Pub Date : 2010-03-07DOI: 10.1109/SSST.2010.5442831
Miguel Abrahantes, Leif Nelson, Peter Doorn
This work describes the use of simulating walker robots to design choreographed gaits for a tetrahedral (TET) walker robot. A TET robot is composed of nodes and struts arranged into tetrahedral cells. The extension and contraction of the struts allows the tetrahedral robot to walk. The Hope College Controls Team so far has built a working 4-TET robot and has done extensive modeling and gait development. It has been determined that the 4-TETs gaits are inefficient and causes too much wear on the robot parts. Our goal was to find a robot more complex than the 4-TET but minimizing constraints. Using MATLAB's SimMechanics package, we modeled the gaits of the 6 TET configurations. We developed these gaits by finding geometric relationships between the struts. Using simulations of these TET robots we can determine the best possible configuration of tetrahedrons and gaits, in terms of force used, extension ratios and wear on the machine.
{"title":"Modeling and gait design of a 6-tetrahedron walker robot","authors":"Miguel Abrahantes, Leif Nelson, Peter Doorn","doi":"10.1109/SSST.2010.5442831","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442831","url":null,"abstract":"This work describes the use of simulating walker robots to design choreographed gaits for a tetrahedral (TET) walker robot. A TET robot is composed of nodes and struts arranged into tetrahedral cells. The extension and contraction of the struts allows the tetrahedral robot to walk. The Hope College Controls Team so far has built a working 4-TET robot and has done extensive modeling and gait development. It has been determined that the 4-TETs gaits are inefficient and causes too much wear on the robot parts. Our goal was to find a robot more complex than the 4-TET but minimizing constraints. Using MATLAB's SimMechanics package, we modeled the gaits of the 6 TET configurations. We developed these gaits by finding geometric relationships between the struts. Using simulations of these TET robots we can determine the best possible configuration of tetrahedrons and gaits, in terms of force used, extension ratios and wear on the machine.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83766295","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442818
L. A. D. Espinosa, W. Gray, O. González
Fliess operators have been an object of study in connection with nonlinear systems acting on deterministic inputs since the early 1970's. They describe a broad class of nonlinear input-output maps using a type of functional series expansion. But in most applications, a system's inputs have noise components. It has been shown that the notion of a Fliess operator can be generalized to admit a class of L2-Ito¿ stochastic input processes, and that they converge conditionally over an arbitrarily large but finite interval of time. The purpose of this paper is to prove the more difficult proposition that Fliess operators driven by L2-Ito¿ stochastic processes converge absolutely under the same conditions.
{"title":"On the absolute global convergence of fliess operators driven by L2-Itô processes","authors":"L. A. D. Espinosa, W. Gray, O. González","doi":"10.1109/SSST.2010.5442818","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442818","url":null,"abstract":"Fliess operators have been an object of study in connection with nonlinear systems acting on deterministic inputs since the early 1970's. They describe a broad class of nonlinear input-output maps using a type of functional series expansion. But in most applications, a system's inputs have noise components. It has been shown that the notion of a Fliess operator can be generalized to admit a class of L2-Ito¿ stochastic input processes, and that they converge conditionally over an arbitrarily large but finite interval of time. The purpose of this paper is to prove the more difficult proposition that Fliess operators driven by L2-Ito¿ stochastic processes converge absolutely under the same conditions.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76628703","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442800
Thejaswini Purushotham, K. R. Rao
Emphysema is a lung related disorder. It shows up on the CT (computer tomography) images as regions of low attenuation. Traditional methods used for detection of Emphysema have been derivation of several metrics of the CT image like the PI (pixel index) and BI (bullae index) which denote the percentage of pixels with low attenuation in the CT image. These techniques score low with low-dose CT images. Emphysema diagnosis using the POC (phase only correlation) algorithm is proposed in this paper. POC is a technique which is intensity independent gives a direct mapping between the extent of affected lung and the length of the POC peak.
