Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138157
J. Golzy
A method for moving a robot arm along a prescribed path with sufficient accuracy and lower cost is presented. The entire path of movement is divided into n equal segments of fixed length 1 each. By using direction measurements or analytical methods, the location of each node on the path can be determined in the three-dimensional space. Then the straight distance d between each two consecutive nodes is determined. A series of fixed, symmetrical parabolic curves with length 1 but different curvature is defined and stored in the computer. On the basis of the value of d in relation to 1, a suitable curve is chosen and fitted between each two consecutive points. Since the execution strategy for each of these curves is already determined and stored in the computer, the overall execution time is reduced. This method seems to work well for smooth paths. The inverse kinematic problem can be solved to determine the position and velocity of each joint. The dynamic equations are then solved to determine the required torque for each joint.<>
{"title":"A control method for the movement of a robot arm along a prescribed path","authors":"J. Golzy","doi":"10.1109/SSST.1990.138157","DOIUrl":"https://doi.org/10.1109/SSST.1990.138157","url":null,"abstract":"A method for moving a robot arm along a prescribed path with sufficient accuracy and lower cost is presented. The entire path of movement is divided into n equal segments of fixed length 1 each. By using direction measurements or analytical methods, the location of each node on the path can be determined in the three-dimensional space. Then the straight distance d between each two consecutive nodes is determined. A series of fixed, symmetrical parabolic curves with length 1 but different curvature is defined and stored in the computer. On the basis of the value of d in relation to 1, a suitable curve is chosen and fitted between each two consecutive points. Since the execution strategy for each of these curves is already determined and stored in the computer, the overall execution time is reduced. This method seems to work well for smooth paths. The inverse kinematic problem can be solved to determine the position and velocity of each joint. The dynamic equations are then solved to determine the required torque for each joint.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129393506","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138225
D. Koch
Previous results dealing with radar systems utilizing complementary coded pulse compression waveforms are extended. The objective is to show how the generation and compression of such codes can be based on a specific single-input/multiple-output FIR (finite-impulsive-response) digital filter structure. Driving this filter with a unit pulse yields all members of a complementary code set sequence simultaneously. A decoder is then derived as an FIR digital filter and is matched to the coder filter. The significance of this technique lies in the relative ease with which the decoder structure may be identified for an arbitrary coder structure. Structures are presented for complementary code pairs and sets, as well as for generalized codes. Use of these structures leads to decoding algorithms with reduced computational requirements. The author presents an example that shows how calculations on the order of M/sup 2/ may be reduced to on the order of M log/sub 2/M.<>
{"title":"Analysis of a generalized coding/decoding method using FIR digital filters for radar waveform design","authors":"D. Koch","doi":"10.1109/SSST.1990.138225","DOIUrl":"https://doi.org/10.1109/SSST.1990.138225","url":null,"abstract":"Previous results dealing with radar systems utilizing complementary coded pulse compression waveforms are extended. The objective is to show how the generation and compression of such codes can be based on a specific single-input/multiple-output FIR (finite-impulsive-response) digital filter structure. Driving this filter with a unit pulse yields all members of a complementary code set sequence simultaneously. A decoder is then derived as an FIR digital filter and is matched to the coder filter. The significance of this technique lies in the relative ease with which the decoder structure may be identified for an arbitrary coder structure. Structures are presented for complementary code pairs and sets, as well as for generalized codes. Use of these structures leads to decoding algorithms with reduced computational requirements. The author presents an example that shows how calculations on the order of M/sup 2/ may be reduced to on the order of M log/sub 2/M.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"215 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132423282","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138166
S. Sims, A.D. Poularikas
One of the techniques used to detect and recognize objects in an image is the synthetic discriminant function. The technique is based on spatial autocorrelation and frequency-domain data processing. To minimize the time needed to process a full image, the ring spiral approach is proposed and investigated. It is found that for images without additive noise the speed of detection improved by more than a factor of 1000.<>
{"title":"Rotation invariant image pattern recognition using ring spiral scanning","authors":"S. Sims, A.D. Poularikas","doi":"10.1109/SSST.1990.138166","DOIUrl":"https://doi.org/10.1109/SSST.1990.138166","url":null,"abstract":"One of the techniques used to detect and recognize objects in an image is the synthetic discriminant function. The technique is based on spatial autocorrelation and frequency-domain data processing. To minimize the time needed to process a full image, the ring spiral approach is proposed and investigated. It is found that for images without additive noise the speed of detection improved by more than a factor of 1000.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"55 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134547622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138138
O. Ojo, G. Radman
