Series Elastic Actuators

This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach gives a high bandwidth system, prone to problems of contact instability, noise, and low power density. The actuator presented in this thesis is designed from the premise that "Stiffness isn't everything". The actuator, which incorporates a series elastic element, trades off achievable bandwidth for gains in stable, low noise force control, and protection against shock loads. This thesis reviews related work in robot force control, presents theoretical descriptions of the control and expected performance from a series elastic actuator, and describes the design of a test actuator constructed to gather performance data. Finally the performance of the system is evaluated by comparing the performance data to theoretical predictions.

Specialization of Perceptual Processes

In this report, I discuss the use of vision to support concrete, everyday activity. I will argue that a variety of interesting tasks can be solved using simple and inexpensive vision systems. I will provide a number of working examples in the form of a state-of-the-art mobile robot, Polly, which uses vision to give primitive tours of the seventh floor of the MIT AI Laboratory. By current standards, the robot has a broad behavioral repertoire and is both simple and inexpensive (the complete robot was built for less than $20,000 using commercial board-level components). The approach I will use will be to treat the structure of the agent's activity---its task and environment---as positive resources for the vision system designer. By performing a careful analysis of task and environment, the designer can determine a broad space of mechanisms which can perform the desired activity. My principal thesis is that for a broad range of activities, the space of applicable mechanisms will be broad enough to include a number mechanisms which are simple and economical. The simplest mechanisms that solve a given problem will typically be quite specialized to that problem. One thus worries that building simple vision systems will be require a great deal of {it ad-hoc} engineering that cannot be transferred to other problems. My second thesis is that specialized systems can be analyzed and understood in a principled manner, one that allows general lessons to be extracted from specialized systems. I will present a general approach to analyzing specialization through the use of transformations that provably improve performance. By demonstrating a sequence of transformations that derive a specialized system from a more general one, we can summarize the specialization of the former in a compact form that makes explicit the additional assumptions that it makes about its environment. The summary can be used to predict the performance of the system in novel environments. Individual transformations can be recycled in the design of future systems.

Design and Evaluation of the Hamal Parallel Computer

Parallel shared-memory machines with hundreds or thousands of processor-memory nodes have been built; in the future we will see machines with millions or even billions of nodes. Associated with such large systems is a new set of design challenges. Many problems must be addressed by an architecture in order for it to be successful; of these, we focus on three in particular. First, a scalable memory system is required. Second, the network messaging protocol must be fault-tolerant. Third, the overheads of thread creation, thread management and synchronization must be extremely low. This thesis presents the complete system design for Hamal, a shared-memory architecture which addresses these concerns and is directly scalable to one million nodes. Virtual memory and distributed objects are implemented in a manner that requires neither inter-node synchronization nor the storage of globally coherent translations at each node. We develop a lightweight fault-tolerant messaging protocol that guarantees message delivery and idempotence across a discarding network. A number of hardware mechanisms provide efficient support for massive multithreading and fine-grained synchronization. Experiments are conducted in simulation, using a trace-driven network simulator to investigate the messaging protocol and a cycle-accurate simulator to evaluate the Hamal architecture. We determine implementation parameters for the messaging protocol which optimize performance. A discarding network is easier to design and can be clocked at a higher rate, and we find that with this protocol its performance can approach that of a non-discarding network. Our simulations of Hamal demonstrate the effectiveness of its thread management and synchronization primitives. In particular, we find register-based synchronization to be an extremely efficient mechanism which can be used to implement a software barrier with a latency of only 523 cycles on a 512 node machine.

ARLO: Another Representation Language Offer

This paper describes ARLO, a representation language loosely modelled after Greiner and Lenant's RLL-1. ARLO is a structure-based representation language for describing structure-based representation languages, including itself. A given representation language is specified in ARLO by a collection of structures describing how its descriptions are interpreted, defaulted, and verified. This high level description is compiles into lisp code and ARLO structures whose interpretation fulfills the specified semantics of the representation. In addition, ARLO itself- as a representation language for expressing and compiling partial and complete language specifications- is described and interpreted in the same manner as the language it describes and implements. This self-description can be extended of modified to expand or alter the expressive power of ARLO's initial configuration. Languages which describe themselves like ARLO- provide powerful mediums for systems which perform automatic self-modification, optimization, debugging, or documentation. AI systems implemented in such a self-descriptive language can reflect on their own capabilities and limitations, applying general learning and problem solving strategies to enlarge or alleviate them.

