Pub Date : 1900-01-01DOI: 10.1109/ICSYSE.1991.161075
S. LeClair
A CAD system based on feature-based design is discussed. Feature-based design is an attempt to establish a higher level of representation, i.e., primitives (features) which have meaning and are interpretable by both the design system and the designer. A feature can refer to any technical or economic aspect of a product's representation or any attribute of the forming process and/or finished product. Features which are typically associated with a product dictate: function, form, material, dimension, tolerance, datum, fabrication process, surface finish, inspection process, etc. The Rapid Design System (RDS), a feature-based design system which takes advantage of an associative memory for storage and retrieval of past design experiences, is discussed.<>
{"title":"The Rapid Design System: memory-driven feature-based design","authors":"S. LeClair","doi":"10.1109/ICSYSE.1991.161075","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161075","url":null,"abstract":"A CAD system based on feature-based design is discussed. Feature-based design is an attempt to establish a higher level of representation, i.e., primitives (features) which have meaning and are interpretable by both the design system and the designer. A feature can refer to any technical or economic aspect of a product's representation or any attribute of the forming process and/or finished product. Features which are typically associated with a product dictate: function, form, material, dimension, tolerance, datum, fabrication process, surface finish, inspection process, etc. The Rapid Design System (RDS), a feature-based design system which takes advantage of an associative memory for storage and retrieval of past design experiences, is discussed.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123542795","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161151
T. Stonham, R. Al-Alawi
The functionality of a neural network determines the generalization properties. Multilayer networks have a restricted functionality. This is determined by the topology of the network and, in particular, the number of nodes and the method of interconnection. The authors present a strategy whereby a given logical neural network structure can be evaluated in order to determine whether it will support the functionality implied by a given training set.<>
{"title":"A design strategy for logical neural networks","authors":"T. Stonham, R. Al-Alawi","doi":"10.1109/ICSYSE.1991.161151","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161151","url":null,"abstract":"The functionality of a neural network determines the generalization properties. Multilayer networks have a restricted functionality. This is determined by the topology of the network and, in particular, the number of nodes and the method of interconnection. The authors present a strategy whereby a given logical neural network structure can be evaluated in order to determine whether it will support the functionality implied by a given training set.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132392775","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161085
R. Perez, O. Nwokah
A simple control law that guarantees that the outputs of a linear time invariant plant with feedthrough element will converge asymptotically to be prespecified set of desired trajectories is developed. This control law is illustrated on a gas turbine engine to demonstrate its applicability to higher dimension problems and the fast asymptotic convergence to the desired trajectories. With this method, the plant transfer function or plant state equation can be identified continuously and parameter variations in the transfer function of the plant simply can be compensated for by adjusting parameters of the controller and thereby obtaining satisfactory system performance continuously. The algorithm presented allows for the use of model reference control when the plant model has a feedthrough element and bypasses the selection of a candidate Lyapunov function. It is easy to implement and can be made to converge arbitrarily fast.<>
{"title":"Model reference control of a linear plant with feedthrough element","authors":"R. Perez, O. Nwokah","doi":"10.1109/ICSYSE.1991.161085","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161085","url":null,"abstract":"A simple control law that guarantees that the outputs of a linear time invariant plant with feedthrough element will converge asymptotically to be prespecified set of desired trajectories is developed. This control law is illustrated on a gas turbine engine to demonstrate its applicability to higher dimension problems and the fast asymptotic convergence to the desired trajectories. With this method, the plant transfer function or plant state equation can be identified continuously and parameter variations in the transfer function of the plant simply can be compensated for by adjusting parameters of the controller and thereby obtaining satisfactory system performance continuously. The algorithm presented allows for the use of model reference control when the plant model has a feedthrough element and bypasses the selection of a candidate Lyapunov function. It is easy to implement and can be made to converge arbitrarily fast.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132097670","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161144
P. Nagy, D. Manko, S. Desa, W. Whittaker
Postural control is of utmost importance for walking robots, particularly for those that traverse rugged terrain. A dynamic model for locomotion in rugged terrain is presented. The model has 18 actuated degrees of freedom, plus six unactuated body translations and rotations to produce a total of 24 degrees of freedom. Nonlinear foot-terrain interaction models keep track of nonconservative soil deformations, and allow feet to make or break contact any number of times during a simulation. The utilization of this model for postural control studies is presented. A modification of the vertical hybrid control by allocation method is proposed as a viable postural control scheme. However, it is shown that positional control is sufficient in order to achieve stable response with the mechanism.<>