Summary form only given. The authors propose an approach that results in a controller and filter design that is optimal and robust and in which the interacting effects (coupling) of the filter and the controller are used as extra degrees of freedom in the selection of the controller gains and filter components. In particular, the controller and filter design methodology is based on a linear quadratic formulation that accounts for the different constraints on design specifications. The resulting controller structure has the following components: (1) feedforward gains that provide anticipative response control to all nonexciting and limited-time-exciting commands and disturbances in the input voltage and that also alter the zeros of the resulting closed-loop system; (2) a servocompensator positioned in the forward loop path of the converter model to ensure asymptotic tracking of the commanded voltage and rejection of all disturbances; (3) state feedback and a filter to enforce the desired high gain at low frequency and low gain at high frequency and approximately -20-dB/s/dec slope at the crossover frequency in order to attain satisfactory phase margin. A proportional integral (PI) observer, instead of using a hardware current sensor, is used to estimate the inductor current. The controller and filter of a 50-W, DC-DC buck converter that supplies a load with a constant output voltage of 5 V have been designed and implemented in hardware.<>
只提供摘要形式。作者提出了一种方法，导致控制器和滤波器设计是最优的和鲁棒的，其中滤波器和控制器的相互作用效应(耦合)被用作选择控制器增益和滤波器组件的额外自由度。特别是，控制器和滤波器的设计方法是基于一个线性二次公式，考虑到设计规范的不同约束。所得到的控制器结构具有以下组成部分:(1)前馈增益，它为输入电压中的所有非激励和有限时间激励命令和干扰提供预期响应控制，并改变所得到的闭环系统的零点;(2)在变换器模型的正环路径上安装一个伺服补偿器，以确保对指令电压的渐近跟踪并抑制所有干扰;(3)状态反馈和滤波器，以实现所需的低频高增益和高频低增益，并在交叉频率处实现约-20 db /s/dec的斜率，以获得满意的相位裕度。采用比例积分(PI)观测器代替硬件电流传感器来估计电感电流。设计并实现了50w直流-直流降压变换器的控制器和滤波器，该变换器提供恒定输出电压为5v的负载。
{"title":"Robust current mode control of switching DC-DC converters","authors":"O. Ojo, G. Radman","doi":"10.1109/SSST.1990.138138","DOIUrl":"https://doi.org/10.1109/SSST.1990.138138","url":null,"abstract":"Summary form only given. The authors propose an approach that results in a controller and filter design that is optimal and robust and in which the interacting effects (coupling) of the filter and the controller are used as extra degrees of freedom in the selection of the controller gains and filter components. In particular, the controller and filter design methodology is based on a linear quadratic formulation that accounts for the different constraints on design specifications. The resulting controller structure has the following components: (1) feedforward gains that provide anticipative response control to all nonexciting and limited-time-exciting commands and disturbances in the input voltage and that also alter the zeros of the resulting closed-loop system; (2) a servocompensator positioned in the forward loop path of the converter model to ensure asymptotic tracking of the commanded voltage and rejection of all disturbances; (3) state feedback and a filter to enforce the desired high gain at low frequency and low gain at high frequency and approximately -20-dB/s/dec slope at the crossover frequency in order to attain satisfactory phase margin. A proportional integral (PI) observer, instead of using a hardware current sensor, is used to estimate the inductor current. The controller and filter of a 50-W, DC-DC buck converter that supplies a load with a constant output voltage of 5 V have been designed and implemented in hardware.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123072419","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138121
H. Franke, B. Abbott
The authors describe a programming environment (TOPS) that creates an abstraction level such that a network of transputers is regarded as a virtual machine independent of the network topology. TOPS provides an extended process model and higher level of message passing than is provided by a bare transputer. The development of TOPS arose in the context of various projects requiring a higher level of flexibility. The discussion covers the transputer system, functionality of TOPS, the task model in TOPS, event handling, dynamic memory measurement, input-output in TOPS, and an evaluation of TOPS.<>
{"title":"TOPS-a distributed operating system kernel for transputer systems","authors":"H. Franke, B. Abbott","doi":"10.1109/SSST.1990.138121","DOIUrl":"https://doi.org/10.1109/SSST.1990.138121","url":null,"abstract":"The authors describe a programming environment (TOPS) that creates an abstraction level such that a network of transputers is regarded as a virtual machine independent of the network topology. TOPS provides an extended process model and higher level of message passing than is provided by a bare transputer. The development of TOPS arose in the context of various projects requiring a higher level of flexibility. The discussion covers the transputer system, functionality of TOPS, the task model in TOPS, event handling, dynamic memory measurement, input-output in TOPS, and an evaluation of TOPS.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125223884","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138192
C.D. Johnson, J. You
The mathematical structure of a linear adaptive controller is compared with the structure of several conventional types of nonlinear adaptive controllers. Through a term-by-term comparison of the equations representing each control law, using certain identity relations, it is shown that the structure of a linear adaptive control law is essentially equivalent to the structure of conventional nonlinear adaptive control laws. This result demonstrates that linear adaptive controllers are genuine adaptive controllers, and not just another form of robust controller.<>
{"title":"A structural equivalence between nonlinear and linear adaptive controllers","authors":"C.D. Johnson, J. You","doi":"10.1109/SSST.1990.138192","DOIUrl":"https://doi.org/10.1109/SSST.1990.138192","url":null,"abstract":"The mathematical structure of a linear adaptive controller is compared with the structure of several conventional types of nonlinear adaptive controllers. Through a term-by-term comparison of the equations representing each control law, using certain identity relations, it is shown that the structure of a linear adaptive control law is essentially equivalent to the structure of conventional nonlinear adaptive control laws. This result demonstrates that linear adaptive controllers are genuine adaptive controllers, and not just another form of robust controller.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121399196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138107
K. Chandy, N. Chandra
A description is given of a physical model designed to simulate pressure-forming operations, and the results from computational models and actual samples are used to validate the use of this physical model. Results from both the computational and physical models, coupled with experimental evidence from actual specimens, indicate that the free deforming profiles of a thin superplastic sheet is spherical. A state of biaxial stress exists at the pole in both physical and actual specimens. The clamping pressure due to the clamps creates a plane strain state in the rubber model. However, the clamps are unable to prevent displacement of the material laterally in actual specimens; this may be due to the bending and shearing action caused when the sheet is bent over the die radius. The drawing action is also responsible for a thickening of the sheet near the die edges. The present physical setup is unable to account for such bending ad shearing stresses.<>
{"title":"Computer simulation and experimental verification of a metal forming process","authors":"K. Chandy, N. Chandra","doi":"10.1109/SSST.1990.138107","DOIUrl":"https://doi.org/10.1109/SSST.1990.138107","url":null,"abstract":"A description is given of a physical model designed to simulate pressure-forming operations, and the results from computational models and actual samples are used to validate the use of this physical model. Results from both the computational and physical models, coupled with experimental evidence from actual specimens, indicate that the free deforming profiles of a thin superplastic sheet is spherical. A state of biaxial stress exists at the pole in both physical and actual specimens. The clamping pressure due to the clamps creates a plane strain state in the rubber model. However, the clamps are unable to prevent displacement of the material laterally in actual specimens; this may be due to the bending and shearing action caused when the sheet is bent over the die radius. The drawing action is also responsible for a thickening of the sheet near the die edges. The present physical setup is unable to account for such bending ad shearing stresses.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"183 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114439216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138188
C. Vassiliadis
A review of the 12 major learning algorithms is presented, and an extensive set of references is provided. The models are represented in chronological order from the Perceptron (1957) to the Functional Link Net (1988).<>
{"title":"Neural networks-twelve learning algorithms","authors":"C. Vassiliadis","doi":"10.1109/SSST.1990.138188","DOIUrl":"https://doi.org/10.1109/SSST.1990.138188","url":null,"abstract":"A review of the 12 major learning algorithms is presented, and an extensive set of references is provided. The models are represented in chronological order from the Perceptron (1957) to the Functional Link Net (1988).<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129819685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138190
C.D. Johnson, J. Zhu
A new generalization of the state-space concept called hyperstate space, or simply hyperspace, is presented. The concept of hyperspace enables the quick determination of certain important geometric and analytic features of system-dynamic behavior without explicitly solution of the system state equations. The usefulness of the hyperspace concept is demonstrated by several examples from different areas of modern system theory.<>
{"title":"The concept of hyperspace in dynamical system theory","authors":"C.D. Johnson, J. Zhu","doi":"10.1109/SSST.1990.138190","DOIUrl":"https://doi.org/10.1109/SSST.1990.138190","url":null,"abstract":"A new generalization of the state-space concept called hyperstate space, or simply hyperspace, is presented. The concept of hyperspace enables the quick determination of certain important geometric and analytic features of system-dynamic behavior without explicitly solution of the system state equations. The usefulness of the hyperspace concept is demonstrated by several examples from different areas of modern system theory.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122857249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138205
P. Crilly
Relaxation-based iterative deconvolution methods have become useful for restoring spectroscopic or chromatographic information that has become distorted by the measurement process. An evaluation is made of several of these techniques. Their RMS error performance, quantitative accuracy and repeatability, rate of convergence, and ability to work with noisy data are investigated. For a class of data that is amplitude-bounded and distorted by a Gaussian-shaped impulse response function, it is shown that P.A. Jansson's method (1984) provides the best overall performance.<>
{"title":"A comparative study of relaxation based iterative deconvolution methods","authors":"P. Crilly","doi":"10.1109/SSST.1990.138205","DOIUrl":"https://doi.org/10.1109/SSST.1990.138205","url":null,"abstract":"Relaxation-based iterative deconvolution methods have become useful for restoring spectroscopic or chromatographic information that has become distorted by the measurement process. An evaluation is made of several of these techniques. Their RMS error performance, quantitative accuracy and repeatability, rate of convergence, and ability to work with noisy data are investigated. For a class of data that is amplitude-bounded and distorted by a Gaussian-shaped impulse response function, it is shown that P.A. Jansson's method (1984) provides the best overall performance.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"19 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120908851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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