Dependency Directed Reasoning for Complex Program Understanding

Artificial Intelligence research involves the creation of extremely complex programs which must possess the capability to introspect, learn, and improve their expertise. Any truly intelligent program must be able to create procedures and to modify them as it gathers information from its experience. [Sussman, 1975] produced such a system for a 'mini-world'; but truly intelligent programs must be considerably more complex. A crucial stepping stone in AI research is the development of a system which can understand complex programs well enough to modify them. There is also a complexity barrier in the world of commercial software which is making the cost of software production and maintenance prohibitive. Here too a system which is capable of understanding complex programs is a necessary step. The Programmer's Apprentice Project [Rich and Shrobe, 76] is attempting to develop an interactive programming tool which will help expert programmers deal with the complexity involved in engineering a large software system. This report describes REASON, the deductive component of the programmer's apprentice. REASON is intended to help expert programmers in the process of evolutionary program design. REASON utilizes the engineering techniques of modelling, decomposition, and analysis by inspection to determine how modules interact to achieve the desired overall behavior of a program. REASON coordinates its various sources of knowledge by using a dependency-directed structure which records the justification for each deduction it makes. Once a program has been analyzed these justifications can be summarized into a teleological structure called a plan which helps the system understand the impact of a proposed program modification.

Reasoning from Incomplete Knowledge in a Procedural Deduction System

One very useful idea in AI research has been the notion of an explicit model of a problem situation. Procedural deduction languages, such as PLANNER, have been valuable tools for building these models. But PLANNER and its relatives are very limited in their ability to describe situations which are only partially specified. This thesis explores methods of increasing the ability of procedural deduction systems to deal with incomplete knowledge. The thesis examines in detail, problems involving negation, implication, disjunction, quantification, and equality. Control structure issues and the problem of modelling change under incomplete knowledge are also considered. Extensive comparisons are also made with systems for mechanica theorem proving.

Sparsely Faceted Arrays: A Mechanism Supporting Parallel Allocation, Communication, and Garbage Collection

Conventional parallel computer architectures do not provide support for non-uniformly distributed objects. In this thesis, I introduce sparsely faceted arrays (SFAs), a new low-level mechanism for naming regions of memory, or facets, on different processors in a distributed, shared memory parallel processing system. Sparsely faceted arrays address the disconnect between the global distributed arrays provided by conventional architectures (e.g. the Cray T3 series), and the requirements of high-level parallel programming methods that wish to use objects that are distributed over only a subset of processing elements. A sparsely faceted array names a virtual globally-distributed array, but actual facets are lazily allocated. By providing simple semantics and making efficient use of memory, SFAs enable efficient implementation of a variety of non-uniformly distributed data structures and related algorithms. I present example applications which use SFAs, and describe and evaluate simple hardware mechanisms for implementing SFAs. Keeping track of which nodes have allocated facets for a particular SFA is an important task that suggests the need for automatic memory management, including garbage collection. To address this need, I first argue that conventional tracing techniques such as mark/sweep and copying GC are inherently unscalable in parallel systems. I then present a parallel memory-management strategy, based on reference-counting, that is capable of garbage collecting sparsely faceted arrays. I also discuss opportunities for hardware support of this garbage collection strategy. I have implemented a high-level hardware/OS simulator featuring hardware support for sparsely faceted arrays and automatic garbage collection. I describe the simulator and outline a few of the numerous details associated with a "real" implementation of SFAs and SFA-aware garbage collection. Simulation results are used throughout this thesis in the evaluation of hardware support mechanisms.

Flexibility and Efficiency in a Computer Program for Designing Circuits

This report is concerned with the problem of achieving flexibility (additivity, modularity) and efficiency (performance, expertise) simultaneously in one AI program. It deals with the domain of elementary electronic circuit design. The proposed solution is to provide a deduction-driven problem solver with built-in-control-structure concepts. This problem solver and its knowledge base in the applicaitn areas of design and electronics are descrbed. The prgram embodying it is being used to explore the solutionof some modest problems in circuit design. It is concluded that shallow reasoning about problem-solver plans is necessary for flexibility, and can be implemented with reasonable efficiency.

