机械臂的动态混合控制

本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。     

On Striping Traffic over Multiple IEEE 802.11(b) Wireless Channels

Due to interference, path loss, multipath fading, background noise, and many other factors, wireless communication normally cannot provide a wireless link with both a high data rate and a long transmission range. To address this problem, striping network traffic in parallel over multiple lower-data-rate but longer-transmission-range wireless channels may be used. In this paper, we propose a new striping method and evaluate its performances over multiple IEEE 802.11(b) channels under various conditions. Our extensive simulation results show that this method is quite effective for such an application. S.Y. Wang is an Associate Professor of the Department of Computer Science and Information Engineering at National Chiao Tung University, Taiwan. He received his Master and Ph.D. degree in computer science from Harvard University in 1997 and 1999, respectively. His research interests include wireless networks, Internet technologies, network simulations, and operating systems. He is the author of the NCTUns 2.0 network simulator and emulator, which is being widely used by network and communication researchers. More information about the tool is available at http://NSL.csie.nctu.edu.tw/nctuns.html. C.H. Hwang received his master degree in computer science from NCTU in 2002 and currently is working for a network company. C.L. Chou currently is a third-year Ph.D. student at the Department of Computer Science and Information Engineering, National Chiao TungUniversity (NCTU), Taiwan. He received his master degree in computer science from NCTU in 2002.     

一种快速CRC 算法①的硬件实现方法

介绍了CRC校验算法的硬件电路实现方法。CRC校验广泛应用于通信、存储系统，在串行CRC实现的基础上，对电路结构提出了改进的方案，并实现了CRC的并行计算，由此进一步可以适用于任意位数据宽度的数据输入情况。     

基于EPP模式下的数据采集系统

介绍了一种基于并口EPP模式通讯的数据采集系统的设计方法,该系统以ADSP2 1 81、E PLD为核心器件,AD7331 1芯片为模拟信号输入输出接口,非常适合便携式数据采集系统     

可编程光学二值双轨逻辑门

基于双轨逻辑,本文提出一种可级联的并行二值逻辑门。所有十六种二值逻辑运算可以采用偏振半波相延编程来实现。也提出了用电光晶体实现实时编程的方法。本文中给出了实验结果。     

正交多项式的并行算法修正及其稳定性分析

通过修正求解Chebyshev多项式的Clenshaw和Forsythe算法。提出了求解一般正交多项式的两种并行算法。并通过讨论这两种并行算法矩阵形式的舍入误差，对它们的稳定性进行了分析。     

Nonholonomic Mobile Manipulators: Kinematics, Velocities and Redundancies

We consider nonholonomic mobile manipulators built from an n _a joint robotic arm and a nonholonomic mobile platform with two independently driven wheels. Actually, there is no efficient kinematic formalism for these systems which are generally characterized by their high number of actuators. So, kinematic modelling is presented with particular emphasis on redundancy. Whereas kinematic redundancy is well known in the holonomic case, it is pointed out that it is necessary to define velocity redundancy in the case of nonholonomic systems. Reduced velocity kinematics based on quasi-velocities are shown to provide an efficient formalism. Two examples of mobile manipulators are presented. Finally, reduced velocity kinematics and velocity redundancy are shown to be adequate tools in order to realize operational task while optimizing criteria such as manipulability.     

Implementation of a vector quantization codebook design technique based on a competitive learning artificial neural network

We describe an implementation of a vector quantization codebook design algorithm based on the frequencysensitive competitive learning artificial neural network. The implementation, designed for use on high-performance computers, employs both multitasking and vectorization techniques. A C version of the algorithm tested on a CRAY Y-MP8/864 is discussed. We show how the implementation can be used to perform vector quantization, and demonstrate its use in compressing digital video image data. Two images are used, with various size codebooks, to test the performance of the implementation. The results show that the supercomputer techniques employed have significantly decreased the total execution time without affecting vector quantization performance.This work was supported by a Cray University Research Award and by NASA Lewis research grant number NAG3-1164.     

静态SAT问题并行处理器的设计研究

针对SAT问题的复杂性及求解速度缓慢的问题，采用可重构器件FPGA设计，实现了静态回溯搜索算法SAT问题并行处理器，提出了研制动态SAT并行处理器的设想。     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.