Pub Date : 2004-09-27DOI: 10.1109/SSST.2004.1295658
A. Anthony, T. Jannett
This paper describes an intelligent fuzzy logic algorithm implemented in a microcomputer-based device for use in constraint-induced movement therapy for lower-extremity stroke rehabilitation. The device monitors the use of the affected leg and supplies the patient with feedback in order to encourage increased use of the affected leg during therapy. The prototype device facilitates the application of constraint-induced therapy and enables the patient to continue to receive therapy even when they are out of the clinic.
{"title":"Intelligent algorithm for lower extremity constraint induced therapy","authors":"A. Anthony, T. Jannett","doi":"10.1109/SSST.2004.1295658","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295658","url":null,"abstract":"This paper describes an intelligent fuzzy logic algorithm implemented in a microcomputer-based device for use in constraint-induced movement therapy for lower-extremity stroke rehabilitation. The device monitors the use of the affected leg and supplies the patient with feedback in order to encourage increased use of the affected leg during therapy. The prototype device facilitates the application of constraint-induced therapy and enables the patient to continue to receive therapy even when they are out of the clinic.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134196469","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295723
C. Chandrasekara, A. Davari
This paper describes the setup and case study of the rotating base inverted pendulum. The inverted pendulum is a classical control system problem because of its nonlinear characteristics and unstable behavior. The rotating inverted pendulum is an excellent test bed for nonlinear control theory. This paper describes the hardware and software used and the different control schemes that were implemented and the results are presented.
{"title":"Inverted pendulum: an experiment for control laboratory","authors":"C. Chandrasekara, A. Davari","doi":"10.1109/SSST.2004.1295723","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295723","url":null,"abstract":"This paper describes the setup and case study of the rotating base inverted pendulum. The inverted pendulum is a classical control system problem because of its nonlinear characteristics and unstable behavior. The rotating inverted pendulum is an excellent test bed for nonlinear control theory. This paper describes the hardware and software used and the different control schemes that were implemented and the results are presented.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133216060","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295696
T. A. Shirey, R. Roberts
Motion control of robot manipulators is typically accomplished by sensing and regulating the positions of the joint actuators to cause the end-effector to follow a programmed trajectory. Unfortunately, position control schemes usually fail for tasks that require significant physical interaction between the robot and a workpiece. This restriction severely limits the scope of work that robots are able to do. A solution to this problem is to incorporate some form of compliance into the manipulator to compensate for positioning errors. Researchers have been focused on two principal methods of achieving manipulator compliance - passive mechanism synthesis and active force control - both of which have advantages and disadvantages. In this paper, the authors present recent advances in passive mechanism synthesis algorithms, and investigate the utility of combining a simple, passive mechanism with an active force control scheme to obtain a compliant manipulator with desirable characteristics for interaction control.
{"title":"Hybrid active/passive interaction control for robot manipulators","authors":"T. A. Shirey, R. Roberts","doi":"10.1109/SSST.2004.1295696","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295696","url":null,"abstract":"Motion control of robot manipulators is typically accomplished by sensing and regulating the positions of the joint actuators to cause the end-effector to follow a programmed trajectory. Unfortunately, position control schemes usually fail for tasks that require significant physical interaction between the robot and a workpiece. This restriction severely limits the scope of work that robots are able to do. A solution to this problem is to incorporate some form of compliance into the manipulator to compensate for positioning errors. Researchers have been focused on two principal methods of achieving manipulator compliance - passive mechanism synthesis and active force control - both of which have advantages and disadvantages. In this paper, the authors present recent advances in passive mechanism synthesis algorithms, and investigate the utility of combining a simple, passive mechanism with an active force control scheme to obtain a compliant manipulator with desirable characteristics for interaction control.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"8 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132893898","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295650
Ming Yang, X.R. Li, Huimin Chen, N. Rao
Predicting the end-to-end packet delay and understanding the Internet dynamics are of great importance for many realtime and non-realtime applications, especially for provisioning the quality of service (QoS) of various sources. In this paper methods for modeling Internet dynamics and predicting the end-to-end delays are surveyed with emphasis on the approaches using system identification and time series analysis. The survey focuses on a control engineer's viewpoint rather than that of a statistician. Furthermore, it intends to provide a connection between the works in the both areas.
{"title":"Predicting Internet end-to-end delay: an overview","authors":"Ming Yang, X.R. Li, Huimin Chen, N. Rao","doi":"10.1109/SSST.2004.1295650","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295650","url":null,"abstract":"Predicting the end-to-end packet delay and understanding the Internet dynamics are of great importance for many realtime and non-realtime applications, especially for provisioning the quality of service (QoS) of various sources. In this paper methods for modeling Internet dynamics and predicting the end-to-end delays are surveyed with emphasis on the approaches using system identification and time series analysis. The survey focuses on a control engineer's viewpoint rather than that of a statistician. Furthermore, it intends to provide a connection between the works in the both areas.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131366182","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295615
J. Gray, A. S. Smith-Carroll, W. Murray
There are three commonly used relationships between alpha and beta that are reported in the literature: Kalata, Benedict-Bordner, and continuous white noise. The Kalata relation is obtained from steady state Kalman filter theory assuming zero mean white noise in the position and velocity state equations. The Benedict-Bordner relation is derived based on good noise reduction and good tracking through maneuvers. Both the Kalata and Benedict-Bordner relationships can be derived without any reference to a Kalman filter. The question, given the variety of filter coefficient relationships, is which relationship should be chosen as part of a filter design and why? What does it mean to choose a particular filter coefficient relationship? What is the difference between filter coefficient relationship and a criteria to maximize performance? In this paper, the author tries to give the answer to these questions.
