Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203157
S. Arnautovic, A. Koivo
An approach to resolving redundancy and controlling redundant manipulators in a unified manner is proposed. The redundancy is resolved by imposing additional constraints on the redundant arm's motion. The dynamical model of the redundance manipulator is described by using the pseudovariables and the Lagrange multipliers. An adaptive controller is proposed to account for uncertain parameters in the dynamical model. A study on the stability of the algorithm using the Lyapunov stability theory is presented
{"title":"Parameter adaptive control for redundant manipulators","authors":"S. Arnautovic, A. Koivo","doi":"10.1109/ICSYSE.1990.203157","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203157","url":null,"abstract":"An approach to resolving redundancy and controlling redundant manipulators in a unified manner is proposed. The redundancy is resolved by imposing additional constraints on the redundant arm's motion. The dynamical model of the redundance manipulator is described by using the pseudovariables and the Lagrange multipliers. An adaptive controller is proposed to account for uncertain parameters in the dynamical model. A study on the stability of the algorithm using the Lyapunov stability theory is presented","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"134 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":"132295029","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.1990.203234
Y. Ouyang, A. A. Bhatti
A neural-network-based routing algorithm is presented which demonstrates the ability to take into account simultaneously the shortest path and the channel capacity in computer communication networks. A Hopfield-type of neural-network architecture is proposed to provide the necessary connections and weights, and it is considered as a massively parallel distributed processing system with the ability to reconfigure a route through dynamic learning. This provides an optimum transmission path from the source node to the destination node. The traffic conditions measured throughout the system have been investigated. No congestion occurs in this network because it adjusts to the changes in the status of weights and provides a dynamic response according to the input traffic load. Simulation of a ten-node communication network shows not only the efficiency but also the capability of generating a route if broken links occur or the channels are saturated
{"title":"Neural network based routing in computer communication networks","authors":"Y. Ouyang, A. A. Bhatti","doi":"10.1109/ICSYSE.1990.203234","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203234","url":null,"abstract":"A neural-network-based routing algorithm is presented which demonstrates the ability to take into account simultaneously the shortest path and the channel capacity in computer communication networks. A Hopfield-type of neural-network architecture is proposed to provide the necessary connections and weights, and it is considered as a massively parallel distributed processing system with the ability to reconfigure a route through dynamic learning. This provides an optimum transmission path from the source node to the destination node. The traffic conditions measured throughout the system have been investigated. No congestion occurs in this network because it adjusts to the changes in the status of weights and provides a dynamic response according to the input traffic load. Simulation of a ten-node communication network shows not only the efficiency but also the capability of generating a route if broken links occur or the channels are saturated","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":" 27","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133052011","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.1990.203149
L. Fortuna, G. Muscata, G. Nunnari
A method involving the balanced gains of a linear system and an optimization procedure is developed in order to obtain a reduced-order model from a high-order linear system. The proposed model order reduction procedure is compared through some examples with other classical and modern techniques and is found to have good properties, particularly with regard to the frequency error at both low and high frequencies. The algorithm appears to be very fast and numerically stable for high-order systems, as well. The method can be generalized for the approximation of multiple-input-multiple output (MIMO) systems by formalizing the optimization procedure in the time domain instead of using the frequency-domain approach
{"title":"A new strategy based on balanced gains for optimal linear system reduction","authors":"L. Fortuna, G. Muscata, G. Nunnari","doi":"10.1109/ICSYSE.1990.203149","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203149","url":null,"abstract":"A method involving the balanced gains of a linear system and an optimization procedure is developed in order to obtain a reduced-order model from a high-order linear system. The proposed model order reduction procedure is compared through some examples with other classical and modern techniques and is found to have good properties, particularly with regard to the frequency error at both low and high frequencies. The algorithm appears to be very fast and numerically stable for high-order systems, as well. The method can be generalized for the approximation of multiple-input-multiple output (MIMO) systems by formalizing the optimization procedure in the time domain instead of using the frequency-domain approach","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"16 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":"134207864","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.1990.203225
M. Aiello, R. Rekowski, M. Bodson, J. Chiasson, D. Schuerer