{"title":"Pattern recognition diagnostics for emphysema using phase only correlation technique","authors":"Thejaswini Purushotham, K. R. Rao","doi":"10.1109/SSST.2010.5442800","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442800","url":null,"abstract":"Emphysema is a lung related disorder. It shows up on the CT (computer tomography) images as regions of low attenuation. Traditional methods used for detection of Emphysema have been derivation of several metrics of the CT image like the PI (pixel index) and BI (bullae index) which denote the percentage of pixels with low attenuation in the CT image. These techniques score low with low-dose CT images. Emphysema diagnosis using the POC (phase only correlation) algorithm is proposed in this paper. POC is a technique which is intensity independent gives a direct mapping between the extent of affected lung and the length of the POC peak.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75340497","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442855
John M. Davis, I. Gravagne, R. Marks, John E. Miller, A. A. Ramos
A recent development in Lyapunov stability theory allows for analysis of switched linear systems evolving on nonuniform, discrete time domains. The analysis makes use of an emerging mathematical framework termed dynamic equations on time scales. We will present stability conditions for a general, arbitrarily switched system and then for system with a “constrained” switching signal. The results take the form of a compute-able inequality, which imposes conditions on the time domain itself.
{"title":"Stability of switched linear systems on non-uniform time domains","authors":"John M. Davis, I. Gravagne, R. Marks, John E. Miller, A. A. Ramos","doi":"10.1109/SSST.2010.5442855","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442855","url":null,"abstract":"A recent development in Lyapunov stability theory allows for analysis of switched linear systems evolving on nonuniform, discrete time domains. The analysis makes use of an emerging mathematical framework termed dynamic equations on time scales. We will present stability conditions for a general, arbitrarily switched system and then for system with a “constrained” switching signal. The results take the form of a compute-able inequality, which imposes conditions on the time domain itself.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73779736","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442823
V. Jilkov, Jaipal R. Katkuri, Hari K. Nandiraju
Addressed is the problem of Bayesian detector design for a signal with unknown parameters when the prior distribution of the parameters is non-Gaussian, and, possibly, the noise is non-Gaussian. An optimal detector for a Gaussian-mixture model of the parameter prior distribution is derived. A general technique for design of suboptimal Bayesian detectors with arbitrary prior distributions of the unknown parameter by means of Gaussian-mixture approximations is proposed. The technique is illustrated over an example with Rayleigh prior distribution, and the performance of the designed detector is evaluated by Monte Carlo simulation.
{"title":"Design of Bayesian signal detectors using Gaussian-mixture models","authors":"V. Jilkov, Jaipal R. Katkuri, Hari K. Nandiraju","doi":"10.1109/SSST.2010.5442823","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442823","url":null,"abstract":"Addressed is the problem of Bayesian detector design for a signal with unknown parameters when the prior distribution of the parameters is non-Gaussian, and, possibly, the noise is non-Gaussian. An optimal detector for a Gaussian-mixture model of the parameter prior distribution is derived. A general technique for design of suboptimal Bayesian detectors with arbitrary prior distributions of the unknown parameter by means of Gaussian-mixture approximations is proposed. The technique is illustrated over an example with Rayleigh prior distribution, and the performance of the designed detector is evaluated by Monte Carlo simulation.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91253680","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442858
Donghun Yoon
In this paper, we discuss network information technology for Japan's the mobile RFID system. The mobile phone is embedded with an IC-Chip in Japan. It can use the same as the contactless IC-Card. The mobile RFID system is widely used as a method of payment in RFID systems. The mobile RFID system is base on wireless communications and the RFID technology. We discussed network information technology and attempted to look for efficient network process. This paper describes a study for the mobile RFID system's network information technology and presents efficient network process for wireless communications of the mobile RFID system.
