Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203209
J. Wu
A systematic approach to solving the inverse kinematics problem is presented. This approach identifies the complexity of an inverse kinematics problem quickly and then finds the solution more easily than conventional methods. Examples are given to demonstrate the implementation of the proposed approach. The approach employs the matrix exponential and the concept of cluster joints
{"title":"A systematic approach to robot inverse kinematics","authors":"J. Wu","doi":"10.1109/ICSYSE.1990.203209","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203209","url":null,"abstract":"A systematic approach to solving the inverse kinematics problem is presented. This approach identifies the complexity of an inverse kinematics problem quickly and then finds the solution more easily than conventional methods. Examples are given to demonstrate the implementation of the proposed approach. The approach employs the matrix exponential and the concept of cluster joints","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127140502","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203227
R. Brown, Y. Zhu, X. Feng
The time-optimal acceleration (free-end-velocity) control problem and the time-optimal point-to-point move (zero-end-velocity) control problem for a bifilar-wound hybrid step motor are discussed. The necessary conditions for the optimal controls are derived from motor, load, and driver circuit models using Pontryagin's minimum principle. A reduced-order relaxation method, involving forward/backward integrations, for finding the solutions to the nonlinear two-point boundary value problems specified by the necessary conditions, including generation of initial controls, is presented. A driver model for the inverse-diode drive circuit is introduced, and the time-optimal controls for a hybrid step motor with a drive circuit are found. Example solutions are presented
{"title":"Time-optimal acceleration control and point-to-point of step motors","authors":"R. Brown, Y. Zhu, X. Feng","doi":"10.1109/ICSYSE.1990.203227","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203227","url":null,"abstract":"The time-optimal acceleration (free-end-velocity) control problem and the time-optimal point-to-point move (zero-end-velocity) control problem for a bifilar-wound hybrid step motor are discussed. The necessary conditions for the optimal controls are derived from motor, load, and driver circuit models using Pontryagin's minimum principle. A reduced-order relaxation method, involving forward/backward integrations, for finding the solutions to the nonlinear two-point boundary value problems specified by the necessary conditions, including generation of initial controls, is presented. A driver model for the inverse-diode drive circuit is introduced, and the time-optimal controls for a hybrid step motor with a drive circuit are found. Example solutions are presented","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123736370","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203184
J. Wolter
The XAP/1 assembly planner used an opportunistic, constraint-based approach to generate plans for the manufacture of mechanical assemblies. Extensions to that system to allow the generation of plans with subassemblies are described. This is done by extending the set of constraints to allow the generation of subassembly trees, while maintaining the flexibility of the original planner
{"title":"A constraint-based approach to planning with subassemblies","authors":"J. Wolter","doi":"10.1109/ICSYSE.1990.203184","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203184","url":null,"abstract":"The XAP/1 assembly planner used an opportunistic, constraint-based approach to generate plans for the manufacture of mechanical assemblies. Extensions to that system to allow the generation of plans with subassemblies are described. This is done by extending the set of constraints to allow the generation of subassembly trees, while maintaining the flexibility of the original planner","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128706762","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203100
M. Varghese, A. Fuchs, R. Mukundan
The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given
{"title":"Zero dynamics in kinematically redundant robots","authors":"M. Varghese, A. Fuchs, R. Mukundan","doi":"10.1109/ICSYSE.1990.203100","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203100","url":null,"abstract":"The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124720025","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203210
N. Bose, H. Kim
Summary form only given. The authors discuss the use of Kalman filtering theory for tackling the problem of high resolution image reconstruction from undersampled discrete frames, where each frame is shifted with respect to a reference frame, possibly degraded by a blur and also corrupted by additive noise. The results of computer simulations for the case where the input frames are blurred by identical six-pixel motion blurs are presented. Input images have 32×32 pixels and are generated by undersampling the blurred image. The reconstructed images have 64×64 pixels, and the various cycles of reconstruction are shown. Computer simulations for the case where the (independent) frames are blurred by independent motion blurs are considered. Conclusions are drawn with respect to the speed of convergence that can be inferred from the results of simulation
{"title":"Future directions in a basic recursive algorithm for high-resolution imaging from multiframes","authors":"N. Bose, H. Kim","doi":"10.1109/ICSYSE.1990.203210","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203210","url":null,"abstract":"Summary form only given. The authors discuss the use of Kalman filtering theory for tackling the problem of high resolution image reconstruction from undersampled discrete frames, where each frame is shifted with respect to a reference frame, possibly degraded by a blur and also corrupted by additive noise. The results of computer simulations for the case where the input frames are blurred by identical six-pixel motion blurs are presented. Input images have 32×32 pixels and are generated by undersampling the blurred image. The reconstructed images have 64×64 pixels, and the various cycles of reconstruction are shown. Computer simulations for the case where the (independent) frames are blurred by independent motion blurs are considered. Conclusions are drawn with respect to the speed of convergence that can be inferred from the results of simulation","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"10862 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129912657","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203171
A. Vdepsalainen
An approach to machine maintenance with a nonlinear dynamical network is proposed. It is proved that the dynamical network used can approximate any system. Only mild conditions are imposed. An adaptive procedure for estimating required parameters is presented. Test results show that the approach is very efficient. It can model the system behavior and can be used to classify faults and to predict future behavior
