Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203085
F. Khorrami
Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered
{"title":"Dynamical properties of manipulators exhibiting flexibilities","authors":"F. Khorrami","doi":"10.1109/ICSYSE.1990.203085","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203085","url":null,"abstract":"Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"92 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":"125396786","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.1990.203217
M. Celenk, R. Bachnak
A vision system for 3D information extraction and surface reconstruction of objects in a robot workspace is described. The system consists of N cameras arranged in an N/2 periodic stereo pair structure. The surface reconstruction is performed in two stages. The 3D data from different perspectives are inferred independently using a periodic stereo structure, and then the extracted information from neighboring camera pairs is used to reconstruct the surface of the object
{"title":"Multiple stereo vision for 3D object reconstruction","authors":"M. Celenk, R. Bachnak","doi":"10.1109/ICSYSE.1990.203217","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203217","url":null,"abstract":"A vision system for 3D information extraction and surface reconstruction of objects in a robot workspace is described. The system consists of N cameras arranged in an N/2 periodic stereo pair structure. The surface reconstruction is performed in two stages. The 3D data from different perspectives are inferred independently using a periodic stereo structure, and then the extracted information from neighboring camera pairs is used to reconstruct the surface of the object","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"23 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":"116922671","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.1990.203093
S. Talukdar, L. Hou, P. de Souza
The different architectural and control alternatives that the builders of design tool organizations should consider are listed. An environment for implementing these alternatives called FORS is described. FORS treats both tools and sets of data as objects. A visual programming interface is provided for the manipulation of these objects. The interface shields the user from the low-level details of distributed problem solving
{"title":"FORS: an integration framework for design","authors":"S. Talukdar, L. Hou, P. de Souza","doi":"10.1109/ICSYSE.1990.203093","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203093","url":null,"abstract":"The different architectural and control alternatives that the builders of design tool organizations should consider are listed. An environment for implementing these alternatives called FORS is described. FORS treats both tools and sets of data as objects. A visual programming interface is provided for the manipulation of these objects. The interface shields the user from the low-level details of distributed problem solving","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"21 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":"121587650","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.1990.203134
D. Feng, S. Singh, B. Krogh
The design and implementation of local obstacle avoidance algorithms on the CMU NavLab testbed for autonomous navigation are presented. The CMU NavLab carries various computing systems, including three Suns, one Warp systolic array processor, and several Intel 386 real-time processors, for the purpose of processing sensor information and generating vehicle motion commands. The obstacle avoidance algorithm presented is part of a reflexive path tracking scheme. To handle such situations where obstacles are present on the predefined path, an obstacle avoidance algorithm is added to the reflexive path tracking scheme whereby when an obstacle is detected on the predefined path, the vehicle control is transferred to the obstacle avoidance algorithm which guides the vehicle around the obstacle. This combination results in a scheme that reacts to the changing and uncertain environment. A subgoal selection algorithm and a steering control algorithm are also discussed
{"title":"Implementation of dynamic obstacle avoidance on the CMU NavLab","authors":"D. Feng, S. Singh, B. Krogh","doi":"10.1109/ICSYSE.1990.203134","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203134","url":null,"abstract":"The design and implementation of local obstacle avoidance algorithms on the CMU NavLab testbed for autonomous navigation are presented. The CMU NavLab carries various computing systems, including three Suns, one Warp systolic array processor, and several Intel 386 real-time processors, for the purpose of processing sensor information and generating vehicle motion commands. The obstacle avoidance algorithm presented is part of a reflexive path tracking scheme. To handle such situations where obstacles are present on the predefined path, an obstacle avoidance algorithm is added to the reflexive path tracking scheme whereby when an obstacle is detected on the predefined path, the vehicle control is transferred to the obstacle avoidance algorithm which guides the vehicle around the obstacle. This combination results in a scheme that reacts to the changing and uncertain environment. A subgoal selection algorithm and a steering control algorithm are also discussed","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"82 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":"114302384","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.1990.203191
R. Mraz, M. White, J. Strosnider
An analytical method of evaluating architectures for real-time control is presented. The methodology allows the examination of an architecture's ability to handle parallelism and synchronization within a real-time execution environment. The architectural models developed are a von Neumann machine with a scheduler/supervisor run time, a very-long-instruction-word machine with a static compiler directed run-time environment, and a dataflow machine with a hardware supported run-time environment. It is shown how a system designer can examine a given architecture's ability to handle the target application with respect to parallelism and task synchronization
{"title":"A methodology to evaluate architectures for real-time control","authors":"R. Mraz, M. White, J. Strosnider","doi":"10.1109/ICSYSE.1990.203191","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203191","url":null,"abstract":"An analytical method of evaluating architectures for real-time control is presented. The methodology allows the examination of an architecture's ability to handle parallelism and synchronization within a real-time execution environment. The architectural models developed are a von Neumann machine with a scheduler/supervisor run time, a very-long-instruction-word machine with a static compiler directed run-time environment, and a dataflow machine with a hardware supported run-time environment. It is shown how a system designer can examine a given architecture's ability to handle the target application with respect to parallelism and task synchronization","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"232 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":"114419432","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.1990.203117
R. Perez, O. Nwokah
Two interaction indices for multivariable systems and an algorithm for designing two static compensators that minimize the destructive interactions while enhancing the constructive ones are discussed. An interaction has a constructive effect if the result of the interaction augments the control effort. An interaction is said to have a negative effect if the result of the interaction either destabilizes the system or degrades its performance. The first interaction index tells quantitatively whether the interactions that result as the feedback loops are closed are constructive or destructive. This index is independent of the order in which the feedback loops are closed. The second interaction index tells quantitatively whether the interactions that result as the inputs are applied to the system are constructive or destructive. This index is independent of the order in which the inputs are applied
