Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510021
Shoupu Chen, Z. Kazi, M. Beitler, M. Salganicoff, D. Chester, R. Foulds
One of the most challenging problems in rehabilitation robotics is the design of an efficient human-machine interface (HMI) allowing the user with a disability considerable freedom and flexibility. A multimodal user direction approach combining command and control methods is a very promising way to achieve this goal. This multimodal design is motivated by the idea of minimizing the user's burden of operating a robot manipulator while utilizing the user's intelligence and available mobilities. With this design, the user with a physical disability simply uses gesture (pointing with a laser pointer) to indicate a location or a desired object and uses speech to activate the system. Recognition of the spoken input is also used to supplant the need for general purpose object recognition between different objects and to perform the critical function of disambiguation. The robot system is designed to operate in an unstructured environment containing objects that are reasonably predictable. A novel reactive planning mechanism, of which the user is an active integral component, in conjunction with a stereo-vision system and an object-oriented knowledge base, provides the robot system with the 3D information of the surrounding world as well as the motion strategies.
{"title":"Gesture-speech based HMI for a rehabilitation robot","authors":"Shoupu Chen, Z. Kazi, M. Beitler, M. Salganicoff, D. Chester, R. Foulds","doi":"10.1109/SECON.1996.510021","DOIUrl":"https://doi.org/10.1109/SECON.1996.510021","url":null,"abstract":"One of the most challenging problems in rehabilitation robotics is the design of an efficient human-machine interface (HMI) allowing the user with a disability considerable freedom and flexibility. A multimodal user direction approach combining command and control methods is a very promising way to achieve this goal. This multimodal design is motivated by the idea of minimizing the user's burden of operating a robot manipulator while utilizing the user's intelligence and available mobilities. With this design, the user with a physical disability simply uses gesture (pointing with a laser pointer) to indicate a location or a desired object and uses speech to activate the system. Recognition of the spoken input is also used to supplant the need for general purpose object recognition between different objects and to perform the critical function of disambiguation. The robot system is designed to operate in an unstructured environment containing objects that are reasonably predictable. A novel reactive planning mechanism, of which the user is an active integral component, in conjunction with a stereo-vision system and an object-oriented knowledge base, provides the robot system with the 3D information of the surrounding world as well as the motion strategies.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122247209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510101
I.N. Kostanic, F. M. Ham
A large class of nonlinear discrete systems with accessible states can be controlled through feedback linearization. This paper develops a practical algorithm for state feedback control design using radial basis function neural networks (RBFNN). Linear least-squares is coupled with a Gram-Schmidt orthogonalization procedure to perform size reduction of the neural networks. An example of regulating a nonlinear plant is included to illustrate the effectiveness of the proposed algorithm.
{"title":"Radial basis function neural network for regulation of nonlinear systems","authors":"I.N. Kostanic, F. M. Ham","doi":"10.1109/SECON.1996.510101","DOIUrl":"https://doi.org/10.1109/SECON.1996.510101","url":null,"abstract":"A large class of nonlinear discrete systems with accessible states can be controlled through feedback linearization. This paper develops a practical algorithm for state feedback control design using radial basis function neural networks (RBFNN). Linear least-squares is coupled with a Gram-Schmidt orthogonalization procedure to perform size reduction of the neural networks. An example of regulating a nonlinear plant is included to illustrate the effectiveness of the proposed algorithm.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128193304","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510052
L. Wurtz
This paper describes the design of a variable S-band delay line based on fiber-optic technology. A combination of a switched-RF configuration and switched-fiber configuration has resulted in improved performance with reduced costs compared to previously reported delay line systems. The reported delay line provides variable delays programmable from 0 nsecs to 9.55 /spl mu/secs in 50 nsec increments and may be switched as quickly as 600 nsecs. The delay line achieved a worst case output noise floor <-55 dBm/MHz, an output SNR>60 dB/MHz with the input signal at the 1 dB compression level of 6.6 dBm, a gain linearity
{"title":"Design of a variable S-band fiber-optic delay line","authors":"L. Wurtz","doi":"10.1109/SECON.1996.510052","DOIUrl":"https://doi.org/10.1109/SECON.1996.510052","url":null,"abstract":"This paper describes the design of a variable S-band delay line based on fiber-optic technology. A combination of a switched-RF configuration and switched-fiber configuration has resulted in improved performance with reduced costs compared to previously reported delay line systems. The reported delay line provides variable delays programmable from 0 nsecs to 9.55 /spl mu/secs in 50 nsec increments and may be switched as quickly as 600 nsecs. The delay line achieved a worst case output noise floor <-55 dBm/MHz, an output SNR>60 dB/MHz with the input signal at the 1 dB compression level of 6.6 dBm, a gain linearity </spl plusmn/2 dB, a power dissipation <43 watts, and an infinite capture time.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"319 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132224353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510105
M. Calvo, A. Snider
The presence of a nonlinear capacitor in a circuit model mathematically implies the existence of a parallel transcapacitor, if the value of its capacitance is a function of a remote voltage. As a consequence, simulating small-signal excursions with a nonlinear model produces data which is inconsistent with the simulations using the small-signal model, if the latter does not include the transcapacitance. However including the transcapacitance in the small-signal model is complicated by several effects. Furthermore, the transcapacitance seems to confound the convergence of the harmonic balance simulation algorithm. Herein, a new mathematical formulation has been concocted which renders the transcapacitance equal to zero at any prescribed quiescent point, and thus negligible for moderate large-signal excursions therefrom. As a result, the small and large signal models are consistent and harmonic balance convergence capabilities is improved.
