Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203148
T. Wheatley, J. Michaloski
The skeleton approach as applied to the NASREM multiprocessor robot control architecture is described. The skeleton approach creates the shell of a functioning real-time control system utilizing the actual hardware and operating system code without using actual application code. This is done by replacing the processing part of the application code with time delays. Parameterization of time delays, communication paths, message buffer lengths, and process allocation allows rapid prototyping of alternative system architectures. Actual system performance is measured to provide realistic data on computation and communication loads. The skeleton reporting facility provides quantitative assessments of system activity. To illustrate the use of this technique, the servo level of the NASREM hierarchy is modeled using a 5.0 ms cycle time on a multiprocessor system and compared with the actual system
{"title":"Configuration and performance evaluation of a real-time robot control system: the skeleton approach","authors":"T. Wheatley, J. Michaloski","doi":"10.1109/ICSYSE.1990.203148","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203148","url":null,"abstract":"The skeleton approach as applied to the NASREM multiprocessor robot control architecture is described. The skeleton approach creates the shell of a functioning real-time control system utilizing the actual hardware and operating system code without using actual application code. This is done by replacing the processing part of the application code with time delays. Parameterization of time delays, communication paths, message buffer lengths, and process allocation allows rapid prototyping of alternative system architectures. Actual system performance is measured to provide realistic data on computation and communication loads. The skeleton reporting facility provides quantitative assessments of system activity. To illustrate the use of this technique, the servo level of the NASREM hierarchy is modeled using a 5.0 ms cycle time on a multiprocessor system and compared with the actual system","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"5 2 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":"131438568","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.1990.203166
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.1990.203213
M. Simaan
A two-level system for the segmentation of texture images into regions of common textural properties is described. The first level is a purely numeric texture analyzer that uses texture energy measures to transform the image into feature measure planes. The second level is a knowledge-based segmentor that uses rules derived from knowledge of the image-forming process to arrive at a segmentation. Two different control schemes that can be used to guide the segmentation process are described. These are based on parallel region growing and iterative quadtree splitting, respectively. An illustration of the performance of the system with both control schemes on a real test image is presented
{"title":"Knowledge-guided segmentation of texture images","authors":"M. Simaan","doi":"10.1109/ICSYSE.1990.203213","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203213","url":null,"abstract":"A two-level system for the segmentation of texture images into regions of common textural properties is described. The first level is a purely numeric texture analyzer that uses texture energy measures to transform the image into feature measure planes. The second level is a knowledge-based segmentor that uses rules derived from knowledge of the image-forming process to arrive at a segmentation. Two different control schemes that can be used to guide the segmentation process are described. These are based on parallel region growing and iterative quadtree splitting, respectively. An illustration of the performance of the system with both control schemes on a real test image is presented","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":"122904434","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.1990.203142
C.-i.H. Chen, R. Smith
Techniques for built-in self-test (BIST) are examined. They can be used to modify an existing systolic array controller chip and a multiplier/accumulator chip, called a systolic array cell, so that self-testing can be performed. The goal is to implement a systolic array cell which has self-test capabilities and can efficiently perform various signal processing algorithms such as multiplication, the fast Fourier transform, and convolution. BIST and how BIST can be used in a systolic array are examined. A 2D matrix multiplication algorithm is described. The effects on performance and hardware overhead of incorporating BIST in an array are described
{"title":"Incorporating self-testing capabilities into a systolic array cell for digital signal processing","authors":"C.-i.H. Chen, R. Smith","doi":"10.1109/ICSYSE.1990.203142","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203142","url":null,"abstract":"Techniques for built-in self-test (BIST) are examined. They can be used to modify an existing systolic array controller chip and a multiplier/accumulator chip, called a systolic array cell, so that self-testing can be performed. The goal is to implement a systolic array cell which has self-test capabilities and can efficiently perform various signal processing algorithms such as multiplication, the fast Fourier transform, and convolution. BIST and how BIST can be used in a systolic array are examined. A 2D matrix multiplication algorithm is described. The effects on performance and hardware overhead of incorporating BIST in an array are described","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"56 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":"122996413","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.1990.203110
S. J. Remis
The design of a bilateral (force-reflecting) exoskeleton with kinesthetic feedback is discussed. The design process was hindered by a lack of fundamental biodynamic data, which had to be synthesized from other studies. Areas of human performance research are identified to verify the biodynamic assumptions made during this project. Areas of manipulation research, using a kinematically redundant slave robot, are described to quantify the expected improvements in telemanipulation resulting from the kinesthetic feedback provided by this exoskeleton
