1.
Bengtsson, Lars, 1963
(författare)
Mikrodatorteknik
1995
Bok (övrigt vetenskapligt/konstnärligt) abstract
Första delen behandlar Microchips "Base-line"-kretsar och andra delen behandlar "Midrange"-kretsarna. De flesta funktioner belyses med konstruktionsexempel. Exempel och övningar är mycket hårdvarunära och boken behandlar konstruktion av mikrodatorer från grunden. Boken är avsedd för kurser i mikrodatorteknik på högskolan eller annan högre teknisk utbildning, men kan även användas som självstudiematerial eftersom de flesta exempel ges med detaljerade och verifierade lösningar av såväl hård- som mjukvaran. Tidigare erfarenhet av assemblerprogrammering är inte nödvändig men grundläggande kunskaper i digitalteknik förutsätts. Boken kan med fördel också läsas av rutinerade assemblerprogrammerare som vill veta hur prestanda hos de nya RISC-baserade PIC-controllerna står sig i konkurrensen med de mer etablerade enchipscontrollerna, t ex HC11 och 8751, som bygger på traditionell CISC-arkitektur.
2.
Bengtsson, Lars, 1963
(författare)
RISC-baserad 50 MHz räknare med alfanumerisk display
1995
Ingår i: Allt om elektronik. ; 6, s. 35-37
Tidskriftsartikel (övrigt vetenskapligt/konstnärligt) abstract
Denna artikel presenterar en konstruktion som använder en RISC-kontroller (PIC16C54) som frekvensräknare. Frekvensen räknas på controllerns RTCC-ingång och signalfrekvensen, uttryckt i kHz visas på en alfanumerisk display.
3.
Eriksson, Patric, et al.
(författare)
A role for 'sensor simulation' and 'pre-emptive learning' in computer aided robotics
1995
Ingår i: 26th International Symposium on Industrial Robots, Symposium Proceedings. - : Mechanical Engineering Publ.. - 1860580009 ; , s. 135-140
Konferensbidrag (refereegranskat) abstract
Sensor simulation in Computer Aided Robotics (CAR) can enhance the capabilities of such systems to enable off-line generation of programmes for sensor driven robots. However, such sensor simulation is not commonly supported in current computer aided robotic environments. A generic sensor object model for the simulation of sensors in graphical environments is described in this paper. Such a model can be used to simulate a variety of sensors, for example photoelectric, proximity and ultrasonic sensors. Tests results presented here show that this generic sensor model can be customised to emulate the characteristics of the real sensors. The preliminary findings from the first off-line trained mobile robot are presented. The results indicate that sensor simulation within CARs can be used to train robots to adapt to changing environments.
4.
Sobral, L., et al.
(författare)
Ultrasonic Detection in Robotic Environments
1996
Ingår i: Proceedings., 1996 IEEE International Conference on Robotics and Automation. - 0780329880 ; 1, s. 347-352
Konferensbidrag (refereegranskat) abstract
Based on information produced by a 200 kHz ultrasonic echo device developed for robotics and other industrial purposes, a method for object identification was developed and is presented in this paper. Interpretation of the echos from the reflecting objects, complexity analysis and information extraction were made by system identification methods such as impulse response analysis and state-space realization. A clustering-type discrimination of different objects based on the echo identification result was made in a subsequent step using the least-squares method. Experimental evaluation showed that the method is effective for object recognition
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van der Wijngaart, Wouter, et al.
(författare)
Valve-less diffuser fluid micropump
1999
Ingår i: Gordon Research Conference 1999, Analytical Chemistry, New Hampshire, USA.
Konferensbidrag (refereegranskat)
9.
