Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203131
H. Brown, M. Friedman, T. Kanade
An overview of the development of a robot walker for use on the NASA Space Station is presented. The robot is designed to perform such tasks as inspection, transport of parts, and simple manipulation. The robot hardware and grippers, the real-time control hardware and software for precise, stable control of the highly flexible, three-dimensional robot, and a gravity compensation system are discussed
{"title":"Development of a 5-DOF walking robot for Space Station application: overview","authors":"H. Brown, M. Friedman, T. Kanade","doi":"10.1109/ICSYSE.1990.203131","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203131","url":null,"abstract":"An overview of the development of a robot walker for use on the NASA Space Station is presented. The robot is designed to perform such tasks as inspection, transport of parts, and simple manipulation. The robot hardware and grippers, the real-time control hardware and software for precise, stable control of the highly flexible, three-dimensional robot, and a gravity compensation system are discussed","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"43 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":"128534198","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.1990.203179
R. Hoffman
The BRAEN system (see R. Hoffman, 2nd International Conference on Computer Integrated Manufacturing, Troy, NY, May 21-3, 1990) takes boundary representation (B-rep) models of components along with the positions of the components when they are assembled to form a product, as well as workcell components such as walls and table surfaces, and derives a sequence of translation subassembly operations which will disassemble the product. The freedom-of-motion module of the BRAEN system is discussed. Reuse theorems that can be used to deduce freedoms of motion for configurations from previous calculations rather than computing them anew are introduced. The improvement in performance produced by the reuse theorems is demonstrated for several products
{"title":"Automated assembly planning for B-rep products","authors":"R. Hoffman","doi":"10.1109/ICSYSE.1990.203179","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203179","url":null,"abstract":"The BRAEN system (see R. Hoffman, 2nd International Conference on Computer Integrated Manufacturing, Troy, NY, May 21-3, 1990) takes boundary representation (B-rep) models of components along with the positions of the components when they are assembled to form a product, as well as workcell components such as walls and table surfaces, and derives a sequence of translation subassembly operations which will disassemble the product. The freedom-of-motion module of the BRAEN system is discussed. Reuse theorems that can be used to deduce freedoms of motion for configurations from previous calculations rather than computing them anew are introduced. The improvement in performance produced by the reuse theorems is demonstrated for several products","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"147 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":"124714667","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.1990.203237
G. Govind, P. A. Ramamoorthy
The similarities and differences between the conventional Volterra series techniques and the neural network approach are discussed. The analysis is done from the point of view of representation capabilities for nonlinear systems, and it is shown that a small neural network can represent high-order nonlinear systems, whereas a very large number of terms are required for an equivalent Volterra series representation. This is shown by means of a series expansion of a neural network. Issues common to the two nonlinear modeling approaches are analyzed
{"title":"Multi-layered neural networks and Volterra series: The missing link","authors":"G. Govind, P. A. Ramamoorthy","doi":"10.1109/ICSYSE.1990.203237","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203237","url":null,"abstract":"The similarities and differences between the conventional Volterra series techniques and the neural network approach are discussed. The analysis is done from the point of view of representation capabilities for nonlinear systems, and it is shown that a small neural network can represent high-order nonlinear systems, whereas a very large number of terms are required for an equivalent Volterra series representation. This is shown by means of a series expansion of a neural network. Issues common to the two nonlinear modeling approaches are analyzed","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"68 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":"121025663","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.1990.203126
M. Sun, R. Sclabassi
Synchronous data acquisition and averaging are effective methods for noise reduction. However, if phase shifts are present in the synchronously acquired epochs prior to averaging, the effectiveness is greatly reduced. The errors caused by these phase shifts are examined. The desynchronization error which occurs when the acquisition repetition frequency is not an integer multiple of the signal's frequency is discussed. Random phase shift error is discussed. An example of error correction is given. The results are useful for the analysis and design of data acquisition systems