UV Raman spectroscopic study on the synthesis mechanism of zeolite X

The synthesis of zeolite X is characterized by UV Raman spectroscopy, NMR spectroscopy, and X-ray diffraction. UV Raman spectra of the liquid phase of the synthesis system indicate that AI(OH); species are incorporated into silicate species, and the polymeric silicate species are depolymerized into monomeric silicate species during the early stage of zeolite formation. An. intermediate species possessing Raman bands at 307, 503, 858 and 1020 cm(-1) is detected during the crystallization ill the solid phase transformation. The intermediate species is attributed to the beta cage, the secondary building unit of zeolite X. A model for the formation of zeolite X is proposed, which involves four-membered rings connecting to each other via six-membered ring to form beta cages, then the beta cages interconnect via double six-membered rings to form the framework of zeolite X. (C) 2001 Elsevier Science B.V. All rights reserved.

Supressão do crescimento de plantas voluntárias de soja na cultura do girassol.

RESUMO: A necessidade de controle adequado de plantas voluntárias de soja (Glycine max) tem se intensificado nos últimos anos em função da incidência de doenças da soja, principalmente a ferrugem asiática ( Phakopsora pachyrhizi). Além disso, a competição imposta por essas plantas pode causar perdas de produtividade em culturas implantadas na entressafra. Dois experimentos foram conduzidos em condições de campo no município de Rio Verde, Goiás, a fim de avaliar o controle de plantas voluntárias de soja infestantes da cultura do girassol (Helianthus annuus), semeado na época de safrinha. O delineamento experimental foi em blocos casualizados, com quatro repetições. Os tratamentos aplicados no experimento 1 foram a testemunha capinada, a testemunha sem capina, sulfentrazone 25 g i.a. ha-1, sulfentrazone 50 g i.a. ha -1, sulfentrazone 100 g i.a. ha-1 e sulfentrazone 150 g i.a. ha-1. No experimento 2, foram aplicados os mesmos tratamentos mencionados e acrescentadas as doses de 200 g i.a. ha-1 e 250 g i.a. ha-1 do mesmo herbicida. O sulfentrazone não proporciona morte completa das plantas voluntárias de soja. No entanto, há uma interrupção temporária do crescimento da soja permitindo o arranque inicial da cultura de girassol. As doses de sulfentrazone que variaram de 114,2 a 158,8 g i.a. ha-1 proporcionaram os maiores rendimentos de girassol, evitando a competição das plantas voluntárias de soja com essa cultura. ABSTRACT: The control of volunteer soybean plants (Glycine max ) has intensified in recent years in function of the increasing incidence of soybean diseases mainly the Asian soybean rust (Phakopsora pachyrhizi). Moreover, the competition of volunteer soybean plants can cause yield losses in successive crops. Two experiments were conducted under field conditions in Rio Verde, Goiás State, Brazil, in order to evaluate the control of volunteer soybean plants in sunflower (Helianthus annuus). The experimental design was a randomized complete block, with four replications. Treatments applied on experiment 1 were: hoed check; unhoed check, sulfentrazone 25 g ai ha-1, sulfentrazone 50 g ai ha-1, sulfentrazone 100 g ai ha-1, sulfentrazone 150 g ai ha-1. The treatments applied on experiment 2 were the same doses described on experiment 1 plus sulfentrazone 200 g ai ha-1 and 250 g ai ha-1. The sulfentrazone is unable to completely kill the volunteer soybean plants. However, there is a temporary stoppage of soybean growth enabling the initial startup of the sunflower plants. Doses ranging from 114.2 to 158.8 g ai ha-1 provided the highest sunflower yield, avoiding the competition of the volunteer soybean plants.

Inibição temporária do crescimento de plantas voluntárias de soja na cultura do girassol.

