Application oriented test procedure for designing microstepping step motor controllers

10.1109/41.9177IEEE Transactions on Industrial Electronics354542-546ITIE

Abstract Evaluation of simple performance measures for tuning SVM hyperparameters

Choosing optimal hyperparameters for support vector machines is an important step in SVM design. This is usually done by minimizing either an estimate of generalization error or some other related performance measures. In this paper, we empirically study the usefulness of several simple performance measures that are very inexpensive to compute. The results point out which of these performance measures are adequate functionals for tuning SVM hyperparameters. For SVMs with L1 soft-margin formulation, none of the simple measures yields a performance as good as k-fold cross-validation

Abstract PRACTICAL ISSUES IN PIXEL-BASED AUTOFOCUSING FOR MACHINE VISION

Different autofocusing methods exist for many cameras today. While not ignoring commercially available methods requiring specialized hardware, this paper focuses mainly on pixel based autofocusing algorithms as applied to CCD camera systems. Different measures of image sharpness are compared. For each of these, different algorithms for searching the best lens setting are assessed in terms of performance as well as their applicability to various situations. In addition, several other factors potentially affecting camera focusing are also discussed. Based on the information obtained, this research attempts to formulate a robust autofocusing algorithm

Evaluation of simple performance measures for tuning SVM hyperparameters

10.1016/S0925-2312(02)00601-XNeurocomputing5141-59NRCG

Robotic micro-assembly of scaffold/cell constructs with a shape memory alloy gripper

This paper describes an integrated approach to design and fabricate scaffold/cell constructs for tissue engineering. With this novel approach it becomes possible to produce scaffolds with controlled distribution of living cells and growth factors, a critical condition for successful grafting. Our idea consists of building a scaffold/cell construct by robotic micro-assembly of microscopic polymer building blocks. This paper introduces the rationale and concept of this interdisciplinary project and presents some realized steps. A 3D contact FEM simulation has been carried out to study the forces involved on the scaffold elements and micro-gripper during assembly. An error analysis has been performed to evaluate the accumulated error when building a scaffold/cell construct. A dedicated monolithic shape memory alloy micro-gripper has been realized and tested, which is able to handle parts in the range of 50-100 microns.</p

Truncated Fourier series formulation for bipedal walking balance control

10.1017/S0263574709005608Robotica28181-96ROBO

A uniform biped gait generator with offline optimization and online adjustable parameters

10.1017/S026357470700344XRobotica255549-565ROBO

Compound fabrication process and apparatus

US6935003Granted Paten

Real-time bipedal walking gait adjustment modes based on a Truncated Fourier Series Model

10.1142/S0219843610002003International Journal of Humanoid Robotics7195-12