Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace

Cluster Analysis using Spherical SOM

A cluster analysis method is proposed in this paper. As benchmark data, the Fisher's iris and the Wine recognition data sets are used. As a result of the numerical experiment, a clustering method using the dendrogram yielded 97 % in accuracy. It is difficult to display a multi-dimensional data by the dendrogram in one dimension. The ultimate visualization is by means of 3 dimensional rendition. We conclude that the best way that a multi-dimensional data set is visualized is by a sphere, since the phase relationship of it is smooth everywhere

On the Segregation Phenomenon in Complex Langevin Simulation

In the numerical simulation of certain field theoretical models, the complex Langevin simulation has been believed to fail due to the violation of ergodicity. We give a detailed analysis of this problem based on a toy model with one degree of freedom ($S=-\beta\cos\theta$). We find that the failure is not due to the defect of complex Langevin simulation itself, but rather to the way how one treats the singularity appearing in the drift force. An effective algorithm is proposed by which one can simulate the ${1/\beta}$ behaviour of the expectation value $$ in the small $\beta$ limit.Comment: (20 pages + 8 figures on request). Siegen Si-93-8, Tokuyama TKYM-93-

Localized transverse bursts in inclined layer convection

We investigate a novel bursting state in inclined layer thermal convection in which convection rolls exhibit intermittent, localized, transverse bursts. With increasing temperature difference, the bursts increase in duration and number while exhibiting a characteristic wavenumber, magnitude, and size. We propose a mechanism which describes the duration of the observed bursting intervals and compare our results to bursting processes in other systems.Comment: 4 pages, 8 figure

Application of SOM in a health evaluation system

A health evaluation system was constructed which visualizes the living habits and health state from a person's checkup list by using the feature of SOM that multi-dimensional data can be mapped onto a two-dimensional surface. Here, three examples cases are reported. A change to the health region of the map by taking medication was visualized by the SOM from the conventional numerical expression. Also, the specific sick record converges towards the sick region of the map when the disease progresses. However, it was shown and visualized for the sick record not to converge in the case of the metastasis of a cancer even if for the same examinee, the cancer has progressed. Finally, for the display of the health point mark, and the display of the sick record, the spherical surface SOM, is demonstrated to be suited in the visualization

Hadron and Quark Form Factors in the Relativistic Harmonic Oscillator Model

Nucleon, pion and quark form factors are studied within the relativistic harmonic oscillator model including the quark spin. It is shown that the nucleon charge, magnetic and axial form factors and the pion charge form factor can be explained with one oscillator parameter if one accounts for the scaling rule and the size of the constituent quarks.Comment: 9 pages, Latex, 3 postscript figures, DFTT 8/9