RESUMO: O controle de plantas voluntárias de soja (Glycine max ) é uma exigência estabelecida em lei. A criação do vazio sanitário determina o período na entressafra no qual não deve haver a presença no campo de plantas emergidas de soja. Essa deliberação visa reduzir o inóculo do fungo causador da ferrugem asiática da soja (Phakopsora pachyrhizi). Além disso, a competição imposta por essas plantas pode reduzir a produtividade das culturas em sucessão. O experimento foi conduzido a fim de avaliar o controle de plantas voluntárias de soja em cultivos de girassol (Helianthus annuus). Os tratamentos aplicados foram: testemunha capinada, testemunha sem capina, amônio glufosinato 40 g i.a. ha-1, amônio glufosinato 100 g i.a. ha-1, sulfentrazone 75 g i.a. ha-1, sulfentrazone 100 g i.a. ha-1, tembotrione 21 g i.a. ha-1, carfentrazone 4 g i.a. ha-1, saflufenacil 1,75 g i.a. ha-1, saflufenacil 3,5 g i.a. ha-1, triclopyr 120 g i.a. ha-1 e MSMA 197,5 g i.a. ha-1. O herbicida sulfentrazone nas doses de 75 e 100 g i.a. ha -1 causa fitotoxicidade ao girassol logo após a aplicação, porém há recuperação das plantas, sem prejuízo a produtividade da cultura. Esses mesmos tratamentos não causam morte total das plantas voluntárias de soja, mas paralisam temporariamente seu crescimento, evitando a competição com a cultura do girassol. O amônio glufosinato é eficaz no controle de plantas voluntárias de soja. No entanto, os sintomas de fitotoxicidade na cultura do girassol são elevados, refletindo em perda de rendimento da cultura. Os outros tratamentos não proporcionam controle satisfatório das plantas voluntárias de soja, além de causar redução na produtividade do girassol. ABSTRACT: The control of volunteer soybean (Glycine max) is regulated by law due to the host-free period which determines the interval that is not allowed the presence of soybean plants in fields. The decision aims to reduce the inoculum of the fungus that causes the Asian soybean rust (Phakopsora pachyrhizi). Furthermore, the competition imposed by volunteer soybean plants can reduce crop yields. The experiment was conducted to evaluate the control of volunteer soybean plants in sunflower (Helianthus annuus). The treatments were as follows: hoed check, check without hoeing, glufosinate ammonium 40 g ai ha-1, glufosinate ammonium 100 g ai ha-1, sulfentrazone 75 g ai ha-1, sulfentrazone 100 g ai ha-1, tembotrione 21 g ai ha-1, carfentrazone 4g ai ha-1, saflufenacil 1.75 g ai ha-1, saflufenacil 3.5 g ai ha -1, triclopyr 120 g ai ha-1 and MSMA 197.5 g ai ha-1. Sulfentrazone (75 and 100 g ai ha-1) caused phytotoxicity on sunflower plants, however there is recovery of plants and no yield losses. The same treatments do not cause the total death of volunteer soybean plants, however temporarily paralyze its growth and avoid competition with the sunflower crop. The glufosinate ammonium is effective in controlling volunteer soybean plants. However, symptoms of phytotoxicity in the sunflower crop are high, reflecting in yield losses. The other treatments do not provide satisfactory control of volunteer soybean plants and even cause reduction in sunflower productivity.

Enactive appropriation.

The appropriation of digital artefacts involves their use, which has changed, evolved or developed beyond their original design. Thus, to understand appropriation, we must understand use. We define use as the active, purposive exploitation of the affordances offered by the technology and from this perspective; appropriation emerges as a natural consequence of this enactive use. Enaction tells us that perception is an active process. It is something we do, and not something that happens to us. From this reading, use then becomes the active exploitation of the affordances offered us by the artefact, system or service. In turn, we define appropriation as the engagement with these actively disclosed affordances—disclosed as a consequence of, not just, seeing but of seeing as. We present a small case study that highlights instances of perception as an actively engaged skill. We conclude that appropriation is a simple consequence of enactive perception.

Novelty and Habituation: the Driving Forces in Early Stage Learning for Developmental Robotics

Q. Meng and M. H. Lee, Novelty and Habituation: the Driving Forces in Early Stage Learning for Developmental Robotics, AI-Workshop on NeuroBotics, University of Ulm, Germany. September 2004.

On Models, Modelling and the Distinctive Nature of Model-Based Reasoning

M.H. Lee, On Models, Modelling and the Distinctive Nature of Model-Based Reasoning, AI Communications, 12 (3), pp127-137.1999.

Qualitative Circuit Models in Failure Analysis Reasoning

Lee M.H., Qualitative Circuit Models in Failure Analysis Reasoning, AI Journal. vol 111, pp239-276.1999.