NASA Scientific and Technical Aerospace Reports
NASA Scientific and Technical Aerospace Reports
NASA Scientific and Technical Aerospace Reports
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especially true for pervasive computing environments where in addition to limited computing <strong>and</strong> battery resources, mobile<br />
devices cannot always rely on the help of a proxy-based wired infrastructure. Rather, a collaboration among peer mobile<br />
entities is required. It allows entities to obtain data that may be otherwise inaccessible due to nature of the environment <strong>and</strong><br />
to reduce their computation cost by reusing answers generated by other peers. We introduce the problem of data interaction<br />
among peers in ad-hoc networks <strong>and</strong> propose a collaboration query processing protocol based on the principles of Contract<br />
Nets. Once an entity identifies information it needs via the help of user’s profiles, our protocol enables the device to locate<br />
data sources <strong>and</strong> obtain data matching its specific query requiring one or more data sources. We show the effectiveness of our<br />
technique through performance evaluation of entities querying for data while moving in a city-like environment.<br />
DTIC<br />
Computation; Performance Tests<br />
20060002457 General Dynamics Advanced Information Systems, Fairfax, VA USA<br />
Semi-Annual <strong>Technical</strong> Report for the Common Affordable Radar Processor (CARP)<br />
Nov. 16, 2005; 17 pp.; In English; Original contains color illustrations<br />
Contract(s)/Grant(s): N00014-01-D-0225-011<br />
Report No.(s): AD-A440571; No Copyright; Avail.: Defense <strong>Technical</strong> Information Center (DTIC)<br />
The Office of Naval Research (ONR) Surface/<strong>Aerospace</strong> Surveillance technology program is conducting technology<br />
investigations <strong>and</strong> development of advanced radar signal <strong>and</strong> control processor technology for current <strong>and</strong> planned radar<br />
systems. The ‘Common Affordable Radar Processor (CARP)’ project is investigating new processor hardware, networks, <strong>and</strong><br />
software architectures. which can readily accept integration of new radar signal inputs. digital signal processing<br />
techniques/algorithms. system control implementations. <strong>and</strong> software system infrastructures. The project emphasizes<br />
application of state of technology Commercial-Off-The-Shelf (COTS) open architecture processing <strong>and</strong> networking solutions<br />
to Navy radar <strong>and</strong> combat system needs. The contractor will leverage the successful technological advances developed to date<br />
for CARP <strong>and</strong> use these capabilities as a foundation to research, develop, integrate <strong>and</strong> test the next generation CARP system<br />
leading to a migration <strong>and</strong> technology transition to 6.4 production programs.<br />
DTIC<br />
Signal Processing; Radar Transmission<br />
63<br />
CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS<br />
Includes feedback <strong>and</strong> control theory, information theory, machine learning, <strong>and</strong> expert systems. For related information see also 54<br />
Man/System Technology <strong>and</strong> Life Support.<br />
20060001247 National Chung Hsing Univ., Taichung, Taiwan, Province of China<br />
Nonlinear Regulation <strong>and</strong> Path Tracking of a Wheeled Mobile Robot in Polar Coordinates<br />
Tai-Yu, Wang; Ching-Chih, Tsai; Jia-Lun, Pang; Journal of the Chinese Institute of Engineers; Vol. 28, No. 6; October 2005,<br />
pp. 925-934; In English; See also 20060001246<br />
Contract(s)/Grant(s): NSC 93-22 13-E-005-037; Copyright; Avail.: Other Sources<br />
This paper presents regulation <strong>and</strong> path tracking control methods for wheeled mobile robots (WMRs) associated with<br />
kinematic models in two-dimensional polar coordinates. The proposed two regulation control laws are designed via the<br />
Lyapunov indirect <strong>and</strong> direct stability theorems in order to asymptotically achieve nonlinear regulation. With the<br />
Lyapunov-based stabilization law, a novel path tracking control method is proposed to achieve reference path following<br />
missions on a global scale except for an arbitrary small region around the origin; in particular, two special path tracking<br />
examples are analyzed with large initial tracking errors. Computer simulations <strong>and</strong> experimental results are described to<br />
confirm the efficacy of these proposed control approaches.<br />
Author<br />
Polar Coordinates; Control Theory; Robots; Kinematics; Computerized Simulation<br />
20060001250 Tung Nan Inst. of Tech., Taipei, Taiwan<br />
Passivity-Based Boundary Control of a Flexible-Link Gantry Robot<br />
Jang, Jenn-Tian; Yuan, King; Journal of the Chinese Institute of Engineers; Vol. 28, No. 6; October 2005, pp. 993-997; In<br />
English; See also 20060001246; Copyright; Avail.: Other Sources<br />
In this paper, a new method is proposed for the performance evaluation of a controlled flexible-link gantry robot. The<br />
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