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Articles 1 - 11 of 11
Full-Text Articles in Engineering
Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel Simon, William Smith, Sergey Samorezov
Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel Simon, William Smith, Sergey Samorezov
Hanz Richter
Robotic testing can facilitate the development of new concepts, designs and control systems for prosthetic limbs. Human subject test clearances, safety and the lack of repeatability associated with human trials can be reduced or eliminated with automated testing, and test modalities are possible which are dangerous or inconvenient to attempt with patients. This paper describes the development, modeling, parameter estimation and control of a robot capable of reproducing two degree-of-freedom hip motion in the sagittal plane. Hip vertical displacement and thigh angle motion profiles are applied to a transfemoral prosthesis attached to the robot. A treadmill is used as walking …
Data And Network Optimization Effect On Web Performance, Steven Rosenberg, Surbhi Dangi, Isuru Warnakulasooriya
Data And Network Optimization Effect On Web Performance, Steven Rosenberg, Surbhi Dangi, Isuru Warnakulasooriya
Surbhi Dangi
In this study, we measure the effects of two software approaches to improving data and network performance: 1. Content optimization and compression; and 2. Optimizing network protocols. We achieve content optimization and compression by means of BoostEdge by ActivNetworks and employ the SPDY network protocol by Google to lower the round trip time for HTTP transactions. Since the data and transport layers are separate, we conclude our investigation by studying the combined effect of these two techniques on web performance. Using document mean load time as the measure, we found that with and without packet loss, both BoostEdge and SPDY …
Direction Of Slip Detection For A Biomimetic Tactile Sensor, Erik Engeberg, Morteza Vatani, Jae-Won Choi
Direction Of Slip Detection For A Biomimetic Tactile Sensor, Erik Engeberg, Morteza Vatani, Jae-Won Choi
Dr. Jae-Won Choi
A biomimetic tactile sensor (BTS) is developed from strips of electrically conductive carbon nanotubes (CNTs) mixed in a polymer matrix that is embedded within a flexible polyurethane shell. The mechanical compliance of the BTS is similar to the human fingertip. Experiments are performed which show that the BTS can be used to detect slip and the direction that slip occurs by examining the relative timing among force signals from adjacent strips of CNTs and the frequency content of the force signals. The BTS can also detect forces applied at distinct points on the surface of the BTS.
Effect Of Aircraft Datablock Complexity And Exposure Time On Performance Of Change Detection Task, Chen Ling, Lesheng Hua
Effect Of Aircraft Datablock Complexity And Exposure Time On Performance Of Change Detection Task, Chen Ling, Lesheng Hua
Dr. Chen Ling
Air traffic controllers constantly perform tasks of monitoring traffic situation and searching for conflict between aircrafts. One requirement for these tasks is being able to detect any changes in the aircraft status presented by aircraft datablock. In this study, we investigated the effects of aircraft datablock complexity and exposure time on the change detection task performance. Two types of datablock, six field datablock (6F-DB) and nine field datablock (9F-DB), were artificially designed. Ten participants learned the change detection taskwith aircraft datablocks for four days. Our results showed that datablock complexity and exposure time in the change detection task had direct …
Physical Intelligent Sensors, Pavan Bandhil, Sanjeevi Chitikeshi, Ajay Mahajan, Fernando Figueroa
Physical Intelligent Sensors, Pavan Bandhil, Sanjeevi Chitikeshi, Ajay Mahajan, Fernando Figueroa
Dr. Ajay Mahajan
This paper proposes the development of intelligent sensors as part of an integrated systems approach, i.e. one treats the sensors as a complete system with its own sensing hardware (the traditional sensor), A/D converters, processing and storage capabilities, software drivers, self-assessment algorithms, communication protocols and evolutionary methodologies that allow them to get better with time. Under a project being undertaken at the NASA s Stennis Space Center, an integrated framework is being developed for the intelligent monitoring of smart elements. These smart elements can be sensors, actuators or other devices. The immediate application is the monitoring of the rocket test …
A Novel Method To Create Intelligent Sensors With Learning Capabilities, Ajay Mahajan, Fernando Figueroa
A Novel Method To Create Intelligent Sensors With Learning Capabilities, Ajay Mahajan, Fernando Figueroa
Dr. Ajay Mahajan
A formal theory for the development of a generic model of an autonomous sensor is proposed and implemented. An autonomous sensor not only interprets the acquired data in accordance with an embedded expert system knowledge base, but is also capable of using this data to modify and enhance this knowledge base. Hence, the system is capable of learning and thereby improving its performance over time. The main objective of the model is to combine the capabilities of the physical sensor and an expert operator monitoring the sensor in real-time. The system has been successfully tested using various simulated data sets …
