Pub Date : 1990-08-09DOI: 10.1109/ICSYSE.1990.203133
D. Manko, W. Whittaker
Joint driving configurations for an orthogonal legged walker are assessed using a body propulsion model that simulates the dynamics of the body and leg members that move in a lateral plane. The inverse dynamic equations for the model are underspecified when more than three lateral joints are powered. Linear programming techniques are used to determine which lateral joints should be powered to minimize input power to the mechanism while satisfying traction and joint force constraints. The body propulsion model is applied to a walking machine called the Ambler, and a typical body move is simulated for different cycle times, degrees of body tilt, and foot-soil fictional coefficients
{"title":"Assessment of joint driving configurations for body propulsion of an orthogonal legged walker","authors":"D. Manko, W. Whittaker","doi":"10.1109/ICSYSE.1990.203133","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203133","url":null,"abstract":"Joint driving configurations for an orthogonal legged walker are assessed using a body propulsion model that simulates the dynamics of the body and leg members that move in a lateral plane. The inverse dynamic equations for the model are underspecified when more than three lateral joints are powered. Linear programming techniques are used to determine which lateral joints should be powered to minimize input power to the mechanism while satisfying traction and joint force constraints. The body propulsion model is applied to a walking machine called the Ambler, and a typical body move is simulated for different cycle times, degrees of body tilt, and foot-soil fictional coefficients","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"66 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":"132340218","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.1990.203116
Jin Tian
The theory of invariant subspaces is used to deal with the robustness problem in instrument fault detection. The problem specification is presented. The fault detection problems are presented in terms of an invariance problem. The observer design using the invariant subspaces theory is described. Two examples are given
{"title":"Robust method of fault detection and diagnosis","authors":"Jin Tian","doi":"10.1109/ICSYSE.1990.203116","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203116","url":null,"abstract":"The theory of invariant subspaces is used to deal with the robustness problem in instrument fault detection. The problem specification is presented. The fault detection problems are presented in terms of an invariance problem. The observer design using the invariant subspaces theory is described. Two examples are given","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"119 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113981761","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.1990.203212
A. Morales, R. Acharya
Important concepts of the morphological sampling theorem and distance relationships are highlighted. Two representations are stated based on the kernels of morphological mappings, one as the union of erosions, the other as the intersection of dilations. A subset of this representation, namely basis functions, is used. An alternative proof for some of the theorems of R. Haralick et al. (Proc. IEEE First Conference on Computer Vision, London, 1987) using basis functions is shown. This decomposition is used to show the relationship of opening-closing in the sampled and unsampled domains
{"title":"Alternating sequential filters and multiresolution morphology","authors":"A. Morales, R. Acharya","doi":"10.1109/ICSYSE.1990.203212","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203212","url":null,"abstract":"Important concepts of the morphological sampling theorem and distance relationships are highlighted. Two representations are stated based on the kernels of morphological mappings, one as the union of erosions, the other as the intersection of dilations. A subset of this representation, namely basis functions, is used. An alternative proof for some of the theorems of R. Haralick et al. (Proc. IEEE First Conference on Computer Vision, London, 1987) using basis functions is shown. This decomposition is used to show the relationship of opening-closing in the sampled and unsampled domains","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"87 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":"115504203","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.1990.203120
A. Barreiro
A restated design-oriented conicity criterion is presented. The advantage is that all possible stability cones are investigated. The stability conditions are reformulated in a more familiar language to control engineering, aided with graphic plots. A robustness margin is defined, and the synthesis is facilitated, as the main unstabilizing protocol rules or frequency values are easily detected. The adequate applicability questions are also solved, such as how to put the linear plant in a standard n×n form
{"title":"Application of conicity stability criteria to multivariable expert control systems","authors":"A. Barreiro","doi":"10.1109/ICSYSE.1990.203120","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203120","url":null,"abstract":"A restated design-oriented conicity criterion is presented. The advantage is that all possible stability cones are investigated. The stability conditions are reformulated in a more familiar language to control engineering, aided with graphic plots. A robustness margin is defined, and the synthesis is facilitated, as the main unstabilizing protocol rules or frequency values are easily detected. The adequate applicability questions are also solved, such as how to put the linear plant in a standard n×n form","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":"124143008","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.1990.203122
F. Rubio, J. Aracil
An optimum controller based on classical/modern design techniques for a system with nonlinear behavior is presented. The controller is composed of a deadbeat regulator and a linear quadratic Gaussian/loop transfer recovery (LQG/LTR) regulator. The benefits of this controller are demonstrated by simulation with a model of a plant
{"title":"Classical/modern design of a tracking control system","authors":"F. Rubio, J. Aracil","doi":"10.1109/ICSYSE.1990.203122","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203122","url":null,"abstract":"An optimum controller based on classical/modern design techniques for a system with nonlinear behavior is presented. The controller is composed of a deadbeat regulator and a linear quadratic Gaussian/loop transfer recovery (LQG/LTR) regulator. The benefits of this controller are demonstrated by simulation with a model of a plant","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"195 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":"124343676","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.1990.203135
M. Keller, R. Schilling
A resolved-motion rate control method which causes the distal links of a redundant articulated robot to avoid collisions by following the path planned for the tool tip is described. The method is presented for a robot with n+2 links and 2n+3 joints. Explicit closed-form equations for the joint rates are developed. A recursive formulation of a feedback control law is derived for the joint velocities of the 2n distal joints. Path tracking performance is illustrated with two simulation examples
