Notice of Violation of IEEE Publication PrinciplesAn Ultrasonic Positioning Control System for Snake Arm

Notice of Violation of IEEE Publication Principles

" An Ultrasonic Positioning Control System for Snake Arm "
by Baoping Xiao and Chang Xu
in the Proceedings of the 2009 Second International Conference on Future Information Technology and Management Engineering, December 2009

After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE\´s Publication Principles.

This paper is a near verbatim copy of the work cited below. The original text and figures were copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission.

Due to the nature of this violation, reasonable effort should be made to remove all past references to this paper, and future references should be made to the following article:

"Snake Arm Ultrasonic Positioning Control System "
by Mitchell Kotler and John Penning,
as a Final Project: Designing with Microcontrollers, Cornell University, School of Electrical and Computing Engineering,
http://courses.cit.cornell.edu/ee476/FinalProjects/s2006/mjk64jdp45/mjk64jdp45/index.html, Spring 2006

A base and glove pair that triangulates the position of the glove in 3D space using ultrasonic pulses is put forward in order to use as a control system for the CU Snake Arm. By having three points on a base, the system calculates position by the distance from each point on the base to the glove. These distances are found by the time it takes for the ultrasonic pulse to get to each point and multiplying by the speed of sound. Then by sending position coordinates over the serial port, it is theoretically able to, and will eventually, control the arm using 3D reverse kinematics code that the CS subteam is working on. This code allows input in positions to be converted to motor commands that puts the arm into the desired position, with the "h- ead" of the arm at the point corresponding to the glove\´s position. this goal was just to track position and allow the program on the computer to calculate how to get to that position.