7114960
On the optimum design of planar 3-DOF parallel manipulators with respect to the workspace
The design of the robotic mechanisms is one of the most important activities, because these mechanisms determine the performance characteristics of the robots. The paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link lengths of one type of the robotic mechanism. The performance atlases of the workspace volume for the manipulators are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented. The results are useful for the optimum design of the robotic mechanisms. The paper proposes a new way for the robotic CAD.
10565448
Singularity analysis of the HALF parallel manipulator with revolute actuators
This paper concerns the singularity of the half parallel manipulator, a novel three degrees of freedom (DOFs) mechanism, with revolute actuators. The parallel manipulator, proposed previously, consists of a base plate, a movable platform, and three connecting legs. It has the advantages in terms of only single-DOF joints and high rotational capability. The parallel manipulator has wide application in the fields of industrial robots, simulators, parallel machine tools and any other manipulating devices that high rotational capability is required. The inverse kinematics problem and Jacobian matrices are recalled firstly. And then all possible singularities of the manipulator are analyzed in detail. The results of the paper are very useful for the apprehension and the application of the manipulator.
17082553
HyPE: hybrid power estimation for IP-based systems-on-chip
In this paper, we present a novel power estimation scheme for programmable systems consisting of predesigned datapath and memory components. The proposed hybrid methodology yields highly accurate estimates within short runtimes by combining high-level simulation with analytical macromodeling of circuit characteristics. The kernel of our methodology is a simulation-free power estimation scheme for memoryless datapaths comprising several IP blocks connected in fixed topologies. The outer shell of our hybrid scheme is a functional simulation, which is performed only on the interfaces between memoryless components and memory blocks. This simulation accurately captures the control signals that affect the flow of data and, consequently, the utilization and power dissipation of hardware. Experimental results validate the accuracy and efficiency of our methodology. We applied our static power estimation kernel to signal processing and data encryption datapaths. For designs of up to 576 IP blocks, the average error of our power estimates is 7.3% in comparison with switch-level simulation results. We implemented our hybrid scheme into a power estimation tool, called HYPE, and used it to explore various architectural alternatives in the design of a 256-state Viterbi decoder and a Rijndael encryptor. For designs with about 1 million transistors, our estimator terminates within seconds. Compared with commercial state-of-the-art gate-level power estimators, our proposed methodology is up to 1000 times faster with 5.4% deviation on average.
8133100
Geometry-assisted statistical modeling for face mosaicing
The modeling of facial appearance has many applications. This paper proposes an approach to generating a statistical face model based on video mosaicing. Unlike traditional video mosaicing, we use the geometry of a face to improve the mosaicing result. Given a face sequence, each frame is unwrapped onto certain portion of the surface of a sphere, as determined by spherical projection and the minimization procedure using the Levenberg-Marquardt algorithm. A statistical model containing a mean image and a number of eigenimages, instead of only one image template, is used to represent the face mosaic. Good experimental results have been observed.
2568010
Stability of nontrivial solution of delay differential equations with state-dependent impulses
This paper considers the stability problem of nontrivial solutions of delay differential equations with state-dependent impulses. By using the concepts of reduced system and quasi-stability, the stability problem of a nontrivial solution of the impulsive delay differential equation with state-dependent impulses is converted to that of the trivial solution of the impulsive delay differential equation with fixed impulses. Several stability criteria are then established utilizing the known results for systems with fixed impulses.
5117413
Consensus clustering and functional interpretation of gene-expression data
Microarray analysis using clustering algorithms can suffer from lack of inter-method consistency in assigning related gene-expression profiles to clusters. Obtaining a consensus set of clusters from a number of clustering methods should improve confidence in gene-expression analysis. Here we introduce consensus clustering, which provides such an advantage. When coupled with a statistically based gene functional analysis, our method allowed the identification of novel genes regulated by NFκB and the unfolded protein response in certain B-cell lymphomas.
460263
Heuristic algorithms for multi-constrained quality of service routing
Multi-constrained quality of service (QoS) routing finds a route in the network that satisfies multiple independent quality of service constraints. This problem is NP-hard and a number of heuristic algorithms have been proposed to solve the problem. This paper studies two heuristics, the limited granularity heuristic and the limited path heuristic, for solving general k-constrained problems. Analytical and simulation studies are conducted to compare the time/space requirements of the heuristics and the effectiveness of the heuristics in finding the paths that satisfy the QoS constraints. We prove analytically that for an N nodes and E edges network with k (a small constant) independent QoS constraints, the limited granularity heuristic must maintain a table of size O(|N|/sup k-1/) in each node to be effective, which results in a time complexity of O(|N|/sup k/|E|). We also prove that the limited path heuristic can achieve very high performance by maintaining O(|N|/sup 2/lg(|N|)) entries in each node, which indicates that the performance of the limited path heuristic is not sensitive to the number of constraints. We conclude that although both the limited granularity heuristic and the limited path heuristic can efficiently solve 2-constrained QoS routing problems, the limited path heuristic is superior to the limited granularity heuristic in solving k-constrained QoS routing problems when k>3. Our simulation study further confirms this conclusion.