{"title":"Evolution and impact of network information technology for Japan's the mobile RFID system","authors":"Donghun Yoon","doi":"10.1109/SSST.2010.5442858","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442858","url":null,"abstract":"In this paper, we discuss network information technology for Japan's the mobile RFID system. The mobile phone is embedded with an IC-Chip in Japan. It can use the same as the contactless IC-Card. The mobile RFID system is widely used as a method of payment in RFID systems. The mobile RFID system is base on wireless communications and the RFID technology. We discussed network information technology and attempted to look for efficient network process. This paper describes a study for the mobile RFID system's network information technology and presents efficient network process for wireless communications of the mobile RFID system.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86580063","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 : 2010-03-07DOI: 10.1109/SSST.2010.5442832
Raheez Reppal, H. Ochoa
In the present market there are many Radio-Telemetry techniques which are used to track fast moving objects. However, no radio tracking system has been designed that will work in every situation [1]; for instance, radio telemetry is commonly used to estimate locations of wildlife. The interest of this research is to locate remote moving wildlife by using current technology. There are large varieties of animals with different size and speeds of movement one example of these animals are turtles, the same tracking system used for fast moving animals cannot be used on animals that are slow and small. A main issue of these systems is that they require a continuous transmission; therefore, large battery packs are required. On the other hand, the proposed system has been designed in such a way that does not require the transmitter to be always active. In the initial design process the data accuracy of different directional antennas are compared when they are used to estimate the location of the object. For that purpose, a MATLAB code has been developed, in which a virtual area is created. The location of the object is randomly generated inside this virtual area and both the antennas are rotated with same step size and the respective gains of each antenna was recorded for each point for the location of the object. For simulation purposes a square area of 1 km by 1 km was considered. For this experiment the antennas are rotated with a step size of 5 degrees. The simulation results showed that as the step size is increased the error in locating the object also increases. This experiment was performed using an Array antenna, a Horn antenna and a Yagi-uda antenna, the results showed that even though the horn antenna and yagi-uda antenna has a higher directionality the gain was minimum when compared with array antenna. However these results were obtained assuming ideal conditions where factors like noise, range and scattering of signal were not considered.
{"title":"Radio telemetry antenna design system for tracking small and slow moving objects","authors":"Raheez Reppal, H. Ochoa","doi":"10.1109/SSST.2010.5442832","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442832","url":null,"abstract":"In the present market there are many Radio-Telemetry techniques which are used to track fast moving objects. However, no radio tracking system has been designed that will work in every situation [1]; for instance, radio telemetry is commonly used to estimate locations of wildlife. The interest of this research is to locate remote moving wildlife by using current technology. There are large varieties of animals with different size and speeds of movement one example of these animals are turtles, the same tracking system used for fast moving animals cannot be used on animals that are slow and small. A main issue of these systems is that they require a continuous transmission; therefore, large battery packs are required. On the other hand, the proposed system has been designed in such a way that does not require the transmitter to be always active. In the initial design process the data accuracy of different directional antennas are compared when they are used to estimate the location of the object. For that purpose, a MATLAB code has been developed, in which a virtual area is created. The location of the object is randomly generated inside this virtual area and both the antennas are rotated with same step size and the respective gains of each antenna was recorded for each point for the location of the object. For simulation purposes a square area of 1 km by 1 km was considered. For this experiment the antennas are rotated with a step size of 5 degrees. The simulation results showed that as the step size is increased the error in locating the object also increases. This experiment was performed using an Array antenna, a Horn antenna and a Yagi-uda antenna, the results showed that even though the horn antenna and yagi-uda antenna has a higher directionality the gain was minimum when compared with array antenna. However these results were obtained assuming ideal conditions where factors like noise, range and scattering of signal were not considered.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89552748","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 : 2010-01-01DOI: 10.1109/ssst.2010.5442862
D. Willcox, Joonwan Kim, C. Loewen, J. Wineman
Radio communications possessing high signal quality and long-distance propagation have traditionally been difficult to achieve reliably over shortwave bands (up to 30 MHz). This is due to the analog modulation schemes in use and the vulnerability of shortwave radio to atmospheric disturbances. The development of the Digital Radio Mondiale (DRM) standard in 2001 provided digital coding methods, audio compression, and data protection features for shortwave transmissions. With DRM, nonprofit humanitarian broadcasters in underdeveloped nations have a reliable high-quality, long-distance transmission technology of lower cost than satellite radio services. The development of versatile DRM receivers is therefore necessary. This paper presents the design of a DRM receiver capable of demodulating a single DRM transmission, or “channel,” and compares the receiver's performance to that of the commercial DRB-30 receiver. Plans for future improvement of the receiver's overall signal-to-noise ratio and resilience to signal fading are discussed, including the addition of multi-channel reception capability and the Maximum Ratio Combining (MRC) diversity algorithm.