Berbyuk, Viktor, 1953
(författare)
Dynamics and optimal control of biotechnical systems "Man-Prosthesis"
1997
Ingår i: IUTAM Symposium on Interaction Between Dynamics and Control in Advanced Mechanical Systems, Ed. D. van Campen, Kluwer Academic Publishers, 1997. - Dordrecht : Springer Netherlands. ; , s. 35-42
Konferensbidrag (refereegranskat) abstract
In the paper, a mathematical model is proposed for investigating the controlled motion of human locomotion system (HLS) with an above-knee prosthesis. To provide insight into the interaction between dynamics and control in biotechnical system Man-Prosthesis the energy optimal control problem of the HLS wearing a lower limb prosthesis has been considered. The algorithm is based on special conversion of the optimal control problem for a nonlinear dynamical system which models HLS into a standard nonlinear programming problem. A number of energy-optimal control problems of human locomotion with an artificial leg, and optimization problems for the constructive parameters of the prostheses under different boundary conditions and constraints have been solved. The numerical results obtained were compared with experimental data for normal human locomotion. The energy-optimal elastic and viscoelastic characteristics of the ankle and knee joints of the prostheses have been determined.
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Berbyuk, Viktor, 1953
(författare)
Multibody systems modeling and optimization problems of lower limb prostheses
1996
Ingår i: 1996 IUTAM Symposium on Optimization of Mechanical Systems. - Dordrecht : Springer Netherlands. ; , s. 25-32
Konferensbidrag (refereegranskat) abstract
To study the effect of prosthesis design on the kinematic, dynamic, energetic and other characteristics of an amputee's locomotion and to improve and create new efficient lower limb prostheses it is expendient to use mathematical modeling of a human walk process and dynamic optimization techniques. In this paper a mathematical model is proposed for investigating the dynamics of a man's skeletal system (MSS) with a below-knee prosthesis. A MSS is simulated by a plane controlled dynamic system of rigid masses. The controlled motions of the system are described by Lagrange's equations of the second kind, and for the expressions for kineto-static balance of the prosthesis under the action of ankle and metatarsal moments and the forces of reactions are derived. An algorithm is construced for solving the problem of human gait dynamics with a below-knee prosthesis. The series of dynamics problems for multibody biothechnical system "Man-Prosthesis" and optimization of structural parameters of the artificial lower extremity of a man has been solved.
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Larsson, Ulf, et al.
(författare)
Navigating an articulated vehicle and reversing with a trailer
1994
Ingår i: Proceedings, 1994 IEEE International Conference on Robotics and Automation. - Los Alamitos, Calif : IEEE Computer Society Press. - 0818653302 ; , s. 2398-2404
Konferensbidrag (refereegranskat) abstract
This paper describes two related tests; to navigate an articulated lawn mower and to reverse a mobile robot with a trailer. In both cases the vehicles are to follow a prespecified trajectory. The navigation principal is based on measured directions to several identical beacons, consisting of strips of reflective tapes. The angular sensor is a rotating laser for the illumination of the beacons and a highly sensitive electro-optical receiver for detecting the directions to the beacons. A Kalman filter is used to combine the measurements from the odometers with the detected angles to the known position of the beacons. To measure the angle between the robot and the trailer the same laser was used. This was done by placing two reflective beacons on the trailer. The repeatability was within 2 centimetre at low speed. The navigation of these two different types of vehicles turns out to be, essentially, the same problem. The sensitivities are different. Emphasis is on robust state estimation
19.
Bengtsson, Lars, 1963
(författare)
Avancerad Elektrisk Mätteknik
1996
Bok (övrigt vetenskapligt/konstnärligt) abstract
Boken är avsedd för fortsättnigskurser i elektrisk mätteknik på högskolenivå. Den lämpar sig också väl som kompletteringslitteratur för kurser i signalbehandling. Innehållet är framför allt koncentrerat till analog och digital frekvensanalys, brusreducerande mätmetoder och AD/DA-omvandlingsmetoder. Ett kapitel tar upp signalbehandling och sambanden mellan analys i tid och rum. Fouriertransformen och faltningsintegralen gås igenom i detalj. Boken avslutas dels med ett kapitel om snabba förlopp i transmissionsledningar, dels med ett kapitel om GPIB-bussen. I appendix finns även en beskrivning av RS-232-kommunikation.
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Enoksson, Peter, 1957, et al.
(författare)
A Coriolis mass flow sensor structure in silicon
1996
Ingår i: IEEE International Workshop on Micro Electromechanical Systems (1996 MEMS), Feb. 11-15, San Diego, USA.
Konferensbidrag (refereegranskat)
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