Time series anomaly detection is challenging due to the complexity and variety of patterns that can occur. One major difficulty arises from modeling time-dependent relationships to find contextual anomalies while maintaining detection accuracy for point anomalies. In this paper, we propose a framework for unsupervised time series anomaly detection that utilizes point-based and sequence-based reconstruction models. The point-based model attempts to quantify point anomalies, and the sequence-based model attempts to quantify both point and contextual anomalies. Under the formulation that the observed time point is a two-stage deviated value from a nominal time point, we introduce a nominality score calculated from the ratio of a combined value of the reconstruction errors. We derive an induced anomaly score by further integrating the nominality score and anomaly score, then theoretically prove the superiority of the induced anomaly score over the original anomaly score under certain conditions. Extensive studies conducted on several public datasets show that the proposed framework outperforms most state-of-the-art baselines for time series anomaly detection.

Designing an actuator system for highly dynamic legged robots has been one of the grand challenges in robotics research. Conventional actuators for manufacturing applications have difficulty satisfying design requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. To address this challenge, this paper suggests a proprioceptive actuation paradigm that enables highly dynamic performance in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. Modal analysis of a reduced leg model and dimensional analysis of DC motors address the main principles for implementation of this paradigm. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. We introduce a new metric named the “impact mitigation factor” (IMF) to quantify backdrivability at impact, which enables design comparison across a wide class of robots. The MIT Cheetah leg is presented, and is shown to have an IMF that is comparable to other quadrupeds with series springs to handle impact. The design enables the Cheetah to control contact forces during dynamic bounding, with contact times down to 85 ms and peak forces over 450 N. The unique capabilities of the MIT Cheetah, achieving impact-robust force-controlled operation in high-speed three-dimensional running and jumping, suggest wider implementation of this holistic actuation approach.

In this paper, we introduce the design principles for highly efficient legged robots and the implementation of the principles on the MIT Cheetah robot. Three major energy loss modes during locomotion are heat losses through the actuators, losses through the transmission, and the interaction losses that includes all losses of the system interacting with the environment. We propose four design principles that minimize these losses: employment of high torque density motors, low impedance transmission, energy regenerative electronics and a design architecture that minimizes the leg inertia. We present the design features of the MIT cheetah robot as an embodiment of these principles. The resulting cost of transport (COT) is 0.51 during 2.3 m/s running, which rivals running animals in the same scale.

This paper concerns the critical role enhanced control will play in the operating of future electric power systems reliably and efficiently. The nonstandard control problems are due to a large variety of controllers, presently acting in a multirate mode at various levels of the system. Today's monitoring and control logic is largely effective during normal conditions. This paper concerns its possible enhancements which might enable the system to operate reliably over broader ranges of loading and equipment status. In particular, it is suggested that major benefits could come from providing computer tools to assist human operators with their decision making when the system is under stress. A multilayered approach is introduced to support:1) on-line adjustment of available resources; 2) monitoring the interconnection based on qualitative indices (QIs) essential for deciding the severity of the operating mode; and 3) using the QIs to adjust structure of control as the system evolves from one mode to the next. An equivalenced model of the Northeast Power Coordinating Council (NPCC) interconnection is used to illustrate the potential of enhanced control in scenarios that resemble the blackout of August 2003. Also, the potential for efficient use of the resources during normal conditions is illustrated using this multilayered monitoring and control architecture.

A system is proposed to convert ambient mechanical vibration into electrical energy for use in powering autonomous low power electronic systems. The energy is transduced through the use of a variable capacitor. Using microelectromechanical systems (MEMS) technology, such a device has been designed for the system. A low-power controller IC has been fabricated in a 0.6-/spl mu/m CMOS process and has been tested and measured for losses. Based on the tests, the system is expected to produce 8 /spl mu/W of usable power. In addition to the fabricated programmable controller, an ultra low-power delay locked loop (DLL)-based system capable of autonomously achieving a steady-state lock to the vibration frequency is described.

A system is proposed to convert ambient mechanical vibration into electrical energy for use in powering autonomous low-power electronic systems.The energy is transduced through the use of a variable capacitor, which has been designed with MEMS (microelectromechanical systems) technology.A low-power controller IC has been fabricated in a 0.6pm CMOS process and has been tested and measured for losses.Based on the tests, the system is expected to produce SpW of usable power.

This correspondence examines integrated-circuit logarithmic arithmetic units which include adders, subtracters, multipliers, and dividers. The design of these arithmetic units is reviewed, and an example arithmetic unit which performs multiplication followed by addition is designed in detail. The design results are used to develop a size and speed comparison of integrated-circuit logarithmic and fixed-point arithmetic units. This comparison is exercised through a video signal processing example. It is concluded from this comparison that logarithmic arithmetic units are smaller than, and as fast as, fixed-point arithmetic units with comparable capabilities in digital signal processing applications characterized by large dynamic range and moderate computational accuracy requirements. Further, this comparison quantitatively illustrates the interaction of digital-signal-processing and integrated-circuit issues in the design of special-purpose digital signal processors.