BOLTZMANN MACHINES FOR SPEECH RECOGNITION.

Boltzmann machines offer a new and exciting approach to automatic speech recognition, and provide a rigorous mathematical formalism for parallel computing arrays. In this paper we briefly summarize Boltzmann machine theory, and present results showing their ability to recognize both static and time-varying speech patterns. A machine with 2000 units was able to distinguish between the 11 steady-state vowels in English with an accuracy of 85%. The stability of the learning algorithm and methods of preprocessing and coding speech data before feeding it to the machine are also discussed. A new type of unit called a carry input unit, which involves a type of state-feedback, was developed for the processing of time-varying patterns and this was tested on a few short sentences. Use is made of the implications of recent work into associative memory, and the modelling of neural arrays to suggest a good configuration of Boltzmann machines for this sort of pattern recognition.

A plane symmetric 6R foldable ring

The design of a deployable structure which deploys from a compact bundle of six parallel bars to a rectangular ring is considered. The structure is a plane symmetric Bricard linkage. The internal mechanism is described in terms of its Denavit-Hartenberg parameters; the nature of its single degree of freedom is examined in detail by determining the exact structure of the system of equations governing its movement; a range of design parameters for building feasible mechanisms is determined numerically; and polynomial continuation is used to design rings with certain specified desirable properties. © 2013 Elsevier Ltd.

Effects of Constraint Errors on Parallel Manipulators with Decoupled Motion

From perspective of structure synthesis, certain special geometric constraints, such as joint axes intersecting at one point or perpendicular to each other, are necessary in realizing the end-effector motion of kinematically decoupled parallel manipulators (PMs) along individual motion axes. These requirements are difficult to achieve in the actual system due to assembly errors and manufacturing tolerances. Those errors that violate the geometric constraint requirements are termed “constraint errors”. The constraint errors usually are more troublesome than other manipulator errors because the decoupled motion characteristics of the manipulator may no longer exist and the decoupled kinematic models will be rendered useless due to these constraint errors. Therefore, identification and prevention of these constraint errors in initial design and manufacturing stage are of great significance. In this article, three basic types of constraint errors are identified, and an approach to evaluate the effects of constraint errors on decoupling characteristics of PMs is proposed. This approach is illustrated by a 6-DOF PM with decoupled translation and rotation. The results show that the proposed evaluation method is effective to guide design and assembly.

Type Synthesis of 3-DOF Multi-Mode Translational/Spherical Parallel Mechanisms with Lockable Joints

A 3-DOF (degrees-of-freedom) multi-mode translational/spherical PM (parallel mechanism) with lockable joints is a novel reconfigurable PM. It has both 3-DOF spatial translational operation mode and 3-DOF spherical operation mode. This paper presents an approach to the type synthesis of translational/spherical PMs with lockable joints. Using the proposed approach, several 3-DOF translational/spherical PMs are obtained. It is found that these translational/spherical PMs do not encounter constraint singular configurations and self-motion of sub-chain of a leg during reconfiguration. The approach can also be used for synthesizing other classes of multi-mode PMs with lockable joints, multi-mode PMs with variable kinematic joints, partially decoupled PMs, and reconfigurable PMs with a reconfigurable platform.

Active design of tooth profiles using parabolic curve as the line of action

This paper proposes a method for the design of gear tooth profiles using parabolic curve as its line of action. A mathematical model, including the equation of the line of action, the equation of the tooth profile, and the equation of the conjugate tooth profile, is developed based on the meshing theory. The equation of undercutting condition is derived from the model. The influences of the two design parameters, that present the size (or shape) of the parabolic curve relative to the gear size, on the shape of tooth profiles and on the contact ratio are also studied through the design of an example drive. The strength, including the contact and the bending stresses, of the gear drive designed by using the proposed method is analyzed by an FEA simulation. A comparison of the above characteristics of the gear drive designed with the involute gear drive is also carried out in this work. The results confirm that the proposed design method is more flexible to control the shape of the tooth profile by changing the parameters of the parabola.

Corrector d’autòmats per la plataforma ACME : mòdul pertanyent al Projecte ACME

Fa uns anys un grup de professors del departament d’Informàtica i Matemàtica Aplicada de la Universitat de Girona va decidir endinsar-se al món de l’ensenyament a través d’Internet (e-learning). D’aquí va néixer el projecte ACME (Avaluació Continuada i Millora de l’Ensenyament). Inicialment l’ACME anava dirigit a reduir l’elevat fracàs dels alumnes a les assignatures de matemàtiques. El resultat va ser tan bo que es va ampliar a altres camps d’estudi com la química o la informàtica, amb tot i això encara hi ha moltes matèries a les quals no dóna suport. Aquest Projecte Final de Carrera neix per donar suport a un nou tipus de problemes dins de la plataforma ACME, els autòmats finits. Aquest nou mòdul inclourà les eines necessàries per poder generar diferents tipus de problemes sobre autòmats finits i la seva posterior correcció, donant suport a les assignatures de LGA (Llenguatges, Gramàtiques i Autòmats) i TALLF (Teoria d’Autòmats i Llenguatges Formals)

Experimental tests in human-robot collision evaluation and characterization of a new safety index for robot operation

This paper describes an experimental procedure consisting of impact tests that simulate a collision of a human head with an industrial robot with the aim to validate a safety index named as New Index for Robots (NIR) and its outputs. The experiments in this paper are based on lab tests. It is an attempt to characterize the NIR index underlying the main parameters that are involved in crash interaction and to highlight limitations and weakness of suggested impact tests.

Some theorems and algorithms on a new form of decomposition for automata,

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