A modular planar robotic manipulandum with end-point torque control.

Robotic manipulanda are extensively used in investigation of the motor control of human arm movements. They permit the application of translational forces to the arm based on its state and can be used to probe issues ranging from mechanisms of neural control to biomechanics. However, most current designs are optimized for studying either motor learning or stiffness. Even fewer include end-point torque control which is important for the simulation of objects and the study of tool use. Here we describe a modular, general purpose, two-dimensional planar manipulandum (vBOT) primarily optimized for dynamic learning paradigms. It employs a carbon fibre arm arranged as a parallelogram which is driven by motors via timing pulleys. The design minimizes the intrinsic dynamics of the manipulandum without active compensation. A novel variant of the design (WristBOT) can apply torques at the handle using an add-on cable drive mechanism. In a second variant (StiffBOT) a more rigid arm can be substituted and zero backlash belts can be used, making the StiffBOT more suitable for the study of stiffness. The three variants can be used with custom built display rigs, mounting, and air tables. We investigated the performance of the vBOT and its variants in terms of effective end-point mass, viscosity and stiffness. Finally we present an object manipulation task using the WristBOT. This demonstrates that subjects can perceive the orientation of the principal axis of an object based on haptic feedback arising from its rotational dynamics.

A structured modelling approach to simulating dynamic behaviours in complex organisations

This article reports a case study application of a systematic approach to modelling complex organisations, centred on simulation modelling (SM). The approach leads to populated instances of complementary model types, in ways that systematically capture, validate and facilitate various uses of organisational understandings, knowledge and data normally distributed amongst multiple knowledge holders. The model-driven approach to decision making enables improved manufacturing responsiveness. Literature on modelling technologies relevant to manufacturing systems organisation design and change is presented, as is literature on production planning and control. This provides a rationale for the development of a new modelling methodology which combines the use of enterprise, causal loop and SM. Subsequently, this article describes how in the case of a specific manufacturing enterprise the combined modelling techniques have informed the choice of alternative production planning and control policies. An example enterprise model of a capacitor manufacturing company is illustrated as derivative causal-loop models that structure and enable the design and use of a general purpose simulation model.

Globally Unique Product Identifiers - Requirements and Solutions to Product Lifecycle Management

Managing product information for product items during their whole lifetime is challenging, especially during their usage and end-of-life phases. A major challenge is how to keep a link between the product item and its associated information that may be stored in backend systems of different organizations. This chapter analyses and compares three approaches for addressing this task-that is, the electronic product code (EPC) Network, DIALOG, and World Wide Article Information (WWAI). The EPC network has three key strengths with respect to Product lifecycle management (PLM): First, it is an internationally accepted standard that is supported by a world-wide standards body (GSI). Second, the lookup mechanism helps to insulate the data on the tag from change. Third, because it is becoming widespread and that this tag can also be used for PLM. WWAI is more technically sophisticated than the other approaches. The DIALOG approach might be the most general purpose one of the three because it places few restrictions on the format of the data on the tag. © 2006 Copyright © 2006 Elsevier Ltd. All rights reserved.

An improved TM method for full two-port calibration of the asymmetric test fixtures

Three known standards, including at least one transmission standard, are normally required for the full two-port calibration of test fixtures. Based on the triple-through method, a new general-purpose calibration procedure using only one known reflection standard is proposed in this paper. The experimental results show that our method call provide a simple and accurate approach to fall two-port calibration of the asymmetric test fixtures. (c) 2005 Wiley Periodicals, Inc.

Layered Architecture for Secure E-Commerce Applications

We present a layered architecture for secure e-commerce applications and protocols with fully automated dispute-resolution process, robust to communication failures and malicious faults. Our design is modular, with precise yet general-purpose interfaces and functionalities, and allows usage as an underlying secure service to different e-commerce, e-banking and other distributed systems. The interfaces support diverse, flexible and extensible payment scenarios and instruments, including direct buyer-seller payments as well as (the more common) indirect payments via payment service providers (e.g. banks). Our design is practical, efficient, and ensures reliability and security under realistic failure and delay conditions.

function definition language fdl and its implementation

A Function Definition Language (FDL) is presented. Though designed for describing specifications, FDL is also a general-purpose functional programming language. It uses context-free language as data type, supports pattern matching definition of functions, offers several function definition forms, and is executable. It is shown that FDL has strong expressiveness, is easy to use and describes algorithms concisely and naturally. An interpreter of FDL is introduced. Experiments and discussion are included.