{"title":"Interaction analysis for multivariable systems","authors":"R. Perez, O. Nwokah","doi":"10.1109/ICSYSE.1990.203117","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203117","url":null,"abstract":"Two interaction indices for multivariable systems and an algorithm for designing two static compensators that minimize the destructive interactions while enhancing the constructive ones are discussed. An interaction has a constructive effect if the result of the interaction augments the control effort. An interaction is said to have a negative effect if the result of the interaction either destabilizes the system or degrades its performance. The first interaction index tells quantitatively whether the interactions that result as the feedback loops are closed are constructive or destructive. This index is independent of the order in which the feedback loops are closed. The second interaction index tells quantitatively whether the interactions that result as the inputs are applied to the system are constructive or destructive. This index is independent of the order in which the inputs are applied","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"44 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":"115884934","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.1990.203160
F. Daum
A theoretical bound on the performance of multisensor data fusion is described. This theory can predict the best possible performance achievable with a given configuration of multiple sensors. These results are analogous to the Cramer-Rao bound in nonlinear estimation theory. The purpose of this theory is to understand limits of multisensor data fusion
{"title":"Fundamental limits in multisensor data fusion","authors":"F. Daum","doi":"10.1109/ICSYSE.1990.203160","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203160","url":null,"abstract":"A theoretical bound on the performance of multisensor data fusion is described. This theory can predict the best possible performance achievable with a given configuration of multiple sensors. These results are analogous to the Cramer-Rao bound in nonlinear estimation theory. The purpose of this theory is to understand limits of multisensor data fusion","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"45 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":"123888183","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.1990.203144
S. Nishimura, A. Okutani, J.K. Kim, K. Hirano
Methods of analyzing the convergence and steady-state characteristics of an adaptive notch filter whose coefficient is estimated by a normalized gradient algorithm are presented. The adaptive detection of a sinusoid with white Gaussian noise is investigated. An expression for the necessary iterations of convergence is derived. The basic idea is the integration of the inverse of the average step size for the coefficient update algorithm. Closed-form expressions for the steady-state mean square error of the variable coefficient are obtained. The results of computer simulations are presented to substantiate the analysis
{"title":"Performance analysis of normalized update algorithm for adaptive digital notch filter","authors":"S. Nishimura, A. Okutani, J.K. Kim, K. Hirano","doi":"10.1109/ICSYSE.1990.203144","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203144","url":null,"abstract":"Methods of analyzing the convergence and steady-state characteristics of an adaptive notch filter whose coefficient is estimated by a normalized gradient algorithm are presented. The adaptive detection of a sinusoid with white Gaussian noise is investigated. An expression for the necessary iterations of convergence is derived. The basic idea is the integration of the inverse of the average step size for the coefficient update algorithm. Closed-form expressions for the steady-state mean square error of the variable coefficient are obtained. The results of computer simulations are presented to substantiate the analysis","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":"116938461","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.1990.203232
J. Wang, E. P. Teixeira
A necessary and sufficient condition for the nonexistence of a local stationary point for functional link nets is derived. The condition reveals the dependency of training errors on the rank of training samples and functional links and provides a guideline for selection of the functional links as well as training samples. An analytical solution is characterized, showing that the training task in the functional link nets can be reduced to solving a set of linear equations. A learning algorithm based on the recursive-least squares estimation method is proposed. Numerical examples are presented to substantiate the theoretical arguments
{"title":"On the design principles of the functional link nets","authors":"J. Wang, E. P. Teixeira","doi":"10.1109/ICSYSE.1990.203232","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203232","url":null,"abstract":"A necessary and sufficient condition for the nonexistence of a local stationary point for functional link nets is derived. The condition reveals the dependency of training errors on the rank of training samples and functional links and provides a guideline for selection of the functional links as well as training samples. An analytical solution is characterized, showing that the training task in the functional link nets can be reduced to solving a set of linear equations. A learning algorithm based on the recursive-least squares estimation method is proposed. Numerical examples are presented to substantiate the theoretical arguments","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"112 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":"123553178","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.1990.203112
Z.Y. Zhang, F. Kozin
A previously published theorem (see R.Z. Khasminskii, Th. Prob. Appl.1, p.144-7, 1967) is extended to a class of nonlinear stochastic differential equations with homogeneous terms. The necessary and sufficient conditions for almost sure stability are proved for the nonlinear case. It is shown that, in the second-order case, the stable region can be exactly determined by studying the singular boundaries of a one-dimensional diffusion process. The concepts of shunt index, trap index and character value for classification of the singular boundaries are presented. As a result, a whole set of classification criteria has been developed. It is equivalent to, but much simpler than, W. Feller's criteria (1952, 1954). Two examples of nonlinear stochastic dynamic systems with stable regions are presented
{"title":"New developments in almost sure sample stability of nonlinear stochastic dynamic systems","authors":"Z.Y. Zhang, F. Kozin","doi":"10.1109/ICSYSE.1990.203112","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203112","url":null,"abstract":"A previously published theorem (see R.Z. Khasminskii, Th. Prob. Appl.1, p.144-7, 1967) is extended to a class of nonlinear stochastic differential equations with homogeneous terms. The necessary and sufficient conditions for almost sure stability are proved for the nonlinear case. It is shown that, in the second-order case, the stable region can be exactly determined by studying the singular boundaries of a one-dimensional diffusion process. The concepts of shunt index, trap index and character value for classification of the singular boundaries are presented. As a result, a whole set of classification criteria has been developed. It is equivalent to, but much simpler than, W. Feller's criteria (1952, 1954). Two examples of nonlinear stochastic dynamic systems with stable regions are presented","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":"129601074","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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