{"title":"Resolution of linear/nonlinear inconsistencies in charge-conservative FET models","authors":"M. Calvo, A. Snider","doi":"10.1109/SECON.1996.510105","DOIUrl":"https://doi.org/10.1109/SECON.1996.510105","url":null,"abstract":"The presence of a nonlinear capacitor in a circuit model mathematically implies the existence of a parallel transcapacitor, if the value of its capacitance is a function of a remote voltage. As a consequence, simulating small-signal excursions with a nonlinear model produces data which is inconsistent with the simulations using the small-signal model, if the latter does not include the transcapacitance. However including the transcapacitance in the small-signal model is complicated by several effects. Furthermore, the transcapacitance seems to confound the convergence of the harmonic balance simulation algorithm. Herein, a new mathematical formulation has been concocted which renders the transcapacitance equal to zero at any prescribed quiescent point, and thus negligible for moderate large-signal excursions therefrom. As a result, the small and large signal models are consistent and harmonic balance convergence capabilities is improved.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130176683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510150
T. Jamil, R. G. Deshmukh
The currently existing models of computation, control-flow and data-flow, have their limitations and weaknesses in utilizing parallelism adequately. A new refined model of computation, called associative dataflow, has been previously proposed in the literature which attempts to circumvent the bottlenecks inherent in conventional dataflow using associative memories. In this new model of computation, a dataflow graph is conceptually assumed to be upside-down and the computation is divided into two phases, namely the search phase and the execution phase. During the search phase, each node at the top of the hierarchy, called the parent, attempts to find the nodes connected to it in the dataflow graph, called the children. During the execution phase, the operations are carried out as in conventional dataflow paradigm. The limitations and weaknesses associated with control-flow and data-flow are described, leading to the proposed concept of associative dataflow. Simulation results of existing dataflow systems are compared with the associative dataflow model to support the fact that the new model of computation provides faster execution time and better ALU utilization than the conventional models. The design of an associative dataflow system is described by providing as much detail as can possibly be incorporated to understand the concept with reference to existing computer systems. Finally, specifications of the designed system are outlined by listing important characteristics of the associative dataflow system.
{"title":"Design of a tokenless architecture for parallel computations using associative dataflow processor","authors":"T. Jamil, R. G. Deshmukh","doi":"10.1109/SECON.1996.510150","DOIUrl":"https://doi.org/10.1109/SECON.1996.510150","url":null,"abstract":"The currently existing models of computation, control-flow and data-flow, have their limitations and weaknesses in utilizing parallelism adequately. A new refined model of computation, called associative dataflow, has been previously proposed in the literature which attempts to circumvent the bottlenecks inherent in conventional dataflow using associative memories. In this new model of computation, a dataflow graph is conceptually assumed to be upside-down and the computation is divided into two phases, namely the search phase and the execution phase. During the search phase, each node at the top of the hierarchy, called the parent, attempts to find the nodes connected to it in the dataflow graph, called the children. During the execution phase, the operations are carried out as in conventional dataflow paradigm. The limitations and weaknesses associated with control-flow and data-flow are described, leading to the proposed concept of associative dataflow. Simulation results of existing dataflow systems are compared with the associative dataflow model to support the fact that the new model of computation provides faster execution time and better ALU utilization than the conventional models. The design of an associative dataflow system is described by providing as much detail as can possibly be incorporated to understand the concept with reference to existing computer systems. Finally, specifications of the designed system are outlined by listing important characteristics of the associative dataflow system.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133396115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510115
B. Boling, M. A. Marra, S. A. Williams, B. Walcott
Fuzzy logic controllers exhibit many advantages over traditional controllers in applications involving systems with uncertain or highly complex dynamics. These controllers do not require a detailed mathematical model of the system, only an intuitive grasp of the system dynamics. Due to some of their inherent advantages, fuzzy logic controllers are finding applications in an increasing number of fields. This study applies a fuzzy logic controller to hard disk drive read/write head positioning. Performance analysis indicates reduced seek times compared to conventional disk drive control techniques.
