Process variation is becoming a primal concern in timing closure of LSI (Large Scale Integrated Circuit) with the progress of process technology scaling. To overcome this problem, SSTA (Statistical Static Timing Analysis) has been intensively studied since it is expected to be one of the most efficient ways for performance estimation. In this paper, we study variation of output transition-time....

Gesture-changeable under-actuated (GCUA) function is presented to make robot hand grasp objects dexterously and achieve humanoid manipulations with low dependence on control system. Based on GUCA function, GCUA Hand II is developed, which has 5 fingers and 14 DOFs. All the fingers use similar tendon mechanisms to achieve GCUA function which includes traditional under-actuated (UA) grasping moti...

A novel concept called gesture-changeable under-actuated (GCUA) function is proposed to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on the GCUA function, a new humanoid robot hand, GCUA Hand is designed and manufactured. The GCUA Hand can grasp different objects self-adaptively and change its initial gesture dexterous...

This study compared control delays computed by HCM (using HCS software), Synchro, PASSER II, PASSER IV, and CORSIM for an urban arterial. Base and optimized conditions were studied. In the base condition, the existing signal settings and traffic volumes were modeled in HCS and Synchro under three scenarios: actuated-coordinated, actuated-uncoordinated and pre-timed traffic controller. For the b...

Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from...

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, Bspline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion ...