Pub Date : 1990-03-11DOI: 10.1109/SSST.1990.138114
M. Noakes
The development of an expert system for optimizing the controls tuning of a gear and shaft force-reflecting servomanipulator is discussed. Remote maintenance techniques have produced hot-cell manipulators that do not require hands-on-repair. However, these manipulators are difficult to tune owing to the conflicting priorities of maximizing operator sensation of force reflection and minimizing operator fatigue in combination with the complex nonlinear control algorithms and cross-coupled motions. Owing to the heuristic nature of this tuning problem and the emphasis on human perception of performance, an expert system has been developed as an alternative to algorithmic optimization of gains.<>
{"title":"Teleoperator servoloop tuning using an expert system","authors":"M. Noakes","doi":"10.1109/SSST.1990.138114","DOIUrl":"https://doi.org/10.1109/SSST.1990.138114","url":null,"abstract":"The development of an expert system for optimizing the controls tuning of a gear and shaft force-reflecting servomanipulator is discussed. Remote maintenance techniques have produced hot-cell manipulators that do not require hands-on-repair. However, these manipulators are difficult to tune owing to the conflicting priorities of maximizing operator sensation of force reflection and minimizing operator fatigue in combination with the complex nonlinear control algorithms and cross-coupled motions. Owing to the heuristic nature of this tuning problem and the emphasis on human perception of performance, an expert system has been developed as an alternative to algorithmic optimization of gains.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"64 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":"130267771","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.1990.138206
A. Kanekar, A. Feliachi
The state estimation problem is addressed using artificial neural networks. The neural networks used are the adaptive linear combiner and a multilayer net. Training is performed by using several Kalman filter solutions to set the different weights. The derived neural network estimator gives state estimates when the system is subjected to unknown noises. Examples are given to illustrate the proposed approach.<>
{"title":"State estimation using artificial neural networks","authors":"A. Kanekar, A. Feliachi","doi":"10.1109/SSST.1990.138206","DOIUrl":"https://doi.org/10.1109/SSST.1990.138206","url":null,"abstract":"The state estimation problem is addressed using artificial neural networks. The neural networks used are the adaptive linear combiner and a multilayer net. Training is performed by using several Kalman filter solutions to set the different weights. The derived neural network estimator gives state estimates when the system is subjected to unknown noises. Examples are given to illustrate the proposed approach.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"1 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":"130559503","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.1990.138172
D.A. Gwaltney, M. Greene
The preliminary design of a reel mechanism for the control of the GetAway Tether Experiment (GATE) is presented. The GATE is now part of the Tether Dynamics Explorer series (TDE) and consists of a small subsatellite tethered to a large body (Delta II second stage). A reel mechanism is housed in the subsatellite and used as the primary means of attitude control of the tether and subsatellite. Concepts used for the implementation of control software are discussed, and preliminary testing procedures are described. Results showing the capability of the prototype are presented and discussed.<>
{"title":"Design of a reel mechanism for control of an orbiting single tether system","authors":"D.A. Gwaltney, M. Greene","doi":"10.1109/SSST.1990.138172","DOIUrl":"https://doi.org/10.1109/SSST.1990.138172","url":null,"abstract":"The preliminary design of a reel mechanism for the control of the GetAway Tether Experiment (GATE) is presented. The GATE is now part of the Tether Dynamics Explorer series (TDE) and consists of a small subsatellite tethered to a large body (Delta II second stage). A reel mechanism is housed in the subsatellite and used as the primary means of attitude control of the tether and subsatellite. Concepts used for the implementation of control software are discussed, and preliminary testing procedures are described. Results showing the capability of the prototype are presented and discussed.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"43 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":"128865799","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.1990.138203
B. Bomar, L. M. Smith
An algorithm for minimizing roundoff noise in extended state-space (e-state) realizations of recursive digital filters, where the order of the e-state equation is 2, is developed. It is shown that previous efforts to minimize roundoff noise in e-state structures have not provided a global minimum. The algorithm presented applies an unconstrained transformation matrix to an arbitrary starting state-space structure to produce an intermediate structure. A second matrix transforms the intermediate structure to e-state form. A conjugate-gradient optimization scheme is used to determine the coefficients of the first matrix that minimize the roundoff noise gain of the e-state structure produced by the second transformation. A numerical example illustrates that orders-of-magnitude improvement over previous results can be achieved with this approach.<>
{"title":"Synthesis of minimum roundoff noise structures for extended state-space digital filter implementations","authors":"B. Bomar, L. M. Smith","doi":"10.1109/SSST.1990.138203","DOIUrl":"https://doi.org/10.1109/SSST.1990.138203","url":null,"abstract":"An algorithm for minimizing roundoff noise in extended state-space (e-state) realizations of recursive digital filters, where the order of the e-state equation is 2, is developed. It is shown that previous efforts to minimize roundoff noise in e-state structures have not provided a global minimum. The algorithm presented applies an unconstrained transformation matrix to an arbitrary starting state-space structure to produce an intermediate structure. A second matrix transforms the intermediate structure to e-state form. A conjugate-gradient optimization scheme is used to determine the coefficients of the first matrix that minimize the roundoff noise gain of the e-state structure produced by the second transformation. A numerical example illustrates that orders-of-magnitude improvement over previous results can be achieved with this approach.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"6 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":"121970407","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.1990.138167
M.K. Celik, P. Hays, R. Pieper
A model that assumes tonal decomposition of textures is proposed for texture segmentation. The model assumes that the tones form an orthogonal basis in a vector space of possible textures. Two methods for texture segmentation that use a texture indicator developed from this concept are demonstrated.<>
{"title":"A vector model for tonal decomposition and segmentation of textures","authors":"M.K. Celik, P. Hays, R. Pieper","doi":"10.1109/SSST.1990.138167","DOIUrl":"https://doi.org/10.1109/SSST.1990.138167","url":null,"abstract":"A model that assumes tonal decomposition of textures is proposed for texture segmentation. The model assumes that the tones form an orthogonal basis in a vector space of possible textures. Two methods for texture segmentation that use a texture indicator developed from this concept are demonstrated.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"47 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":"127197212","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.1990.138210
Q. Sun, J.N. Anderson, A. Alouani
The authors present a real-time estimation scheme for improving wrist force/torque sensor measurements through a data fusion technique. The currents of joint servomotors are measured as a redundant data source for data fusion. The computational results of the model-based control method are used to reduce the extra amount of computation required for estimation. Robot joints are fully instrumented to obtain necessary dynamic information about robot motion. Simulation results reveal that the performance of the estimation scheme depends on the sampling period of the robot controller and the a priori knowledge of the measurement noise processes.<>
{"title":"Improving wrist force/torque sensor measurements through a data fusion technique","authors":"Q. Sun, J.N. Anderson, A. Alouani","doi":"10.1109/SSST.1990.138210","DOIUrl":"https://doi.org/10.1109/SSST.1990.138210","url":null,"abstract":"The authors present a real-time estimation scheme for improving wrist force/torque sensor measurements through a data fusion technique. The currents of joint servomotors are measured as a redundant data source for data fusion. The computational results of the model-based control method are used to reduce the extra amount of computation required for estimation. Robot joints are fully instrumented to obtain necessary dynamic information about robot motion. Simulation results reveal that the performance of the estimation scheme depends on the sampling period of the robot controller and the a priori knowledge of the measurement noise processes.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"60 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":"124183407","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.1990.138209
P. B. Davis, J. Spears, M. Abidi
A description is given of an uncertainty and parallel data fusion approach that has been developed and tested. This fusion algorithm is based on the interaction of two constraints: the principle of knowledge source corroboration, which tends to maximize the final belief in a given proposition (often modeled by a probability density function or fuzzy membership distribution) if either of the knowledge sources supports the occurrence of the proposition; and the principle of belief enhancement/withdrawal which adjusts the belief of one knowledge source according to the belief of a second knowledge source by maximizing the similarity between the two source outputs. These two principles are combined by maximizing a positive linear combination of these two constraints related by a fusion function, to be determined. The implementation of this method was performed on an NCUBE hypercube parallel computer.<>
{"title":"Parallel implementation of analytic data fusion","authors":"P. B. Davis, J. Spears, M. Abidi","doi":"10.1109/SSST.1990.138209","DOIUrl":"https://doi.org/10.1109/SSST.1990.138209","url":null,"abstract":"A description is given of an uncertainty and parallel data fusion approach that has been developed and tested. This fusion algorithm is based on the interaction of two constraints: the principle of knowledge source corroboration, which tends to maximize the final belief in a given proposition (often modeled by a probability density function or fuzzy membership distribution) if either of the knowledge sources supports the occurrence of the proposition; and the principle of belief enhancement/withdrawal which adjusts the belief of one knowledge source according to the belief of a second knowledge source by maximizing the similarity between the two source outputs. These two principles are combined by maximizing a positive linear combination of these two constraints related by a fusion function, to be determined. The implementation of this method was performed on an NCUBE hypercube parallel computer.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"34 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":"132400748","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.1990.138125