{"title":"Improved hard disk seek time using fuzzy logic control","authors":"B. Boling, M. A. Marra, S. A. Williams, B. Walcott","doi":"10.1109/SECON.1996.510115","DOIUrl":"https://doi.org/10.1109/SECON.1996.510115","url":null,"abstract":"Fuzzy logic controllers exhibit many advantages over traditional controllers in applications involving systems with uncertain or highly complex dynamics. These controllers do not require a detailed mathematical model of the system, only an intuitive grasp of the system dynamics. Due to some of their inherent advantages, fuzzy logic controllers are finding applications in an increasing number of fields. This study applies a fuzzy logic controller to hard disk drive read/write head positioning. Performance analysis indicates reduced seek times compared to conventional disk drive control techniques.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127068919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510091
Zonghao Li, Zhiqiang Shi, E. Ososanya
The working condition of a bridge is evaluated periodically for the purpose of safety. In the conventional assessment procedure, there is significant influence of subjective factors involved. A feasibility study on the use of neural networks in the bridge condition assessment is presented in this paper. A neural network that consists of five subnets is designed to simulate the current bridge evaluation process. For all of the training cases the network converges very well, and for the test cases the network prediction is consistent with the expert's in about 60 percent. From these case studies, it is observed that neural networks are capable of simulating the bridge condition evaluation process and modeling the input-output relationship. The presented method has a potential in real world applications.
{"title":"Evaluation of bridge conditions using artificial neural networks","authors":"Zonghao Li, Zhiqiang Shi, E. Ososanya","doi":"10.1109/SECON.1996.510091","DOIUrl":"https://doi.org/10.1109/SECON.1996.510091","url":null,"abstract":"The working condition of a bridge is evaluated periodically for the purpose of safety. In the conventional assessment procedure, there is significant influence of subjective factors involved. A feasibility study on the use of neural networks in the bridge condition assessment is presented in this paper. A neural network that consists of five subnets is designed to simulate the current bridge evaluation process. For all of the training cases the network converges very well, and for the test cases the network prediction is consistent with the expert's in about 60 percent. From these case studies, it is observed that neural networks are capable of simulating the bridge condition evaluation process and modeling the input-output relationship. The presented method has a potential in real world applications.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115704923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510059
K. Rutherford, S. McClellan, R. Adhami
We modify the Fed. Std. 1016 speech compression algorithm to include lag-indexed VQ of the pitch filter parameters. Using side by side paired comparison tests and untrained listeners, we compare the subjective performance of FS-1016 before and after the modifications.
{"title":"Improving the performance of Federal Standard 1016 (CELP)","authors":"K. Rutherford, S. McClellan, R. Adhami","doi":"10.1109/SECON.1996.510059","DOIUrl":"https://doi.org/10.1109/SECON.1996.510059","url":null,"abstract":"We modify the Fed. Std. 1016 speech compression algorithm to include lag-indexed VQ of the pitch filter parameters. Using side by side paired comparison tests and untrained listeners, we compare the subjective performance of FS-1016 before and after the modifications.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115918400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510114
K. Anbumani, S. Sivakami
A library information system that allows local terms as well as fuzzy quantifiers in queries is developed. Procedure for object-oriented design of the system is explained.
开发了一种既允许查询局部术语又允许查询模糊量词的图书馆信息系统。说明了系统面向对象的设计过程。
{"title":"Fuzzy library information system","authors":"K. Anbumani, S. Sivakami","doi":"10.1109/SECON.1996.510114","DOIUrl":"https://doi.org/10.1109/SECON.1996.510114","url":null,"abstract":"A library information system that allows local terms as well as fuzzy quantifiers in queries is developed. Procedure for object-oriented design of the system is explained.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114342070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1996-04-11DOI: 10.1109/SECON.1996.510153
Y. Gu, J. Yuan
The gate-oxide thickness effects on hot-carrier-induced degradation have been investigated for submicron MOSFETs. A thinner gate oxide gives a higher substrate current, but reduced hot electron effects. This is because the thin-gate-oxide device has smaller mobility and threshold voltage degradation due to a shift of damaged interface region towards the drain contact. In this work, the analytical substrate and drain current model has been derived. The model predictions have good agreement with the experimental data for submicron MOSFETs with different oxide thicknesses.
{"title":"Gate-oxide thickness effects on hot-carrier-induced degradation in n-MOSFETs","authors":"Y. Gu, J. Yuan","doi":"10.1109/SECON.1996.510153","DOIUrl":"https://doi.org/10.1109/SECON.1996.510153","url":null,"abstract":"The gate-oxide thickness effects on hot-carrier-induced degradation have been investigated for submicron MOSFETs. A thinner gate oxide gives a higher substrate current, but reduced hot electron effects. This is because the thin-gate-oxide device has smaller mobility and threshold voltage degradation due to a shift of damaged interface region towards the drain contact. In this work, the analytical substrate and drain current model has been derived. The model predictions have good agreement with the experimental data for submicron MOSFETs with different oxide thicknesses.","PeriodicalId":338029,"journal":{"name":"Proceedings of SOUTHEASTCON '96","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115987968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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