{"title":"Collision avoidance with a redundant articulated robot: an implicit approach","authors":"M. Keller, R. Schilling","doi":"10.1109/ICSYSE.1990.203135","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203135","url":null,"abstract":"A resolved-motion rate control method which causes the distal links of a redundant articulated robot to avoid collisions by following the path planned for the tool tip is described. The method is presented for a robot with n+2 links and 2n+3 joints. Explicit closed-form equations for the joint rates are developed. A recursive formulation of a feedback control law is derived for the joint velocities of the 2n distal joints. Path tracking performance is illustrated with two simulation examples","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":"128805430","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.1990.203096
R. Woodbury, R. Quadrel
A formalism for the self-activation of agents called critics, which evaluate the effects of design changes in concurrent design environments and provide concise and relevant recommendations to other agents, is proposed. Grammar notation can be used to express the conditions under which a critic will activate. In this approach, (1) aspects are defined through grammars, an individual aspect being a member of the extended language of the grammar of its aspect space; (2) operators have a tool program component that specifies a derivation sequence in the grammar of the output aspect space of the operator; and (3) critics are tools with a set of critic rules that examine instantiations in input aspect spaces for preconditions and execute tool programs when those preconditions are met. It is observed that critic rules could permit the explicit specification of the conditions under which activation could occur
{"title":"Self-activation and representation in systems integration","authors":"R. Woodbury, R. Quadrel","doi":"10.1109/ICSYSE.1990.203096","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203096","url":null,"abstract":"A formalism for the self-activation of agents called critics, which evaluate the effects of design changes in concurrent design environments and provide concise and relevant recommendations to other agents, is proposed. Grammar notation can be used to express the conditions under which a critic will activate. In this approach, (1) aspects are defined through grammars, an individual aspect being a member of the extended language of the grammar of its aspect space; (2) operators have a tool program component that specifies a derivation sequence in the grammar of the output aspect space of the operator; and (3) critics are tools with a set of critic rules that examine instantiations in input aspect spaces for preconditions and execute tool programs when those preconditions are met. It is observed that critic rules could permit the explicit specification of the conditions under which activation could occur","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"78 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":"127311457","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.1990.203183
J. M. Miller, G. Stockman
An improved algorithm for determining the number of task orderings for a set of tasks and precedence constraints is presented. Precedence graphs are used to represent the tasks and constraints. A subgraph replacement strategy acts as an oracle in determining the exact number of task orderings for a class of NX-fold graphs. For non-NX-fold graphs the oracle computes, in low-order polynomial time, bounds on the number of orders
{"title":"Precedence constraints and tasks: how many task orderings?","authors":"J. M. Miller, G. Stockman","doi":"10.1109/ICSYSE.1990.203183","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203183","url":null,"abstract":"An improved algorithm for determining the number of task orderings for a set of tasks and precedence constraints is presented. Precedence graphs are used to represent the tasks and constraints. A subgraph replacement strategy acts as an oracle in determining the exact number of task orderings for a class of NX-fold graphs. For non-NX-fold graphs the oracle computes, in low-order polynomial time, bounds on the number of orders","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"57 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":"129343132","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.1990.203208
N. Rafla, F. Merat
A method called vision-taction exploration (VTE) for generating surface descriptions from range vision and tactile sensor data is described. The range vision systems available provide sparse 3D data about surfaces. These data are partially processed to provide primary surface features such as surface points and surface normals. With the use of tactile and force-torque sensors under position control, supplementary data are obtained and processed to generate surface features identical to those generated from the vision data. These two sets of data are integrated and processed at a higher level for surface representation and classification. The VTE process levels are described. The touch system has been implemented, and the resulting surface description is presented
{"title":"Vision-taction integration for surface representation","authors":"N. Rafla, F. Merat","doi":"10.1109/ICSYSE.1990.203208","DOIUrl":"https://doi.org/10.1109/ICSYSE.1990.203208","url":null,"abstract":"A method called vision-taction exploration (VTE) for generating surface descriptions from range vision and tactile sensor data is described. The range vision systems available provide sparse 3D data about surfaces. These data are partially processed to provide primary surface features such as surface points and surface normals. With the use of tactile and force-torque sensors under position control, supplementary data are obtained and processed to generate surface features identical to those generated from the vision data. These two sets of data are integrated and processed at a higher level for surface representation and classification. The VTE process levels are described. The touch system has been implemented, and the resulting surface description is presented","PeriodicalId":259801,"journal":{"name":"1990 IEEE International Conference on Systems Engineering","volume":"28 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":"127736334","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}
Two coordination methods are proposed for generating large Cartesian velocities while avoiding degeneracy in two serially connected robots, in which the base of one robot is held by the end effector of the other. The first method decomposes a desired Cartesian velocity into two velocities, one for each robots, based on a least-energy consumption criterion. Robot joint velocities are then adjusted using a null space approach to avoid degeneracy. The second method includes a degeneracy index in the cost function. As a result, joint velocities are obtained without any further adjustment
{"title":"Coordinating two serially connected robots for generating large Cartesian velocities","authors":"Qichao Yin, Yuan F. Zheng","doi":"10.1109/21.229468","DOIUrl":"https://doi.org/10.1109/21.229468","url":null,"abstract":"Two coordination methods are proposed for generating large Cartesian velocities while avoiding degeneracy in two serially connected robots, in which the base of one robot is held by the end effector of the other. The first method decomposes a desired Cartesian velocity into two velocities, one for each robots, based on a least-energy consumption criterion. Robot joint velocities are then adjusted using a null space approach to avoid degeneracy. The second method includes a degeneracy index in the cost function. As a result, joint velocities are obtained without any further adjustment","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":"128008907","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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