仿人机器人系统的研究与实现

针对仿人机器人的结构和控制性能的要求,设计开发了机器人的关节控制器,并利用CAN总线把各个关节和力传感器及上位机连接在一起,构成了有效可靠的分布式控制系统;利用无线局域网技术,实现了语音、视频等多媒体信息的传输,构成了仿人机器人完整的控制系统。最后提出了一些设想以提高系统的性能。

基于CAN的仿人机器人控制器的设计与实现

本文针对仿人机器人的结构和控制性能的要求,设计并实现了基于CAN的关节控制器,并利用CAN把各个关节和力传感器及上位机连接在一起,构成了有效可靠的控制系统。主要包括仿人机器人的总体结构、控制器的硬件与软件的设计实现、控制系统的拓扑结构等,并提出了一些设想以提高系统的性能。

Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs

提出了一种新的最优模糊PID控制器，它由两部分组成，即在线模糊推理机构和带有不完全微分的常规PID控制器，在模糊推理机构中，引入了三个可调节因子xp,xi和xd，其作用是进一步修改和优化模糊推理的结果，以使控制器对一个给定对象具有最优的控制效果，可调节因子的最优值采用ITAE准则及Nelder和Mead提出的柔性多面体最优搜索算法加以确定，这种PID控制器被用来控制由作者设计的智能人工腿中的一个直流电机，仿真结果表明该控制器的设计是非常有效的，它可被用于控制各种不同的对象和过程。

Automatic Design of a Maglev Controller in State Space

We describe the automatic synthesis of a global nonlinear controller for stabilizing a magnetic levitation system. The synthesized control system can stabilize the maglev vehicle with large initial displacements from an equilibrium, and possesses a much larger operating region than the classical linear feedback design for the same system. The controller is automatically synthesized by a suite of computational tools. This work demonstrates that the difficult control synthesis task can be automated, using programs that actively exploit knowledge of nonlinear dynamics and state space and combine powerful numerical and symbolic computations with spatial-reasoning techniques.

Combining Functional and Structural Reasoning for Safety Analysis of Electrical Designs

C.J.Price, D.R.Pugh, N.A.Snooke, J.E.Hunt, M.S.Wilson, Combining Functional and Structural Reasoning for Safety Analysis of Electrical Designs, Knowledge Engineering Review, vol 12:3, pp.271-287, 1997.

Comparing Student Software Designs Using Semantic Categorization

Eckerdal, A. McCartney, R. Mostr?m, J.E. Ratcliffe, M. Zander, C. Comparing Student Software Designs Using Semantic Categorization. Proceedings of the Fifth Finnish/Baltic Sea Conference on Computer Science Education, 2005

Capturing Collaborative Designs to Assist the Pedagogical Process

Ratcliffe, M. Thomas, L. Ellis, W. Thomasson, B. Capturing Collaborative Designs to Assist the Pedagogical Process.ACM SIGCSE Bulletin Volume 35 , Issue 3 (September 2003)

Quasi -symmetric designs with good blocks and intersection number one

Mavron, Vassili; McDonough, T.P.; Schrikhande, M.S., (2003) 'Quasi -symmetric designs with good blocks and intersection number one', Designs Codes and Cryptography 28(2) pp.147-162 RAE2008

Adaptive Weighing Designs for Keyword Value Computation

Attributing a dollar value to a keyword is an essential part of running any profitable search engine advertising campaign. When an advertiser has complete control over the interaction with and monetization of each user arriving on a given keyword, the value of that term can be accurately tracked. However, in many instances, the advertiser may monetize arrivals indirectly through one or more third parties. In such cases, it is typical for the third party to provide only coarse-grained reporting: rather than report each monetization event, users are aggregated into larger channels and the third party reports aggregate information such as total daily revenue for each channel. Examples of third parties that use channels include Amazon and Google AdSense. In such scenarios, the number of channels is generally much smaller than the number of keywords whose value per click (VPC) we wish to learn. However, the advertiser has flexibility as to how to assign keywords to channels over time. We introduce the channelization problem: how do we adaptively assign keywords to channels over the course of multiple days to quickly obtain accurate VPC estimates of all keywords? We relate this problem to classical results in weighing design, devise new adaptive algorithms for this problem, and quantify the performance of these algorithms experimentally. Our results demonstrate that adaptive weighing designs that exploit statistics of term frequency, variability in VPCs across keywords, and flexible channel assignments over time provide the best estimators of keyword VPCs.

