This paper presents a full-scale active tensegrity structure at EPFL and demonstrates how it can learn as well as carry out self-diagnosis and self-compensation. Tensegrities are generally flexible structures: small loads may lead to large displacements. We thus control slope by actively modifying the self-stress state between cables and struts. The structure benefits from past experience through case-based reasoning.
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Embed Size px x x x x Post on Dec views. Category: Documents 1 download. Creating a standard applicable to a wide range of sensor resolutions and frame-rates, to proliferate a family of like modules with known upgrade paths. Improving design and verification cycles.
Enabling true second sourcing of sensor modules. The maximum data rate is Mbps. It fully defines the sensor modules electrical, control and image data interfaces. The maximum data rare is kHz. The functional specification: frame and field formats, register maps for set-up and control and has three profiles that helps easy video usability with high resolution sensors.
The mechanical interface proposes a family of set of modules that provide mechanical outlines specifically designed for volume manufacturing.
The characterization chapter provides for optical-performance metrics and sensor noise standards. The reliability chapter includes environmental-test and drop-test standards. A software model is also provided in the SMIA specification, including reference devuce drivers and software architecture. Hardware Standby No communication with the sensor is possible. Software Standby CCI communication with sensor is possible. Test Temperature image quality test conditions 5.
Optimum Operating Temperature no visible degradation in image quality 6. Normal Operating Temperature camera produces acceptable images 7. Test samples shall be tested in its non-operating mode. Sensitivity is a measure of the response of a camera module to a stimulus of known brightness luminance.
The sensitivity of the module is taken to be white-light sensitivity to a standard source of measured luminance. The white-light sensitivity of a Bayer patterned color is best evaluated in terms of the color channels RGrGbB. Given that the color response of the module is be characterized elsewhere, the sensitivity to light levels can be assessed using one color channel only e.
Green without loss of information on module performance. The sensitivity of a module can be measured by taking the difference between an illuminated frame and a dark frame, captured with the same integration time.
See section 3.
Learning, Self-Diagnosis And Multi-Objective Control Of An Active Tensegrity Structure