A mathematical model of a permanent magnet (PM) stepper motor is given, and a control algorithm based on the exact linearization approach is described. The controller was implemented on an experimental setup consisting of a Motorola DSP56001 ADS digital signal processing system and associated hardware. Results are given on the identification of the unknown motor parameters using a least-squares algorithm
{"title":"Experimental results of using an exact linearization controller on a PM stepper motor","authors":"M. Aiello, R. Rekowski, M. Bodson, J. Chiasson, D. Schuerer","doi":"10.1109/ICSYSE.1990.203225","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203225","url":null,"abstract":"A mathematical model of a permanent magnet (PM) stepper motor is given, and a control algorithm based on the exact linearization approach is described. The controller was implemented on an experimental setup consisting of a Motorola DSP56001 ADS digital signal processing system and associated hardware. Results are given on the identification of the unknown motor parameters using a least-squares algorithm","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"90 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":"129080338","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.1990.203166
J. Helferty, S. Biswas, M. Maund
A method for using artificial neural networks (ANNs) to control nonlinear, multi-input/multi-output dynamical systems with unknown dynamics is investigated. A neuromorphic controller (NMC) and its application to a nonlinear self-tuning regulator problem is discussed. The NMC performs functions similar to those of adaptive controllers discussed in modern control theory, with the controller taking the form of a nonlinear network and the adaptable parameters being the synaptic interconnection strengths between neurons. The NMC is used to learn a model of the unknown system and to generate the control signals given both the measurements of the current states and the desired values of the current states. The model dynamics is represented by a set of tunable connection weights of the ANN whose weights are adjusted sequentially by a nonlinear recursive-least-squares (NRLS) algorithm which minimizes the error between the desired and current plant states. In effect, the NRLS algorithm trains the ANN to construct mappings of the current state of the plant to the control actions required to maintain the output of the plant at a prespecified value or along a desired trajectory
{"title":"Experiments in adaptive control using artificial neural networks","authors":"J. Helferty, S. Biswas, M. Maund","doi":"10.1109/ICSYSE.1990.203166","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203166","url":null,"abstract":"A method for using artificial neural networks (ANNs) to control nonlinear, multi-input/multi-output dynamical systems with unknown dynamics is investigated. A neuromorphic controller (NMC) and its application to a nonlinear self-tuning regulator problem is discussed. The NMC performs functions similar to those of adaptive controllers discussed in modern control theory, with the controller taking the form of a nonlinear network and the adaptable parameters being the synaptic interconnection strengths between neurons. The NMC is used to learn a model of the unknown system and to generate the control signals given both the measurements of the current states and the desired values of the current states. The model dynamics is represented by a set of tunable connection weights of the ANN whose weights are adjusted sequentially by a nonlinear recursive-least-squares (NRLS) algorithm which minimizes the error between the desired and current plant states. In effect, the NRLS algorithm trains the ANN to construct mappings of the current state of the plant to the control actions required to maintain the output of the plant at a prespecified value or along a desired trajectory","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"14 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":"134209076","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.1990.203145
D. Stewart, D. Schmitz, P. Khosla
The CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems, is described. The CHIMERA II environment is designed to reduce the development time of applications by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control. such as NASREM, to be implemented with minimal programming time and effort
{"title":"Implementing real-time robotic systems using CHIMERA II","authors":"D. Stewart, D. Schmitz, P. Khosla","doi":"10.1109/ICSYSE.1990.203145","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203145","url":null,"abstract":"The CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems, is described. The CHIMERA II environment is designed to reduce the development time of applications by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control. such as NASREM, to be implemented with minimal programming time and effort","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"8 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":"114781648","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.1990.203108
A.K. Wright, M. Stanisic
An investigation of the control of a multifingered robot hand, the Utah/MIT dextrous hand, with a hand exoskeleton worn by a human is presented. The hand exoskeleton used was the EXOS Handmaster. The relative effectiveness of two approaches in performing a task in which an object is grasped with the finger tips of the dexterous hand at the same location as the human's grasp is evaluated. One approach was to directly measure the joint angles from the Handmaster and transfer these as the desired joint positions for the robotic fingers. The other approach was to develop a mathematical model that would allow the finger tips of the slave to replicate the finger tip positions of the human while wearing the Handmaster. This was accomplished by developing a kinematic model of the human finger and thumb and of the EXOS Handmaster. The actual finger tip position was computed within the accuracy of the model