Cerebellar Learning in an Opponent Motor Controller for Adaptive Load Compensation and Synergy Formation

This paper shows how a minimal neural network model of the cerebellum may be embedded within a sensory-neuro-muscular control system that mimics known anatomy and physiology. With this embedding, cerebellar learning promotes load compensation while also allowing both coactivation and reciprocal inhibition of sets of antagonist muscles. In particular, we show how synaptic long term depression guided by feedback from muscle stretch receptors can lead to trans-cerebellar gain changes that are load-compensating. It is argued that the same processes help to adaptively discover multi-joint synergies. Simulations of rapid single joint rotations under load illustrates design feasibility and stability.

An energy efficient power controller switching methodology for an ambient healthcare network

A methodology for improved power controller switching in mobile Body Area Networks operating within the ambient healthcare environment is proposed. The work extends Anti-windup and Bumpless transfer results to provide a solution to the ambulatory networking problem that ensures sufficient biometric data can always be regenerated at the base station. The solution thereby guarantees satisfactory quality of service for healthcare providers. Compensation is provided for the nonlinear hardware constraints that are a typical feature of the type of network under consideration and graceful performance degradation in the face of hardware output power saturation is demonstrated, thus conserving network energy in an optimal fashion.

Institutional designs of customary fisheries management arrangements in Indonesia, Papua New Guinea, and Mexico

There are considerable efforts by governments, non-governmental organizations (NGOs), and academia to integrate marine conservation initiatives and customary practices, such as taboos that limit resource use. However, these efforts are often pursued without a fundamental understanding of customary institutions. This paper examines the operational rules in use and the presence of institutional design principles in long-enduring and dynamic customary fisheries management institutions in Papua New Guinea, Indonesia, and Mexico. Rather than a "blue print" for devising long-enduring institutions, this study relies on the design principles as a starting point to organize an inquiry into the institutional diversity found in customary governance regimes. Three important trends emerged from this comparative analysis: (1) despite it being notoriously difficult to define boundaries around marine resources, almost 3/4 of the cases in this study had clearly defined boundaries and membership; (2) all of the customary institutions were able to make and change rules, indicating a critical degree of flexibility and autonomy that may be necessary for adaptive management; (3) the customary institutions examined generally lacked key interactions with organizations operating at larger scales, suggesting that they may lack the institutional embeddedness required to confront some common pool resources (CPR) challenges from the broader socioeconomic, institutional and political settings in which they are embedded. Future research will be necessary to better understand how specific institutional designs are related to social and ecological outcomes in commons property institutions. © 2011 Elsevier Ltd.

Dissecting Policy Designs: An Application of the Institutional Grammar Tool

An enduring challenge for the policy and political sciences is valid and reliable depiction of policy designs. One emerging approach for dissecting policy designs is the application of Sue Crawford and Elinor Ostrom's institutional grammar tool. The grammar tool offers a method to identify, systematically, the core elements that comprise policies, including target audiences, expected patterns of behavior, and formal modes of sanctioning for noncompliance. This article provides three contributions to the study of policy designs by developing and applying the institutional grammar tool. First, we provide revised guidelines for applying the institutional grammar tool to the study of policy design. Second, an additional component to the grammar, called the oBject, is introduced. Third, we apply the modified grammar tool to four policies that shape Colorado State Aquaculture to demonstrate its effectiveness and utility in illuminating institutional linkages across levels of analysis. The conclusion summarizes the contributions of the article as well as points to future research and applications of the institutional grammar tool. © 2011 Policy Studies Organization.

Automatic verification of linear controller software

© 2015 IEEE.We consider the problem of verification of software implementations of linear time-invariant controllers. Commonly, different implementations use different representations of the controller's state, for example due to optimizations in a third-party code generator. To accommodate this variation, we exploit input-output controller specification captured by the controller's transfer function and show how to automatically verify correctness of C code controller implementations using a Frama-C/Why3/Z3 toolchain. Scalability of the approach is evaluated using randomly generated controller specifications of realistic size.

Reliability analysis of flip chip designs via computer simulation

A flip chip component is a silicon chip mounted to a substrate with the active area facing the substrate. This paper presents the results of an investigation into the relationship between a number of important material properties and geometric parameters on the thermal-mechanical fatigue reliability of a standard flip chip design and a flip chip design with the use of microvias. Computer modeling has been used to analyze the mechanical conditions of flip chips under cyclic thermal loading where the Coffin-Manson empirical relationship has been used to predict the life time of the solder interconnects. The material properties and geometry parameters that have been investigated are the Young's modulus, the coefficient of thermal expansion (CTE) of the underfill, the out-of-plane CTE (CTEz) of the substrate, the thickness of the substrate, and the standoff height. When these parameters vary, the predicted life-times are calculated and some of the features of the results are explained. By comparing the predicted lifetimes of the two designs and the strain conditions under thermal loading, the local CTE mismatch has been found to be one of most important factors in defining the reliability of flip chips with microvias.