{"title":"Errors in synchronous data acquisition and averaging","authors":"M. Sun, R. Sclabassi","doi":"10.1109/ICSYSE.1990.203126","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203126","url":null,"abstract":"Synchronous data acquisition and averaging are effective methods for noise reduction. However, if phase shifts are present in the synchronously acquired epochs prior to averaging, the effectiveness is greatly reduced. The errors caused by these phase shifts are examined. The desynchronization error which occurs when the acquisition repetition frequency is not an integer multiple of the signal's frequency is discussed. Random phase shift error is discussed. An example of error correction is given. The results are useful for the analysis and design of data acquisition systems","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"85 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":"121193784","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.1990.203167
M. Leahy, M.A. Johnson, D. Bossert, G. Lamont
A particular type of robust model-based control, the robust model-based neural-network controller (RMBNNC), is proposed and experimentally evaluated. It combines feedforward payload adaptation based on multilayer perceptron artificial neural networks with a robust feedback controller design based on pseudocontinuous-time analog quantitative feedback theory (QFT). The neural network payload estimator adapts the controller to payload variations while the QFT design process implicitly accounts for the uncertainty in manipulator dynamics due to unmodeled drive system effects. The artificial neural networks are trained through repetitive training on multijoint trajectory tracking error data to provide an estimate of payload. QFT feedback is implemented by a series of simple backwards difference equations. The result is a computationally efficient direct form of robust adaptive control. Tracking performance was experimentally validated on the first three links of a PUMA-560 robot over a standard set of test conditions. The performance improvement potential and limitations of the RMBNNC approach are illustrated
{"title":"Robust model-based neural network control","authors":"M. Leahy, M.A. Johnson, D. Bossert, G. Lamont","doi":"10.1109/ICSYSE.1990.203167","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203167","url":null,"abstract":"A particular type of robust model-based control, the robust model-based neural-network controller (RMBNNC), is proposed and experimentally evaluated. It combines feedforward payload adaptation based on multilayer perceptron artificial neural networks with a robust feedback controller design based on pseudocontinuous-time analog quantitative feedback theory (QFT). The neural network payload estimator adapts the controller to payload variations while the QFT design process implicitly accounts for the uncertainty in manipulator dynamics due to unmodeled drive system effects. The artificial neural networks are trained through repetitive training on multijoint trajectory tracking error data to provide an estimate of payload. QFT feedback is implemented by a series of simple backwards difference equations. The result is a computationally efficient direct form of robust adaptive control. Tracking performance was experimentally validated on the first three links of a PUMA-560 robot over a standard set of test conditions. The performance improvement potential and limitations of the RMBNNC approach are illustrated","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"153 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":"116576995","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.1990.203119
G. Raju, J. Zhou
The application of a hierarchical structure for the design of a fuzzy logic process controller is described. With this hierarchical structure, the number of rules constituting a fuzzy controller will increase linearly and not exponentially with the number of system variables. An example in which the hierarchical fuzzy control method is used to control the feedwater flow of the steam generator of a power plant is described. The effectiveness of the fuzzy controller is studied through simulation for several disturbances. The results show that the fuzzy controller yields better performance than a proportional, integral, and derivative (PID) controller in terms of less risetime and less overshoot for feedwater flow and maintenance of drum level at the desired value
{"title":"Fuzzy logic process controller","authors":"G. Raju, J. Zhou","doi":"10.1109/ICSYSE.1990.203119","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203119","url":null,"abstract":"The application of a hierarchical structure for the design of a fuzzy logic process controller is described. With this hierarchical structure, the number of rules constituting a fuzzy controller will increase linearly and not exponentially with the number of system variables. An example in which the hierarchical fuzzy control method is used to control the feedwater flow of the steam generator of a power plant is described. The effectiveness of the fuzzy controller is studied through simulation for several disturbances. The results show that the fuzzy controller yields better performance than a proportional, integral, and derivative (PID) controller in terms of less risetime and less overshoot for feedwater flow and maintenance of drum level at the desired value","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"22 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":"126099698","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.1990.203150
K. Lou
The problem of recovering the continuous spectrum (noise spectrum) of a signal which is corrupted by a point spectrum is considered for the case where the signal consists of a countable number of sinusoids and the noise is stationary in a wide sense but unknown. A method for selecting model order n for the purpose of recovering the continuous spectrum is proposed. It is found that the spectrum oscillations for each order n occur at a frequency of approximately n Hz. This kernal viewpoint provides knowledge of the frequency of the oscillations as well as their magnitudes, which in turn suggests a number of methods for eliminating the oscillation in order to recover a continuous spectrum estimate. It is found that this oscillation phenomenon is another indication for the model order selection of an autoregressive filter. Two examples are included