{"title":"Kinematic mapping between the EXOS Handmaster exoskeleton and the Utah/MIT dextrous hand","authors":"A.K. Wright, M. Stanisic","doi":"10.1109/ICSYSE.1990.203108","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203108","url":null,"abstract":"An investigation of the control of a multifingered robot hand, the Utah/MIT dextrous hand, with a hand exoskeleton worn by a human is presented. The hand exoskeleton used was the EXOS Handmaster. The relative effectiveness of two approaches in performing a task in which an object is grasped with the finger tips of the dexterous hand at the same location as the human's grasp is evaluated. One approach was to directly measure the joint angles from the Handmaster and transfer these as the desired joint positions for the robotic fingers. The other approach was to develop a mathematical model that would allow the finger tips of the slave to replicate the finger tip positions of the human while wearing the Handmaster. This was accomplished by developing a kinematic model of the human finger and thumb and of the EXOS Handmaster. The actual finger tip position was computed within the accuracy of the model","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"54 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":"114755002","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.1990.203165
D. Shetty
A method of designing, fabricating, and testing a robotic gripper that can comply laterally and angularly to allow an assembly machine or robot to compensate for positioning errors is presented. The design and implementation aspects of remote center compliance are discussed. A brief review of previously published work on remote center compliance is presented. The device has shown higher positioning accuracies than the Armdraulic electrohydraulic robot
{"title":"Compliant gripper for precision robotic assembly","authors":"D. Shetty","doi":"10.1109/ICSYSE.1990.203165","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203165","url":null,"abstract":"A method of designing, fabricating, and testing a robotic gripper that can comply laterally and angularly to allow an assembly machine or robot to compensate for positioning errors is presented. The design and implementation aspects of remote center compliance are discussed. A brief review of previously published work on remote center compliance is presented. The device has shown higher positioning accuracies than the Armdraulic electrohydraulic robot","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"18 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":"123378875","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.1990.203196
S. Beale, B. Shafai
A systematic loop transfer recovery (LTR) design procedure based on a proportional-integral (PI) observer is described. In this method the robustness of the optimal regulator is recovered perfectly in the sense that the loop transfer characteristic of the optimal regulator is recovered for all values of a complex variable. An important advantage over previous LTR techniques is that the solution for observer design parameters is found from an underdetermined system of linear equations having two degrees of freedom (in the single-output case). This freedom can be used to shape the response, thereby eliminating the need to improve response properties via model-following techniques. A design example is given to illustrate the method
{"title":"Loop transfer recovery via a proportional-integral observer","authors":"S. Beale, B. Shafai","doi":"10.1109/ICSYSE.1990.203196","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203196","url":null,"abstract":"A systematic loop transfer recovery (LTR) design procedure based on a proportional-integral (PI) observer is described. In this method the robustness of the optimal regulator is recovered perfectly in the sense that the loop transfer characteristic of the optimal regulator is recovered for all values of a complex variable. An important advantage over previous LTR techniques is that the solution for observer design parameters is found from an underdetermined system of linear equations having two degrees of freedom (in the single-output case). This freedom can be used to shape the response, thereby eliminating the need to improve response properties via model-following techniques. A design example is given to illustrate the method","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"50 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":"128948115","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.1990.203113
J. Dolan, M. Friedman, M. Nagurka
The development of an experimental testbed for the investigation of human arm impedance is described. A two-degree-of-freedom SCARA-configuration robotic arm with an endpoint force sensor has been developed for measuring parameters such as postural viscosity and dynamic stiffness and viscosity. The measurement device is used in disturbance tests to determine the degree and nature of impedance tuning during various tasks
{"title":"A testbed for measurement of human arm impedance parameters","authors":"J. Dolan, M. Friedman, M. Nagurka","doi":"10.1109/ICSYSE.1990.203113","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203113","url":null,"abstract":"The development of an experimental testbed for the investigation of human arm impedance is described. A two-degree-of-freedom SCARA-configuration robotic arm with an endpoint force sensor has been developed for measuring parameters such as postural viscosity and dynamic stiffness and viscosity. The measurement device is used in disturbance tests to determine the degree and nature of impedance tuning during various tasks","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":"130261060","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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