{"title":"Simulation of postural control for a walking robot","authors":"P. Nagy, D. Manko, S. Desa, W. Whittaker","doi":"10.1109/ICSYSE.1991.161144","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161144","url":null,"abstract":"Postural control is of utmost importance for walking robots, particularly for those that traverse rugged terrain. A dynamic model for locomotion in rugged terrain is presented. The model has 18 actuated degrees of freedom, plus six unactuated body translations and rotations to produce a total of 24 degrees of freedom. Nonlinear foot-terrain interaction models keep track of nonconservative soil deformations, and allow feet to make or break contact any number of times during a simulation. The utilization of this model for postural control studies is presented. A modification of the vertical hybrid control by allocation method is proposed as a viable postural control scheme. However, it is shown that positional control is sufficient in order to achieve stable response with the mechanism.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132335353","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161142
R. C. Coulter, A. Stentz, P. Keller, W. Whittaker
Model-based vision is shown to be a viable solution to a tool insertion problem for the nuclear servicing industry. A complete tool insertion system requires: representation of the model, extraction of model parameters from sensor data, quantification of sensor error, transformation of sensor error to model error, sensor calibration techniques, and motion planning for sensor drop out recovery. Each of these topics is considered as a component technology and related as an aggregate system in a technical insertion scenario. While each of these technologies is required in a complete system, the specific technique is application dependent. The requisite technologies are discussed in the context of the general problem, the insertion of a four-pronged tool into four specific holes in a plane, using a vision-corrected CAD model.<>
{"title":"An application of tool insertion using model-based vision","authors":"R. C. Coulter, A. Stentz, P. Keller, W. Whittaker","doi":"10.1109/ICSYSE.1991.161142","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161142","url":null,"abstract":"Model-based vision is shown to be a viable solution to a tool insertion problem for the nuclear servicing industry. A complete tool insertion system requires: representation of the model, extraction of model parameters from sensor data, quantification of sensor error, transformation of sensor error to model error, sensor calibration techniques, and motion planning for sensor drop out recovery. Each of these topics is considered as a component technology and related as an aggregate system in a technical insertion scenario. While each of these technologies is required in a complete system, the specific technique is application dependent. The requisite technologies are discussed in the context of the general problem, the insertion of a four-pronged tool into four specific holes in a plane, using a vision-corrected CAD model.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132333210","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161092
L. W. Rainey, M. Leahy
Although previous case studies rigorously investigated the feasibility of implementing passivity-based inner loop adaptation on an industrial manipulator, an unanswered question was the general validity of those results. That issue is addressed by repeating the analysis on a small serial robot with a pneumatic tendon drive system. Experimental analysis reverified the algorithm's adaptation/learning capabilities and provided insight into how the implementation issues of tuning and parameter convergence depend on specific manipulator structure. Direct adaptive control enhances trajectory efficacy for a wide range of manipulators.<>
{"title":"Adaptive model-based control of the Utah/MIT hand","authors":"L. W. Rainey, M. Leahy","doi":"10.1109/ICSYSE.1991.161092","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161092","url":null,"abstract":"Although previous case studies rigorously investigated the feasibility of implementing passivity-based inner loop adaptation on an industrial manipulator, an unanswered question was the general validity of those results. That issue is addressed by repeating the analysis on a small serial robot with a pneumatic tendon drive system. Experimental analysis reverified the algorithm's adaptation/learning capabilities and provided insight into how the implementation issues of tuning and parameter convergence depend on specific manipulator structure. Direct adaptive control enhances trajectory efficacy for a wide range of manipulators.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134238719","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161171
N. Seth, K. Rattan
In the approach to vibration reduction presented, a robust control scheme which reduces the effects of friction and the effects of inaccuracies in its modeling is used. The method consists of the design of two loops: an inner loop that controls the position of the motor and an outer loop than controls the position of the endpoint of the carriage. A high-gain inner loop incorporates a coupling term, and is designed to make the response of the motor position much faster than the endpoint position. An input command shaping scheme is used for the outer loop to reduce the vibrations. The complete scheme was applied to a coordinate measuring machine and gave satisfactory results. The controllers designed were simple and provided fast and accurate motion of the endpoint.<>