{"title":"An approach to machine maintenance with neural network","authors":"A. Vdepsalainen","doi":"10.1109/ICSYSE.1990.203171","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203171","url":null,"abstract":"An approach to machine maintenance with a nonlinear dynamical network is proposed. It is proved that the dynamical network used can approximate any system. Only mild conditions are imposed. An adaptive procedure for estimating required parameters is presented. Test results show that the approach is very efficient. It can model the system behavior and can be used to classify faults and to predict future behavior","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129300775","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203170
H. Malki, A. Moghaddamjoo
A novel training approach based on the backpropagation algorithm for image segmentation is presented. A set of training vectors is obtained by applying Karhunen-Loeve transformations on the training patterns. Training is started in the direction of the major components and then continues by including other components, in the order of their significance. With this approach, not only will the number of computations during training decrease, but also the problem of trapping in a local minimum will be minimized. This method is applied to image segmentation and compared to the general backpropagation algorithm
{"title":"A fast training approach to artificial neural networks designed for image segmentation","authors":"H. Malki, A. Moghaddamjoo","doi":"10.1109/ICSYSE.1990.203170","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203170","url":null,"abstract":"A novel training approach based on the backpropagation algorithm for image segmentation is presented. A set of training vectors is obtained by applying Karhunen-Loeve transformations on the training patterns. Training is started in the direction of the major components and then continues by including other components, in the order of their significance. With this approach, not only will the number of computations during training decrease, but also the problem of trapping in a local minimum will be minimized. This method is applied to image segmentation and compared to the general backpropagation algorithm","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124269234","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203114
Y. Li, E.B. Lee
Methods are proposed for designing state feedback or output dynamic feedback controls for linear systems with both parameter uncertainty and exogenous disturbances. Under such control the disturbance effect is reduced to a prespecified level, and at the same time, closed-loop robust stability can be guaranteed. For the case of state feedback, only one Riccati equation is needed to solve the problem. For the output feedback case, the same results are achieved; however, it is necessary to use three Riccati equations, two of which are coupled
{"title":"A note on robust stabilization and disturbance attenuation","authors":"Y. Li, E.B. Lee","doi":"10.1109/ICSYSE.1990.203114","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203114","url":null,"abstract":"Methods are proposed for designing state feedback or output dynamic feedback controls for linear systems with both parameter uncertainty and exogenous disturbances. Under such control the disturbance effect is reduced to a prespecified level, and at the same time, closed-loop robust stability can be guaranteed. For the case of state feedback, only one Riccati equation is needed to solve the problem. For the output feedback case, the same results are achieved; however, it is necessary to use three Riccati equations, two of which are coupled","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125716850","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203235
W. Penny, T. Stonham
Two training methods for multilayer logical neural networks are presented and discussed. They are the probabilistic logic node (PLN) reward-penalty algorithm of I. Aleksander (1989) and the PLN backpropagation algorithm of R. Al-Alawi and T. J. Stonham (1989). They are considered within the paradigm of reward-penalty training algorithms for analog networks and are found to be capable of solving various hard learning problems in speeds which are orders of magnitude higher than error backpropagation techniques for conventional nodes
提出并讨论了两种多层逻辑神经网络的训练方法。它们是I. Aleksander(1989)的概率逻辑节点(PLN)奖罚算法和R. Al-Alawi和T. J. Stonham(1989)的PLN反向传播算法。它们被认为是模拟网络奖罚训练算法的范例，并且被发现能够以比传统节点的误差反向传播技术高几个数量级的速度解决各种困难的学习问题
{"title":"Learning algorithms for logical neural networks","authors":"W. Penny, T. Stonham","doi":"10.1109/ICSYSE.1990.203235","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203235","url":null,"abstract":"Two training methods for multilayer logical neural networks are presented and discussed. They are the probabilistic logic node (PLN) reward-penalty algorithm of I. Aleksander (1989) and the PLN backpropagation algorithm of R. Al-Alawi and T. J. Stonham (1989). They are considered within the paradigm of reward-penalty training algorithms for analog networks and are found to be capable of solving various hard learning problems in speeds which are orders of magnitude higher than error backpropagation techniques for conventional nodes","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127908677","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 : 1990-08-09DOI: 10.1109/ICSYSE.1990.203181
R. Mattikalli, P. Khosla, Y. Xu
A method for automated generation of an assembly procedure for a given assembly is presented. The procedure is generated from the parts geometry and topology model, and thus explicit specification of mating relations between parts is not required. The approach also prevents wrong mating relations from being presented and makes checking for validity unnecessary. The geometric considerations in the generation of the assembly sequence make it possible to evaluate assembly performance directly and to easily generate detailed assembly plans, such as grasping, transferring, and manipulation, based on the given geometry of the assembly. Algorithms are presented for finding a collision-free path for disassembly motions. The efficiency and feasibility of the algorithms is demonstrated through a case study
{"title":"Subassembly identification and motion generation for assembly: a geometric approach","authors":"R. Mattikalli, P. Khosla, Y. Xu","doi":"10.1109/ICSYSE.1990.203181","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203181","url":null,"abstract":"A method for automated generation of an assembly procedure for a given assembly is presented. The procedure is generated from the parts geometry and topology model, and thus explicit specification of mating relations between parts is not required. The approach also prevents wrong mating relations from being presented and makes checking for validity unnecessary. The geometric considerations in the generation of the assembly sequence make it possible to evaluate assembly performance directly and to easily generate detailed assembly plans, such as grasping, transferring, and manipulation, based on the given geometry of the assembly. Algorithms are presented for finding a collision-free path for disassembly motions. The efficiency and feasibility of the algorithms is demonstrated through a case study","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132954769","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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