{"title":"Design of an exoskeleton with kinesthetic feedback: Lessons learned","authors":"S. J. Remis","doi":"10.1109/ICSYSE.1990.203110","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203110","url":null,"abstract":"The design of a bilateral (force-reflecting) exoskeleton with kinesthetic feedback is discussed. The design process was hindered by a lack of fundamental biodynamic data, which had to be synthesized from other studies. Areas of human performance research are identified to verify the biodynamic assumptions made during this project. Areas of manipulation research, using a kinematically redundant slave robot, are described to quantify the expected improvements in telemanipulation resulting from the kinesthetic feedback provided by this exoskeleton","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"97 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":"127206369","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.1990.203095
D. Steier
A system called Soar-FORS which has been built to allow Soar to function as an intelligent controller for the flexible organizations (FORS) integration environment is described. The behavior of Soar-FORS using the integrated building design environment collection of building design tools is described as an example. Some directions for incorporating further knowledge into Soar-FORS are discussed
{"title":"Intelligent architectures for integration","authors":"D. Steier","doi":"10.1109/ICSYSE.1990.203095","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203095","url":null,"abstract":"A system called Soar-FORS which has been built to allow Soar to function as an intelligent controller for the flexible organizations (FORS) integration environment is described. The behavior of Soar-FORS using the integrated building design environment collection of building design tools is described as an example. Some directions for incorporating further knowledge into Soar-FORS are discussed","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":"127464249","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.1990.203187
L. P. Ray
A procedure for updating estimates of an object's pose using information from one or more monocular images is presented. Features in monocular images are assigned correspondence with modeled 3D features based on estimated object position. An improved position estimate is computed based on feature correspondence. The method accommodates partial occlusion or contact among objects. Features need not appear in multiple views to be used for estimation. Results from this system are presented which demonstrate the location of multiple objects within approximately 0.1 in. in translation and 2° in rotation
{"title":"Monocular 3D vision for a robot assembly environment","authors":"L. P. Ray","doi":"10.1109/ICSYSE.1990.203187","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203187","url":null,"abstract":"A procedure for updating estimates of an object's pose using information from one or more monocular images is presented. Features in monocular images are assigned correspondence with modeled 3D features based on estimated object position. An improved position estimate is computed based on feature correspondence. The method accommodates partial occlusion or contact among objects. Features need not appear in multiple views to be used for estimation. Results from this system are presented which demonstrate the location of multiple objects within approximately 0.1 in. in translation and 2° in rotation","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"127 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":"122487005","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.1990.203094
S. Fenves, M. Terk
The motivation for and evolution of a domain-specific vertically integrated design system and a set of generalizations leading toward domain-independent integrated design systems are presented. The components, architecture, and salient system features are described. The lessons learned from the project, leading toward a general, domain-independent integrated design system, are presented
{"title":"Vertical integration issues in knowledge based design systems","authors":"S. Fenves, M. Terk","doi":"10.1109/ICSYSE.1990.203094","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203094","url":null,"abstract":"The motivation for and evolution of a domain-specific vertically integrated design system and a set of generalizations leading toward domain-independent integrated design systems are presented. The components, architecture, and salient system features are described. The lessons learned from the project, leading toward a general, domain-independent integrated design system, are presented","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"26 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":"131962573","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.1990.203088
J. Bay
Redundant manipulators under pseudoinverse control will drift from an arbitrary initial condition to a stable limit cycle with the same period as the associated periodic workspace path. The geometric and dynamic properties of the intervening drift are examined. With the resulting framework and a prediction of the drift-free final configuration, an approximate Poincare return map is constructed. This map gives an accurate estimate of the configuration of the drifting manipulator at each return of the end effector to a particular location in the path. The intermediate positions of the manipulator and the settling time of the drift therefore allow quantitative analysis of the drift to determine possible obstacle collisions, repeatability bounds, etc
{"title":"An approximate Poincare return map for the dynamics of drifting manipulators under pseudoinverse control","authors":"J. Bay","doi":"10.1109/ICSYSE.1990.203088","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203088","url":null,"abstract":"Redundant manipulators under pseudoinverse control will drift from an arbitrary initial condition to a stable limit cycle with the same period as the associated periodic workspace path. The geometric and dynamic properties of the intervening drift are examined. With the resulting framework and a prediction of the drift-free final configuration, an approximate Poincare return map is constructed. This map gives an accurate estimate of the configuration of the drifting manipulator at each return of the end effector to a particular location in the path. The intermediate positions of the manipulator and the settling time of the drift therefore allow quantitative analysis of the drift to determine possible obstacle collisions, repeatability bounds, etc","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"32 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":"122275735","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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