A task‐based and resource‐aware approach to dynamically generate optimal software architecture for intelligent service robots

Intelligent service robots provide various services to users by understanding the context and goals of a user task. In order to provide more reliable services, intelligent service robots need to consider various factors, such as their surrounding environments, users' changing needs, and constrained resources. To handle these factors, most of the intelligent service robots are controlled by a task‐based control system, which generates a task plan that represents a sequence of actions, and executes those actions by invoking the corresponding functions. However, the traditional task‐based control systems lack the consideration of resource factors even though intelligent service robots have limited resources (limited computational power, memory space, and network bandwidth). Moreover, system‐specific concerns such as the relationships among functional modules are not considered during the task generation phase. Without considering both the resource conditions and interdependencies among software modules as a whole, it will be difficult to efficiently manage the functionalities that are essential to provide core services to users. In this paper, we propose a mechanism for intelligent service robots to efficiently use their resources on‐demand by separating system‐specific information from task generation. We have defined a sub‐architecture that corresponds to each action of a task plan, and provides a way of using the limited resources by minimizing redundant software components and maintaining essential components for the current action. To support the optimization of resource consumption, we have developed a two‐phase optimization process, which is composed of the topological and temporal optimization steps. We have conducted an experiment with these mechanisms for an infotainment robot, and simulated the optimization process. Results show that our approach contributed to increase the utilization rate by 20% of the robot resources. Copyright © 2011 John Wiley & Sons, Ltd.     

Dielectric characteristics of Pb(Zn<Subscript>1/3</Subscript>Ta<Subscript>2/3</Subscript>)O<Subscript>3</Subscript>-BaTiO<Subscript>3</Subscript> ceramics with/without PbTiO<Subscript>3</Subscript> modification

Stabilization tendencies of the perovskite structure in a Pb(Zn_1/3Ta_2/3)O₃-BaTiO₃ pseudobinary system with/without compositional modification by 20 mol% PbTiO₃ introduction were compared. In order to promote perovskite phase formation, the B-site precursor method (which is conceptually similar to the columbite process) was employed in this study. Dielectric properties of sintered samples were investigated as functions of composition and measurement frequency. Dielectric constant spectra, in the paraelectric temperature region, were further analyzed in terms of diffuseness. Microstructures of sintered specimens were also investigated and correlated with perovskite stabilization.     

Wear and dynamic properties of piezoelectric ultrasonic motor with frictional materials coated stator

Piezoelectric ultrasonic motors have been studied, developed and utilized by researchers and companies all over the world. Ultrasonic motors (USM) produce rotational motion based on traveling waves made by the resonant vibrations of piezoceramic. These motors have been recently developed and utilized in practical applications. The dynamic properties and life of piezoelectric ultrasonic motors are strongly related to the frictional material Fused on the sliding surface. In this study, effects of frictional material properties on the performances of piezoelectric ultrasonic motors are investigated. It was possible to improve the torque of a traveling wave type ultrasonic motor by stator's coating.     

Optimization of a piezoelectric linear motor in terms of the contact parameters

The contact kinetics of piezoelectric linear motors determines the operational characteristics like speed and torque or transmitted mechanical power and efficiency. Piezoelectric linear motors are driven by tangential stress in the interface between tip of shaking beam and slider. A good contact between the tip and slider is necessary for a reliable analysis of the motor, which is needed for the optimization of its performance. The piezoelectric linear motor was fabricated and the characteristics of the motor were investigated by external conditions such as tip shape with different curvatures and contact force between the tip and the slider. It was found in this investigation that the optimal curvature of the tip and the contact force are curvature of 1 and 10, respectively, for the high actuating speed, and curvature of 1 and 40 N, respectively, for the high actuating force. Finally, tip shape has an influence on the characteristics of linear motor.     

Topology optimization with displacement constraints: a bilevel programming approach

We consider the minimum-compliance formulation of the truss topology problem with additional linear constraints on the displacements: the so-called displacement constraints. We propose a new bilevel programming approach to this problem. Our primal goal (upper-level) is to satisfy the displacement constraint as well as possible — we minimize the gap between the actual and prescribed displacement. Our second goal (lower level) is to minimize the compliance — we still want to find the stiffest structure satisfying the displacement constraints. On the lower level we solve a standard truss topology problem and hence we can solve it in the formulation suitable for the fast interior point alogrithms. The overall bilevel problem is solved by means of the so-called implicit programming approach. This approach leads to a nonsmooth optimization problem which is finally solved by a nonsmooth solver.     

Adaptive polygonization of geometrically constrained surfaces

n -dimensional space, where n>3. This definition can be used for given surfaces that are implicit or parametric. This paper presents a robust, adaptive polygonization algorithm for evaluating and visualizing geometrically constrained surfaces. Let be the constrained surface, a 2-surface in n-space, and let π() be its projection into the subspace spanned by the first three coordinates. Our polygonization algorithm computes π(). The method works directly with the n-space representation, but performs all major computations in 3-space. Techniques for triangulation, polygon decimation, and local refinement are also presented.     

Using regression splines to assess the impact of information technology investments on productivity in the health care industry

Abstract. This paper explores the impact of information technology (IT) investments on productivity using a new technique, multivariate adaptive regression splines (MARS). We believe that it provides additional insights on the nature of the impact of IT investments on productivity. The results from our study are compared with findings from a previous study that has also used the same data set. While the results of a previous study indicate that IT investments have a positive but uniform impact on productivity, our study suggests that the impact of IT on productivity is not uniform but is contingent on other complementary factors. Our findings describe that the complementary relationship exists between IT and non‐IT related investments. Thus, improved organizational productivity cannot be expected from investment in IT alone but only together with non‐IT investments. Our findings also point out that further investment may not necessarily bring on higher organizational productivity.     

High-temperature single-crystal 3C-SiC capacitive pressure sensor

Single-crystal 3C-silicon carbide (SiC) capacitive pressure sensors are proposed for high-temperature sensing applications. The prototype device consists of an edge-clamped circular 3C-SiC diaphragm with a radius of 400 /spl mu/m and a thickness of 0.5 /spl mu/m suspended over a 2-/spl mu/m sealed cavity on a silicon substrate. The 3C-SiC film is grown epitaxially on a 100-mm diameter <100> silicon substrate by atmospheric pressure chemical vapor deposition. The fabricated sensor demonstrates a high-temperature sensing capability up to 400/spl deg/C, limited by the test setup. At 400/spl deg/C, the device achieves a linear characteristic response between 1100 and 1760 torr with a sensitivity of 7.7 fF/torr, a linearity of 2.1%, and a hysterisis of 3.7% with a sensing repeatability of 39 torr (52 mbar). A wide range of sensor specifications, such as linear ranges, sensitivities, and capacitance values, can be achieved by choosing the proper device geometrical parameters.     

Nitride-based high power flip-chip near-UV leds with reflective submount

Nitride-based high power flip-chip near-ultraviolet (UV) light emitting diodes (LEDs) with a reflective mirror are fabricated by depositing Al onto a Si submount. It is demonstrated that the Al layer coated onto a Si submount can effectively reflect downward emitting photons for flip-chip LEDs. Although the operation voltage of the proposed LEDs is slightly increased, it is found that the output power is at least 30% higher than that of conventional LEDs. It is also found that flip-chip near-UV LEDs are more reliable than conventional non-flip-chip LEDs