Driving In Traffic: Short-Range Sensing For Urban Collision Avoidance, Chuck Thorpe, David Duggins, Jay Gowdy, Rob Maclaughlin, Christoph Mertz, Mel Siegel, Arne Suppe, Bob Wang, Teruko Yata
Driving In Traffic: Short-Range Sensing For Urban Collision Avoidance, Chuck Thorpe, David Duggins, Jay Gowdy, Rob Maclaughlin, Christoph Mertz, Mel Siegel, Arne Suppe, Bob Wang, Teruko Yata
Mel Siegel
Intelligent vehicles are beginning to appear on the market, but so far their sensing and warning functions only work on the open road. Functions such as runoff-road warning or adaptive cruise control are designed for the uncluttered environments of open highways. We are working on the much more difficult problem of sensing and driver interfaces for driving in urban areas. We need to sense cars and pedestrians and curbs and fire plugs and bicycles and lamp posts; we need to predict the paths of our own vehicle and of other moving objects; and we need to decide when to issue …
Sensor Fusion For Context Understanding, Huadong Wu, Mel Siegel, Sevim Ablay
Sensor Fusion For Context Understanding, Huadong Wu, Mel Siegel, Sevim Ablay
Mel Siegel
To answer the challenge of context-understanding for HCI, we propose and test experimentally a top-down sensor fusion approach. We seek to systematize the sensing process in two steps: first, decompose relevant context information in such a way that it can be described in a model of discrete facts and quantitative measurements; second, we build a generalizable sensor fusion architecture to deal with highly distributed sensors in a dynamic configuration to collect, fuse and populate our context information model. This paper describes our information model, system architecture, and preliminary experimental results.
Benefits Estimation Of Sensor-Friendly Vehicle And Roadway Cooperative Safety Systems, James A. Misener, Chuck Thorpe, Robert Ferlis, Ron Hearne, Mel Siegel, Joe Perkowski
Benefits Estimation Of Sensor-Friendly Vehicle And Roadway Cooperative Safety Systems, James A. Misener, Chuck Thorpe, Robert Ferlis, Ron Hearne, Mel Siegel, Joe Perkowski
Mel Siegel
An analysis was performed to estimate the potential national costs and benefits of cooperative vehicle and roadway measures to enhance the effectiveness of driver assistance systems. These cooperative measures ?query-response communication system, light emitting diode brake light messaging, radar cross section paint striping modifications, fluorescent paint for lane and other marking applications, passive amplifiers on license plates, spatial tetrahedral arrays of reflectors, and in-vehicle corner cubes ?are briefly described, along with assumptions that were made regarding performance. For the example lane departure case, the incremental nationwide effectiveness over an autonomous collision avoidance system is estimated and monetized. This was generally …
Dependable Perception For Robots, Chuck Thorpe, Olivier Clatz, David Duggins, Jay Gowdy, Rob Maclachlan, J. Ryan Miller, Christoph Mertz, Mel Siegel, Chieh-Chih Wang, Teruko Yata
Dependable Perception For Robots, Chuck Thorpe, Olivier Clatz, David Duggins, Jay Gowdy, Rob Maclachlan, J. Ryan Miller, Christoph Mertz, Mel Siegel, Chieh-Chih Wang, Teruko Yata
Mel Siegel
The weakest link in many mobile robots is perception. In order to build robots that are reliable and dependable and safe, we need to build robots that can see. Perception is becoming a solved problem for certain constrained environments. But for robots working outdoors, and at high speeds, and in close proximity to people, perception is still incomplete. Our robots need to see objects; to detect motion; and to detect which of those objects are people. In the current state of the art, this requires multiple sensors and multiple means of interpretation. This paper illustrates those principles in the context …
Tactile Sensing By The Sole Of The Foot Part Ii: Calibration And Real-Time Processing, Abhinav Kalamdani, Chris Messom, Mel Siegel
Tactile Sensing By The Sole Of The Foot Part Ii: Calibration And Real-Time Processing, Abhinav Kalamdani, Chris Messom, Mel Siegel
Mel Siegel
This paper introduces prototype experimental apparatus and the calibration and real-time signal processing required to investigate stability in standing, walking and running of humanoid robots using pressure sensing at the sole-of-the-foot contact. The system can provide very good spatial or temporal resolution and these can be traded off against each other dynamically to accommodate the instantaneous requirement, for example, sparsely sampling the whole sole during static balancing vs. densely sampling the impact region during walking or running. Dynamic variation in sampling policy during different phases of the gait is foreseen so as to optimise utilisation of the total sampling bandwidth …