Mayez A. Al-Mouhamed,
Analysis of direct teleoperation with force feedback indicates that humans have difficulties perceiving the direction and amount of reflected force. Locally implemented force-based reactive behaviors provide accurate and timely feedback to assist in replicating human skills and dexterity. The contact forces between the slave arm tool and the environment is analyzed using three settings. First, ...
Applications of Wireless Sensor Networks (WSNs) require long system lifetime, and efficient energy usage (, , ). Moreover, applications can fulfill their requirements if communication through the network is reliable. This is because the nature of the communication channel used for sensor data transmission is erroneous due to the presence of thermal noise, interference from outside th...
Jos T. J. van Eijndhoven,
Kees A. Vissers,
This paper presents a TriMedia processor extended with an IDCT reconfigurable design, and assesses the performance gain such an extension has when performing MPEG-2 decoding. We first propose the skeleton of an extension of the TriMedia architecture, which consists of a Field-Programmable Gate Array (FPGA)-based Reconfigurable Functional Unit (RFU), a Configuration Unit managing the reconfigura...
Diana M. Sánchez Fuquene,
César J. Acuña,
José María Cavero Barca,
The emerging Semantic Web and, in particular, Semantic Web services (SWS), demands the inclusion of new components in applications involving this technology. Therefore, Web development methodologies must be tailored to support the systematic development of such new components. In previous works we presented a UML profile, which extends the SOD-M method for service oriented Web Information Syste...
Controlled compliance and accommodation matrix techniques are considered for robust insertion of threaded fasteners. Errors in translational positioning are shown to be easily corrected. Errors in the angle of tilt between the threaded parts are shown to be much more diicult to correct and constrain the region of convergence for simple linear techniques.
This paper analyses competition of moral norms and institutions in a society where a fixed share of people unconditionally complies with norms and the remaining people act selfishly. Whether a person is a norm-complier or selfish is private knowledge. A model of voting-by-feet shows that those norms and institutions arise that maximize expected utility of norm-compliers, taking into account sel...
Leif P. Jentoft,
Mark R. Claffee,
Raymond R. Ma,
Robert D. Howe,
Aaron M. Dollar,
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks. This hand was designed to address the need for a durable, inexpensive, moderately dexterous hand suitable for use on mobile robots. The primary focus of this paper will be on the novel simplified design of t...
Abbas K. Zaidi,
Alexander H. Levis,
The paper describes some challenges andpitfalls in the derivation of the executable model from the DoDAF products, especially when temporal and queuing issues are involved. The presence of ambiguities or lack of information in the architecture description may result in different modeling assumptions for the executable model being constructed. These assumptions – untraceable to the information c...
C. David Remy,
Mark A. Höpflinger,
In the broader context of quadrupedal locomotion, this overview article introduces and compares two platforms that are similar in structure, size, and morphology, yet differ greatly in their concept of actuation. The first, ALoF, is a classically stiff actuated robot that is controlled kinematically, while the second, StarlETH, uses a soft actuation scheme based on highly compliant series elast...
In this work, an active vibration control method using compliant-based actuators is proposed for controlling a wide range of vibration and its noise-associated applications. The compliant-based actuator combines a conventional actuator with elastic elements, such as passive springs, that can be demonstrated to have better accuracy and robustness for force control compared to conventional stiff ...