面向油田的通用型智能测控系统的研制及应用

本文全面地论述了面向油田的通用型智能测控系统的研制开发及这一系统的结构、性能和软硬件特色。论文阐明了系统的开发背景，系统模型的建立，电路结构的建立及主要芯片的选择及其特性，软件系统的完善，浮点子程序库的建立及几个主要浮点计算子程序的算法；系统特色方面，主要从线结构和I2C串行总线通信子程序进行了论述。另外，本文从应用的角度，介绍了用此系统实现原油含气、含水率监测仪二次仪表的硬件及软件方法，在所建立的子程序库的基础上完善了监测仪的系统软件，与科庆公司原有的监测仪相比，具有操作方便，在线参数修改，掉电参数长期保持的优点。另外两个应用实例—化验室用含水率测量仪和RGH—PCL型计量控制装置，文章最后也作了介绍。

水下机器人粘性类水动力数值计算方法研究

通过对通用流体动力学仿真软件CFX的研究,提出了一套水下机器人粘性类水动力的数值计算方法.该方法采用标准k-ε湍流模型计算位置力系数,采用标准k-ω湍流模型计算旋转力系数及其它耦合水动力系数.对“CR-02”6000 m自治水下机器人的计算表明,通过这种方法获得的水动力系数具有较高的精度,可以满足水下机器人方案设计阶段的操纵性设计、运动预报和仿真等需求.

建立在小型计算机上的GPSS-F/1000通用仿真软件包

本文阐述了在小型计算机上建立的 GPSS-F/1000通用仿真软件包。该软件包不仅具有原 GPSS-F仿真软件的全部功能,并且使公用数组、系统参数的适配全部活化,通过子程序的形式参量传送赋给,从而,仿真时不必修改子程序的源程序。此外,增加了统计参数估计子程序集和图形绘制子程序集。

A Comparison of Hardware Implementations for Low-Level Vision Algorithms

Early and intermediate vision algorithms, such as smoothing and discontinuity detection, are often implemented on general-purpose serial, and more recently, parallel computers. Special-purpose hardware implementations of low-level vision algorithms may be needed to achieve real-time processing. This memo reviews and analyzes some hardware implementations of low-level vision algorithms. Two types of hardware implementations are considered: the digital signal processing chips of Ruetz (and Broderson) and the analog VLSI circuits of Carver Mead. The advantages and disadvantages of these two approaches for producing a general, real-time vision system are considered.

SodaBot: A Software Agent Environment and Construction System

This thesis presents SodaBot, a general-purpose software agent user-environment and construction system. Its primary component is the basic software agent --- a computational framework for building agents which is essentially an agent operating system. We also present a new language for programming the basic software agent whose primitives are designed around human-level descriptions of agent activity. Via this programming language, users can easily implement a wide-range of typical software agent applications, e.g. personal on-line assistants and meeting scheduling agents. The SodaBot system has been implemented and tested, and its description comprises the bulk of this thesis.

Emacs Lisp in Edwin SScheme

The MIT-Scheme program development environment includes a general-purpose text editor, Edwin, that has an extension language, Edwin Scheme. Edwin is very similar to another general-purpose text editor, GNU Emacs, which also has an extension language, Emacs Lisp. The popularity of GNU Emacs has lead to a large library of tools written in Emacs Lisp. The goal of this thesis is to implement a useful subset of Emacs Lisp in Edwin Scheme. This subset was chosen to be sufficient for simple operation of the GNUS news reading program.

Description and Theoretical Analysis (Using Schemata) of Planner: A Language for Proving Theorems and Manipulating Models in a Robot

Planner is a formalism for proving theorems and manipulating models in a robot. The formalism is built out of a number of problem-solving primitives together with a hierarchical multiprocess backtrack control structure. Statements can be asserted and perhaps later withdrawn as the state of the world changes. Under BACKTRACK control structure, the hierarchy of activations of functions previously executed is maintained so that it is possible to revert to any previous state. Thus programs can easily manipulate elaborate hypothetical tentative states. In addition PLANNER uses multiprocessing so that there can be multiple loci of changes in state. Goals can be established and dismissed when they are satisfied. The deductive system of PLANNER is subordinate to the hierarchical control structure in order to maintain the desired degree of control. The use of a general-purpose matching language as the basis of the deductive system increases the flexibility of the system. Instead of explicitly naming procedures in calls, procedures can be invoked implicitly by patterns of what the procedure is supposed to accomplish. The language is being applied to solve problems faced by a robot, to write special purpose routines from goal oriented language, to express and prove properties of procedures, to abstract procedures from protocols of their actions, and as a semantic base for English.

Planning for Conjunctive Goals

The problem of achieving conjunctive goals has been central to domain independent planning research; the nonlinear constraint-posting approach has been most successful. Previous planners of this type have been comlicated, heuristic, and ill-defined. I have combined and distilled the state of the art into a simple, precise, implemented algorithm (TWEAK) which I have proved correct and complete. I analyze previous work on domain-independent conjunctive planning; in retrospect it becomes clear that all conjunctive planners, linear and nonlinear, work the same way. The efficiency of these planners depends on the traditional add/delete-list representation for actions, which drastically limits their usefulness. I present theorems that suggest that efficient general purpose planning with more expressive action representations is impossible, and suggest ways to avoid this problem.

Sytuacja społeczna ludzi starych jako problem pedagogiczny

In the article were presented results and analysis of searches of social situation of older people. A general purpose of searches was to qualify outer impulses which are components of aspect of social situation and that how it is accepted by older people and how it stimulates their activity. Learning of social situation of older people allows to qualify specific methods of work with them on base of pedagogics.