Nonlinear state estimation for rigid-body motion with low-pass sensors

In this paper, we consider the state estimation problem for the nonlinear kinematic equations of a rigid body observed under low-pass sensors. The problem is motivated from a walking robot application where inclinometers and gyros are the sensors used. We show that a non-local high gain observer exists for the nonlinear rigid-body kinematic equations and that it under a small angle assumption is possible to use one inclinometer only to estimate two angles.     

Independent Hybrid Force/Motion Control of Constrained Six-Degrees-of-Freedom Manipulators

Controlling the dynamics of a constrained manipulator includesposition tracking as well as stabilization of the contact wrench.In this paper we derive a control scheme, that makes it possible to treat position and force control independently.The approach is based on a mass-orthogonal splitting of the space of joint torques, allowing independent actuation and therefore independent specification of control laws. An appropriate definition of the reference wrenchmakes it possible to achieve independent stability of the position and force loop.     

Industrial Robot Navigation and Obstacle Avoidance Employing Fuzzy Logic

This paper proposes a novel conceptual approach based on fuzzy logic to solve the local navigation and obstacle avoidance problem for industrial 3-dof robotic manipulators. The proposed system is divided into separate fuzzy units, which control individually each manipulator link. The fuzzy rule-base of each unit combines a repelling influence, which is related to the distance between the manipulator and the nearby obstacles, with the attracting influence produced by the angular difference, between the actual and the final manipulator configuration, to generate a new actuating command for each link. It can be considered as an on-line local navigation method for the generation of instantaneous collision-free trajectories. The strategy has been successfully applied to manipulators in different simulated workspace environments providing collision-free paths. Some of the simulation results obtained are included.     

Optimal design and motion control of biomimetic robotic fish

This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.     

一种基于信任关系的网构软件安全模型及其应用研究

作为一种新的软件架构概念和技术,网构软件成为当前软件工程研究领域的焦点之一。然而新的架构技术和运行环境也使得网构软件技术面临着一些新的问题,其中包括网构软件的信息安全性问题。为了实现对网构软件的信息安全保护,本文提出了一种基于信任关系的网构软件安全保护模型,它通过建立网构软件中各软件主体之间的信任关系,达到对网构软件中信息的安全保护目的。     

Characterizing displays by their temporal aperture: A theoretical framework

Abstract— The spatio‐temporal aperture and sample rate of a video display determines both the static and dynamic resolution of the video signal that is rendered. The dynamic display characteristics like the visibility of large‐area flicker, motion judder, and motion blur can be derived from the frame rate and the temporal extent of the pixel aperture (i.e., the temporal aperture). For example, liquid‐crystal displays (LCDs) have an aperture that is relatively small in the spatial dimension and wide in the temporal domain. Consequently, moving objects displayed on an LCD suffer from motion blur. Especially in TV applications, the temporal dimension has a large impact on the overall picture quality. The temporal aperture, together with the frame rate, is shown to predict the amount of perceived large‐area flicker, motion judder, and motion blur and also the performance of motion‐blur reduction algorithms for LCDs. From this analysis it is further determined how to obtain the optimal temporal aperture of a television display, for which not only properties of the human visual system (HVS), but also the properties of the video signal have to be taken into account.     

Superpipelined high-performance optical-flow computation architecture

Optical-flow computation is a well-known technique and there are important fields in which the application of this visual modality commands high interest. Nevertheless, most real-world applications require real-time processing, an issue which has only recently been addressed. Most real-time systems described to date use basic models which limit their applicability to generic tasks, especially when fast motion is presented or when subpixel motion resolution is required. Therefore, instead of implementing a complex optical-flow approach, we describe here a very high-frame-rate optical-flow processing system. Recent advances in image sensor technology make it possible nowadays to use high-frame-rate sensors to properly sample fast motion (i.e. as a low-motion scene), which makes a gradient-based approach one of the best options in terms of accuracy and consumption of resources for any real-time implementation. Taking advantage of the regular data flow of this kind of algorithm, our approach implements a novel superpipelined, fully parallelized architecture for optical-flow processing. The system is fully working and is organized into more than 70 pipeline stages, which achieve a data throughput of one pixel per clock cycle. This computing scheme is well suited to FPGA technology and VLSI implementation. The developed customized DSP architecture is capable of processing up to 170 frames per second at a resolution of 800 × 600 pixels. We discuss the advantages of high-frame-rate processing and justify the optical-flow model chosen for the implementation. We analyze this architecture, measure the system resource requirements using FPGA devices and finally evaluate the system’s performance and compare it with other approaches described in the literature.     

Innovations in Individual Feature History Management—The Significance of Feature-based Temporal Model

A feature relies on three dimensions (space, theme, and time) for its representation. Even though spatiotemporal models have been proposed, they have principally focused on the spatial changes of a feature. In this paper, a feature-based temporal model is proposed to represent the changes of both space and theme independently. The proposed model modifies the ISO’s temporal schema and adds new explicit temporal relationship structure that stores temporal topological relationship with the ISO’s temporal primitives of a feature in order to keep track feature history. The explicit temporal relationship can enhance query performance on feature history by removing topological comparison during query process. Further, a prototype system has been developed to test a proposed feature-based temporal model by querying land parcel history in Athens, Georgia. The result of temporal query on individual feature history shows the efficiency of the explicit temporal relationship structure.

An Adaptive Version of the Boost by Majority Algorithm

We propose a new boosting algorithm. This boosting algorithm is an adaptive version of the boost by majority algorithm and combines bounded goals of the boost by majority algorithm with the adaptivity of AdaBoost.The method used for making boost-by-majority adaptive is to consider the limit in which each of the boosting iterations makes an infinitesimally small contribution to the process as a whole. This limit can be modeled using the differential equations that govern Brownian motion. The new boosting algorithm, named BrownBoost, is based on finding solutions to these differential equations.The paper describes two methods for finding approximate solutions to the differential equations. The first is a method that results in a provably polynomial time algorithm. The second method, based on the Newton-Raphson minimization procedure, is much more efficient in practice but is not known to be polynomial.