{"title":"Implementation of Digital Radio Mondiale receiver-part I","authors":"D. Willcox, Joonwan Kim, C. Loewen, J. Wineman","doi":"10.1109/ssst.2010.5442862","DOIUrl":"https://doi.org/10.1109/ssst.2010.5442862","url":null,"abstract":"Radio communications possessing high signal quality and long-distance propagation have traditionally been difficult to achieve reliably over shortwave bands (up to 30 MHz). This is due to the analog modulation schemes in use and the vulnerability of shortwave radio to atmospheric disturbances. The development of the Digital Radio Mondiale (DRM) standard in 2001 provided digital coding methods, audio compression, and data protection features for shortwave transmissions. With DRM, nonprofit humanitarian broadcasters in underdeveloped nations have a reliable high-quality, long-distance transmission technology of lower cost than satellite radio services. The development of versatile DRM receivers is therefore necessary. This paper presents the design of a DRM receiver capable of demodulating a single DRM transmission, or “channel,” and compares the receiver's performance to that of the commercial DRB-30 receiver. Plans for future improvement of the receiver's overall signal-to-noise ratio and resilience to signal fading are discussed, including the addition of multi-channel reception capability and the Maximum Ratio Combining (MRC) diversity algorithm.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80169021","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 : 2009-10-10DOI: 10.1109/SSST.2010.5442815
John M. Davis, I. Gravagne, R. Marks, A. A. Ramos
We revisit the canonical continuous-time and discrete-time matrix algebraic and matrix differential equations that play a central role in Lyapunov-based stability arguments. The goal is to generalize and extend these types of equations and subsequent analysis to dynamical systems on domains other than R or Z, called “time scales”, e.g. nonuniform discrete domains or domains consisting of a mixture of discrete and continuous components. In particular, we compare and contrast a generalization of the algebraic Lyapunov equation and the dynamic Lyapunov equation in this time scales setting.
{"title":"Algebraic and dynamic Lyapunov equations on time scales","authors":"John M. Davis, I. Gravagne, R. Marks, A. A. Ramos","doi":"10.1109/SSST.2010.5442815","DOIUrl":"https://doi.org/10.1109/SSST.2010.5442815","url":null,"abstract":"We revisit the canonical continuous-time and discrete-time matrix algebraic and matrix differential equations that play a central role in Lyapunov-based stability arguments. The goal is to generalize and extend these types of equations and subsequent analysis to dynamical systems on domains other than R or Z, called “time scales”, e.g. nonuniform discrete domains or domains consisting of a mixture of discrete and continuous components. In particular, we compare and contrast a generalization of the algebraic Lyapunov equation and the dynamic Lyapunov equation in this time scales setting.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75215813","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}
This paper presents the results of a case study which investigates the use of an embedded soft-core processor to perform Built-In Self-Test (BIST) of the logic resources in Xilinx Virtex-5 Field Programmable Gate Arrays (FPGAs). We show that the approach reduces the complexity of an external BIST controller and the number of external reconfigurations, making it particularly appealing for in-system testing of high-reliability and fault-tolerant systems with FPGAs. However, the overall test time is not improved due to an increase in the size of the required configuration files as a consequence of the inclusion of the softcore embedded processor logic, whose relative irregularity results in less effective compression of configuration data files.
{"title":"Soft-core embedded processor-based Built-In Self-Test of FPGAs: A case study","authors":"Bradley F. Dutton, C. Stroud","doi":"10.1109/DFT.2009.51","DOIUrl":"https://doi.org/10.1109/DFT.2009.51","url":null,"abstract":"This paper presents the results of a case study which investigates the use of an embedded soft-core processor to perform Built-In Self-Test (BIST) of the logic resources in Xilinx Virtex-5 Field Programmable Gate Arrays (FPGAs). We show that the approach reduces the complexity of an external BIST controller and the number of external reconfigurations, making it particularly appealing for in-system testing of high-reliability and fault-tolerant systems with FPGAs. However, the overall test time is not improved due to an increase in the size of the required configuration files as a consequence of the inclusion of the softcore embedded processor logic, whose relative irregularity results in less effective compression of configuration data files.","PeriodicalId":6463,"journal":{"name":"2010 42nd Southeastern Symposium on System Theory (SSST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2009-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85583274","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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