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.1990.203145
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.1990.203113
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}
Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203125
S. Kuo, H. Zhao
The algorithms and implementation of an adaptive acoustic echo canceler using a single WE DSP16A digital signal processor are described. A subband approach is used to enhance the overall system convergence rate. Two adaptive transversal filters based on the normalized leaky least-mean-square adaptation algorithm are implemented in the two subbands with the decimated subband digital signals. A double talk detector and a residual echo suppressor are implemented on the processor. When the DSP16A operates at 60 MHz, the canceler offers sufficient echo cancellation in rooms with reverberation times of up to 250 ms
{"title":"A real-time acoustic echo cancellation system","authors":"S. Kuo, H. Zhao","doi":"10.1109/ICSYSE.1990.203125","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203125","url":null,"abstract":"The algorithms and implementation of an adaptive acoustic echo canceler using a single WE DSP16A digital signal processor are described. A subband approach is used to enhance the overall system convergence rate. Two adaptive transversal filters based on the normalized leaky least-mean-square adaptation algorithm are implemented in the two subbands with the decimated subband digital signals. A double talk detector and a residual echo suppressor are implemented on the processor. When the DSP16A operates at 60 MHz, the canceler offers sufficient echo cancellation in rooms with reverberation times of up to 250 ms","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":"123755449","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.1990.203086
A. Tzes
The design problem of an intelligent self-tuning controller, characterized by a two-layer hierarchical structure, is addressed. The layers are organized according to their functions and goals. The control level is implemented as a self-tuning adaptive controller, where a variety of control laws and identification methods exist as candidates for the controller and identification portions, respectively. Integration of a controller-estimator pair is carried out according to the guidelines provided by the coordination level. The organization level, implemented as a Petri network, supervises the control level, serves as an interface between the user and the system, and resolves several issues which arise from the coordination process between the two layers
{"title":"Intelligent self-tuning controllers for robot manipulators","authors":"A. Tzes","doi":"10.1109/ICSYSE.1990.203086","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203086","url":null,"abstract":"The design problem of an intelligent self-tuning controller, characterized by a two-layer hierarchical structure, is addressed. The layers are organized according to their functions and goals. The control level is implemented as a self-tuning adaptive controller, where a variety of control laws and identification methods exist as candidates for the controller and identification portions, respectively. Integration of a controller-estimator pair is carried out according to the guidelines provided by the coordination level. The organization level, implemented as a Petri network, supervises the control level, serves as an interface between the user and the system, and resolves several issues which arise from the coordination process between the two layers","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":"127090427","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.1990.203225
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}
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