{"title":"A new method for model order selection","authors":"K. Lou","doi":"10.1109/ICSYSE.1990.203150","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203150","url":null,"abstract":"The problem of recovering the continuous spectrum (noise spectrum) of a signal which is corrupted by a point spectrum is considered for the case where the signal consists of a countable number of sinusoids and the noise is stationary in a wide sense but unknown. A method for selecting model order n for the purpose of recovering the continuous spectrum is proposed. It is found that the spectrum oscillations for each order n occur at a frequency of approximately n Hz. This kernal viewpoint provides knowledge of the frequency of the oscillations as well as their magnitudes, which in turn suggests a number of methods for eliminating the oscillation in order to recover a continuous spectrum estimate. It is found that this oscillation phenomenon is another indication for the model order selection of an autoregressive filter. Two examples are included","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"5 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":"125890979","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.1990.203162
H. Shertukde, Y. Bar-Shalon
A detection and estimation techniques multiple targets with two omnidirectional sensors in the presence of false measurements is presented. The maximum-likelihood estimation of the time difference of arrival is analyzed, and its accuracy is expressed explicitly in terms of signal sampling interval (resolution cell), the signal-to-noise ratio (SNR), and the number of samples in the data window used to generate a measurement. A preliminary performance validation is carried out for a scenario with a low SNR
{"title":"Use of the wideband cross-correlation for tracking targets in a low SNR environment","authors":"H. Shertukde, Y. Bar-Shalon","doi":"10.1109/ICSYSE.1990.203162","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203162","url":null,"abstract":"A detection and estimation techniques multiple targets with two omnidirectional sensors in the presence of false measurements is presented. The maximum-likelihood estimation of the time difference of arrival is analyzed, and its accuracy is expressed explicitly in terms of signal sampling interval (resolution cell), the signal-to-noise ratio (SNR), and the number of samples in the data window used to generate a measurement. A preliminary performance validation is carried out for a scenario with a low SNR","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"180 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":"131944462","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.1990.203218
E. Salari, J. Strong
Techniques for enhancing the reliability of correlation- based stereo matching are described. A confidence factor is introduced to evaluate the accuracy of a match measure and to isolate the areas where the matching algorithm fails to provide correct results. Contrast and spatial frequency content, which are major factors affecting the matchability of neighborhoods, are incorporated in the match measure as the confidence factor. The resulting match score should be more useful in determining the areas requiring interpolation and the smoothness of the interpolated values in the removal of bad matches
{"title":"On the reliability of correlation based stereo matching","authors":"E. Salari, J. Strong","doi":"10.1109/ICSYSE.1990.203218","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203218","url":null,"abstract":"Techniques for enhancing the reliability of correlation- based stereo matching are described. A confidence factor is introduced to evaluate the accuracy of a match measure and to isolate the areas where the matching algorithm fails to provide correct results. Contrast and spatial frequency content, which are major factors affecting the matchability of neighborhoods, are incorporated in the match measure as the confidence factor. The resulting match score should be more useful in determining the areas requiring interpolation and the smoothness of the interpolated values in the removal of bad matches","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":"133451840","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.1990.203109
D. Repperger, S. J. Remis
The feasibility of using exoskeletons in the performance of a simple task is discussed. The exoskeleton device has a total weight of 33 lb when unsupported, and it has seven joints. A Fitts' law paradigm was used to characterize the tradeoff between speed and accuracy for the task. The results of tests with five subjects are given
{"title":"Use of a multi-axis Fitts' law paradigm to characterize total body motion-a study in teleoperation","authors":"D. Repperger, S. J. Remis","doi":"10.1109/ICSYSE.1990.203109","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203109","url":null,"abstract":"The feasibility of using exoskeletons in the performance of a simple task is discussed. The exoskeleton device has a total weight of 33 lb when unsupported, and it has seven joints. A Fitts' law paradigm was used to characterize the tradeoff between speed and accuracy for the task. The results of tests with five subjects are given","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"07 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":"130602316","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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