppresses parasitic carrier injection. To avoid the ambipolar behavior it is necessary that the voltage of the second gate is higher or at least equal to the drain voltage. The behavior of these devices has been studied by solving the coupled Schrödinger-Poisson equation system. We investigated the effect of the second gate voltage on the performance of the device and finally the advantages and disadvantages of these options are discussed.     

Dynamic anti-windup based control method for state constrained systems

Based on the dynamic anti-windup strategy, an alternative control methodology for state constrained systems is presented. The proposed method is an a posteriori approach for state constrained systems, which is differentiated from the usual a priori approach. That is, first a linear controller is designed to show a desirable nominal performance by ignoring state constraints. Then, an additional compensator is introduced to account for state constraints. By minimizing a reasonable performance index, a dynamic compensator is derived explicitly, which is expressed in plant and controller parameters. The proposed method not only provides a graceful performance degradation, but it also guarantees the total stability of the resulting systems. An illustrative example is given to show the effectiveness of the proposed method.