Programmable differential brake for passive haptics

This paper outlines work on a novel programmable braking system, which is widely applicable to most passive haptic applications and benefits from a simple design, theoretically infinite positional resolution and the ability to generate stiff collision forces, without the need for any explicit force measurements. Results are also given of a preliminary concept demonstrator which is based on a simple 2-Degrees-Of-Freedom (DOF) Revolute–Revolute (RR) manipulator incorporating the programmable brakes. Performance measures for the joint, as well as figures describing the ability of the 2-DOF prototype to constrain the end effector motion to a plane and a circle, are also provided.     

Improved sensitivity analysis using a complex variable semi-analytical method

The semi-analytical method (SAM) is a computationally efficient and easy to implement approach often used for the sensitivity analysis of finite element models. However, it is known to exhibit serious inaccuracy for shape sensitivity analysis for structures modeled by beam, frame, plate, or shell elements. In the present paper, we use a semi-analytical approach based on complex variables (SACVM) to compute the sensitivity of finite element models composed of beam and plate elements. The SACVM combines the complex variable method (CVM) with the semi-analytical method (SAM) to obtain the response sensitivity accurately and efficiently. The current approach maintains the computational efficiency of the semi-analytical method but with higher accuracy. In addition, the current approach is insensitive to the choice of step size, a feature that simplifies its use in practical problems. The method is applicable to any structural elements including beam, frame, plate, or shell elements and only requires minor modifications to existing finite element codes.     

Massively parallel acceleration of a document-similarity classifier to detect web attacks

This paper describes our approach to adapting a text document similarity classifier based on the Term Frequency Inverse Document Frequency (TFIDF) metric to two massively multi-core hardware platforms. The TFIDF classifier is used to detect web attacks in HTTP data. In our parallel hardware approaches, we design streaming, real time classifiers by simplifying the sequential algorithm and manipulating the classifier’s model to allow decision information to be represented compactly. Parallel implementations on the Tilera 64-core System on Chip and the Xilinx Virtex 5-LX FPGA are presented. For the Tilera, we employ a reduced state machine to recognize dictionary terms without requiring explicit tokenization, and achieve throughput of 37 MB/s at a slightly reduced accuracy. For the FPGA, we have developed a set of software tools to help automate the process of converting training data to synthesizable hardware and to provide a means of trading off between accuracy and resource utilization. The Xilinx Virtex 5-LX implementation requires 0.2% of the memory used by the original algorithm. At 166 MB/s (80X the software) the hardware implementation is able to achieve Gigabit network throughput at the same accuracy as the original algorithm.     

Semi-globally Exponential Tracking Observer/Controller for Robots with Joint Hysteresis and Without Velocity Measurement

In this work, we consider a multiple degree of freedom robotic plant with joint hysteresis and without velocity measurement. We show, by construction, how a semi-globally exponential hysteresis observer/controller that assumes velocity measurement, a number of which we point out from the literature, can be combined/modified with a velocity observer to yield a combined semi-globally exponential tracking observer/controller. The resulting observer/controller estimates both the hysteresis state and the joint velocity. We prove that the combined estimation error and tracking error converges to zero semi-globally exponentially. One deemed contribution as compared to previous work for this same type of plant is that the usual requirement of velocity measurement has been removed; another is the proved semi-globally exponential result.     

Control of ignition delay in microfabricated hot-wire igniters: Simulation, fabrication, and experimental results

The presented work studied thermal interactions between laminated, metal-foil, hot-wire igniters and exothermic solid-state, composite chemical systems in order to demonstrate precise timing control of a thermal ignition process. The study includes FEA modeling, device fabrication, and characterization to demonstrate control microthruster ignition delays to within 2 ms. The modeling included studies of total ignition delay as well as the ignition delay variation versus process variations. Microthrusters were then fabricated via printed circuit board lamination, and the ignition performance was characterized. The characterization showed agreement with modeling to within 2-sigma for most cases. And the characterization demonstrated that the ignition delay could be controlled to within 0.36 and 0.84 ms for the best case. Furthermore, this performance was demonstrated with a small battery supply (200-600 mAh) and minimal electronics in the ignition system. This work extends the use of current microthrusters to short-lifetime applications that need high forces delivered in millisecond time intervals.     

Automatic Extraction of Heap Reference Properties in Object-Oriented Programs

We present a new technique for helping developers understand heap referencing properties of object-oriented programs and how the actions of the program affect these properties. Our dynamic analysis uses the aliasing properties of objects to synthesize a set of roles; each role represents an abstract object state intended to be of interest to the developer. We allow the developer to customize the analysis to explore the object states and behavior of the program at multiple different and potentially complementary levels of abstraction. The analysis uses roles as the basis for three abstractions: role transition diagrams, which present the observed transitions between roles and the methods responsible for the transitions; role relationship diagrams, which present the observed referencing relationships between objects playing different roles; and enhanced method interfaces, which present the observed roles of method parameters. Together, these abstractions provide useful information about important object and data structure properties and how the actions of the program affect these properties. We have implemented the role analysis and have used this implementation to explore the behavior of several Java programs. Our experience indicates that, when combined with a powerful graphical user interface, roles are a useful abstraction for helping developers explore and understand the behavior of object-oriented programs.     

Incidental Exposure,Selective Exposure,and Political Information Sharing: Integrating Online Exposure Patterns and Expression on Social Media

Political information sharing in social media offers citizens opportunities to engage with news and express their political views, but how do different patterns of online political information exposure, including both incidental and selective exposure, affect sharing? Using two‐wave panel survey data collected in the United States, we examine the relationship between incidental and selective exposure and their consequent links to political information sharing, across different levels of strength of political party affiliation. Our results demonstrate that incidental exposure to counter‐attitudinal information drives stronger partisans to more actively seek out like‐minded political content, which subsequently encourages political information sharing on social media. The results highlight the need to consider both types of political information exposure when modeling citizens' political behavior online.     

CNLs for the semantic web: a state of the art

One of the core challenges for building the semantic web is the creation of ontologies, a process known as ontology authoring. Controlled natural languages (CNLs) propose different frameworks for interfacing and creating ontologies in semantic web systems using restricted natural language. However, in order to engage non-expert users with no background in knowledge engineering, these language interfacing must be reliable, easy to understand and accepted by users. This paper includes the state-of-the-art for CNLs in terms of ontology authoring and the semantic web. In addition, it includes a detailed analysis of user evaluations with respect to each CNL and offers analytic conclusions with respect to the field.