X. Yang, A. Feliachi
The author's present a methodology for determining, in a large-scale system, the number of decentralized controllers necessary to control a set of critical eigenvalues, and to identify their optimal locations. The method is based on residues. A multimachine power system example is given to illustrate the proposed technique.<>
{"title":"Identification of optimal locations for decentralized controllers using residues","authors":"X. Yang, A. Feliachi","doi":"10.1109/SSST.1990.138125","DOIUrl":"https://doi.org/10.1109/SSST.1990.138125","url":null,"abstract":"The author's present a methodology for determining, in a large-scale system, the number of decentralized controllers necessary to control a set of critical eigenvalues, and to identify their optimal locations. The method is based on residues. A multimachine power system example is given to illustrate the proposed technique.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"3 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":"130832332","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.1990.138220
H. K. Brown
The author discusses a theoretical model describing the microwave transmission and reflection properties of semiconductor wafers after they have been illuminated by a short pulse of light from a laser. The model has three fundamental parts. The first part describes the absorption mechanism of the incident light pulse throughout the semiconductor, given the electron-hole-pair concentration as a function of position. In the second part the electron-hole-pair concentration during the decay process is described. Part three describes the microwave properties of the semiconductor as the electron-hole pairs return to their equilibrium state.<>
{"title":"The use of microwaves to characterize optically stimulated semiconductors","authors":"H. K. Brown","doi":"10.1109/SSST.1990.138220","DOIUrl":"https://doi.org/10.1109/SSST.1990.138220","url":null,"abstract":"The author discusses a theoretical model describing the microwave transmission and reflection properties of semiconductor wafers after they have been illuminated by a short pulse of light from a laser. The model has three fundamental parts. The first part describes the absorption mechanism of the incident light pulse throughout the semiconductor, given the electron-hole-pair concentration as a function of position. In the second part the electron-hole-pair concentration during the decay process is described. Part three describes the microwave properties of the semiconductor as the electron-hole pairs return to their equilibrium state.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"3 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":"131232320","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.1990.138199
N. Kaul, B. Bhuva, S. Kerns
There are in existence a number of CAD tools that perform circuit simulations and analyze circuit performance before fabrication. Most of these simulators do not take long-term environmental effects into account. These environmental effects on VLSI circuits are specifically more important for performance estimation in hostile environments such as high temperature and space radiation environments. The ICs designed for normal environments fail to function normally in these hostile environments. A study is made of the effects of one such environment, the space-radiation environment, on CMOS digital circuits, and methods for extending the operational life of a part by changing operating parameters, namely, operating frequency, are proposed. Although the study specifically concentrates on the space environment, the concept can be applied to any hostile environment.<>
{"title":"Worst case operating frequency determination of CMOS digital VLSI circuits operating in radiation environments","authors":"N. Kaul, B. Bhuva, S. Kerns","doi":"10.1109/SSST.1990.138199","DOIUrl":"https://doi.org/10.1109/SSST.1990.138199","url":null,"abstract":"There are in existence a number of CAD tools that perform circuit simulations and analyze circuit performance before fabrication. Most of these simulators do not take long-term environmental effects into account. These environmental effects on VLSI circuits are specifically more important for performance estimation in hostile environments such as high temperature and space radiation environments. The ICs designed for normal environments fail to function normally in these hostile environments. A study is made of the effects of one such environment, the space-radiation environment, on CMOS digital circuits, and methods for extending the operational life of a part by changing operating parameters, namely, operating frequency, are proposed. Although the study specifically concentrates on the space environment, the concept can be applied to any hostile environment.<<ETX>>","PeriodicalId":201543,"journal":{"name":"[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory","volume":"212 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":"131397450","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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