{"title":"Vibration reduction in computer controlled machines","authors":"N. Seth, K. Rattan","doi":"10.1109/ICSYSE.1991.161171","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161171","url":null,"abstract":"In the approach to vibration reduction presented, a robust control scheme which reduces the effects of friction and the effects of inaccuracies in its modeling is used. The method consists of the design of two loops: an inner loop that controls the position of the motor and an outer loop than controls the position of the endpoint of the carriage. A high-gain inner loop incorporates a coupling term, and is designed to make the response of the motor position much faster than the endpoint position. An input command shaping scheme is used for the outer loop to reduce the vibrations. The complete scheme was applied to a coordinate measuring machine and gave satisfactory results. The controllers designed were simple and provided fast and accurate motion of the endpoint.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129824139","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161136
J. She, A. Feliachi
The assessment of the importance of each single eigenvalue by deriving accurate ranking indices is discussed. The essential or critical modes are defined as the ones that contribute the most to a prespecified quadratic performance index, e.g. output energy function. Specifically, three ranking methods for continuous linear time-invariant systems are proposed. The first method is to use the results of A. Feliachi (IEEE Trans. Power Syst., vol.5, no.3, p.783-7, 1990) and derive a new separation method of the overall contribution index in ranking indices. The second approach, called the weighting factor ranking index, is based on the relative importance of joint eigenvalue contributions to the energy function. Finally, a remainder ranking index based on the least contribution to the energy function when the eigenvalue of concern is ignored is derived. A comparison of all these methods is given.<>
{"title":"On eigenvalue ranking indices for continuous linear time invariant systems","authors":"J. She, A. Feliachi","doi":"10.1109/ICSYSE.1991.161136","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161136","url":null,"abstract":"The assessment of the importance of each single eigenvalue by deriving accurate ranking indices is discussed. The essential or critical modes are defined as the ones that contribute the most to a prespecified quadratic performance index, e.g. output energy function. Specifically, three ranking methods for continuous linear time-invariant systems are proposed. The first method is to use the results of A. Feliachi (IEEE Trans. Power Syst., vol.5, no.3, p.783-7, 1990) and derive a new separation method of the overall contribution index in ranking indices. The second approach, called the weighting factor ranking index, is based on the relative importance of joint eigenvalue contributions to the energy function. Finally, a remainder ranking index based on the least contribution to the energy function when the eigenvalue of concern is ignored is derived. A comparison of all these methods is given.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124361163","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 : 1900-01-01DOI: 10.1109/icsyse.1991.161094
J. Bay
Using tensor notation in joint space, the geometric characteristics of pseudoinverse drift are studied. This analysis helps describe the joint-space drift in terms of the torsion of two space curves. It is discovered that the joint trajectory resulting from Moore-Penrose pseudoinverse control goes to zero if the drift undergoes asymptotic decay. Furthermore, the torsion of the self-motion curves also has zero crossings, but only at their intersection with closed, drift-free joint trajectories. This allows one to predict drift-free initial configurations for 3R manipulators with a single degree of redundancy. The tensor notation provides a framework for future analysis with higher dimensional systems and systems and additional degrees of redundancy, which cannot be described with familiar properties of space-curves such as torsion.<>
{"title":"Toward a tensor formulation of some pseudoinverse redundant kinematics properties","authors":"J. Bay","doi":"10.1109/icsyse.1991.161094","DOIUrl":"https://doi.org/10.1109/icsyse.1991.161094","url":null,"abstract":"Using tensor notation in joint space, the geometric characteristics of pseudoinverse drift are studied. This analysis helps describe the joint-space drift in terms of the torsion of two space curves. It is discovered that the joint trajectory resulting from Moore-Penrose pseudoinverse control goes to zero if the drift undergoes asymptotic decay. Furthermore, the torsion of the self-motion curves also has zero crossings, but only at their intersection with closed, drift-free joint trajectories. This allows one to predict drift-free initial configurations for 3R manipulators with a single degree of redundancy. The tensor notation provides a framework for future analysis with higher dimensional systems and systems and additional degrees of redundancy, which cannot be described with familiar properties of space-curves such as torsion.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122725304","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 : 1900-01-01DOI: 10.1109/ICSYSE.1991.161079
R. Pollock, J. S. Burke
Simultaneous engineering automation (SEA) and techniques for rapidly capturing engineering knowledge for SEA are discussed. The types of engineering knowledge that must be captured for SEA are described, and an approach for mapping between the engineer and these types of knowledge is presented. This approach anticipates the types of information that the engineer will want to input, and presents the engineer with suitable choices.<>
{"title":"Rapid engineering knowledge capture for simultaneous engineering automation","authors":"R. Pollock, J. S. Burke","doi":"10.1109/ICSYSE.1991.161079","DOIUrl":"https://doi.org/10.1109/ICSYSE.1991.161079","url":null,"abstract":"Simultaneous engineering automation (SEA) and techniques for rapidly capturing engineering knowledge for SEA are discussed. The types of engineering knowledge that must be captured for SEA are described, and an approach for mapping between the engineer and these types of knowledge is presented. This approach anticipates the types of information that the engineer will want to input, and presents the engineer with suitable choices.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130665421","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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