{"title":"What do filter coefficient relationships mean?","authors":"J. Gray, A. S. Smith-Carroll, W. Murray","doi":"10.1109/SSST.2004.1295615","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295615","url":null,"abstract":"There are three commonly used relationships between alpha and beta that are reported in the literature: Kalata, Benedict-Bordner, and continuous white noise. The Kalata relation is obtained from steady state Kalman filter theory assuming zero mean white noise in the position and velocity state equations. The Benedict-Bordner relation is derived based on good noise reduction and good tracking through maneuvers. Both the Kalata and Benedict-Bordner relationships can be derived without any reference to a Kalman filter. The question, given the variety of filter coefficient relationships, is which relationship should be chosen as part of a filter design and why? What does it mean to choose a particular filter coefficient relationship? What is the difference between filter coefficient relationship and a criteria to maximize performance? In this paper, the author tries to give the answer to these questions.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"346 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123356938","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295709
Q. Han, C. Ham, R. Phillips
Stability and controllability are the core topics for any maglev system. An active magnetic array is introduced and used in the novel maglev configuration. The proposed passive EDS system uses Halbach arrays for self-regulation and levitation with active magnet arrays for stability and ride comfort control. The system is self-regulated in the lateral, roll, pitch, and yaw directions. The system configuration, stiffness, and levitation dynamic are investigated.
{"title":"A novel maglev system","authors":"Q. Han, C. Ham, R. Phillips","doi":"10.1109/SSST.2004.1295709","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295709","url":null,"abstract":"Stability and controllability are the core topics for any maglev system. An active magnetic array is introduced and used in the novel maglev configuration. The proposed passive EDS system uses Halbach arrays for self-regulation and levitation with active magnet arrays for stability and ride comfort control. The system is self-regulated in the lateral, roll, pitch, and yaw directions. The system configuration, stiffness, and levitation dynamic are investigated.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123560574","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295681
W. Waite
The fundamental conceptual-intellectual basis of modeling consists of a few elements, none if which is unique to modeling, but which together discriminate modeling from all other technical-academic disciplines. These core concepts include the following: existence, intention, representation, causality and determinism, and logical inference. These and similar concepts can provide the basis for a much needed specification of the body-of-knowledge of modeling and simulation.
{"title":"Fundamental concepts of modeling","authors":"W. Waite","doi":"10.1109/SSST.2004.1295681","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295681","url":null,"abstract":"The fundamental conceptual-intellectual basis of modeling consists of a few elements, none if which is unique to modeling, but which together discriminate modeling from all other technical-academic disciplines. These core concepts include the following: existence, intention, representation, causality and determinism, and logical inference. These and similar concepts can provide the basis for a much needed specification of the body-of-knowledge of modeling and simulation.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123643312","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295612
John E. Gray, A. S. Smith-Carroll, L. A. Jordan
Presented in this paper is a solution to the Lyapunov equation in constant gain filtering. A specific method for deriving the noise reduction ratios for the alpha-beta and alpha-beta-gamma filters are explored using the Lyapunov equation. This enables us to simplify the computation drastically. For a 2 /spl times/ 2 matrix, one has to solve for one unknown instead of two. For a 3 /spl times/ 3 matrix, one has to solve for three unknowns instead of six and so on. Thus reduction in the number of variables has considerable advantage for higher dimensional filters such as the alpha-beta-gamma filter.
{"title":"The solution to the Lyapunov equation in constant gain filtering and some of its applications","authors":"John E. Gray, A. S. Smith-Carroll, L. A. Jordan","doi":"10.1109/SSST.2004.1295612","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295612","url":null,"abstract":"Presented in this paper is a solution to the Lyapunov equation in constant gain filtering. A specific method for deriving the noise reduction ratios for the alpha-beta and alpha-beta-gamma filters are explored using the Lyapunov equation. This enables us to simplify the computation drastically. For a 2 /spl times/ 2 matrix, one has to solve for one unknown instead of two. For a 3 /spl times/ 3 matrix, one has to solve for three unknowns instead of six and so on. Thus reduction in the number of variables has considerable advantage for higher dimensional filters such as the alpha-beta-gamma filter.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123424876","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295697
E. DuPont, H. G. Yu, R. Roberts
This work explores image processing techniques that involve the application of eigenspace methods for pose detection. An eigenspace method for data compression used in the image processing field is commonly referred to as principal component analysis (PCA). We present some recently introduced eigenspace concepts for detecting the pose angle of an occluded object located in an image containing background clutter. To detect the pose of a target object in the presence of background and occlusions we analyze two eigendecomposition methods. The quadtree structure includes dividing the training images into quadrants and creating a subspace eigendecomposition for each level. A statistical robust approach is also applied that weights the background and occlusion pixels based on their influence on the reconstruction of the desired target object. We review both of these pose detection approaches and illustrate each application with an example.
{"title":"Object pose detection in the presence of background clutter and occlusion","authors":"E. DuPont, H. G. Yu, R. Roberts","doi":"10.1109/SSST.2004.1295697","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295697","url":null,"abstract":"This work explores image processing techniques that involve the application of eigenspace methods for pose detection. An eigenspace method for data compression used in the image processing field is commonly referred to as principal component analysis (PCA). We present some recently introduced eigenspace concepts for detecting the pose angle of an occluded object located in an image containing background clutter. To detect the pose of a target object in the presence of background and occlusions we analyze two eigendecomposition methods. The quadtree structure includes dividing the training images into quadrants and creating a subspace eigendecomposition for each level. A statistical robust approach is also applied that weights the background and occlusion pixels based on their influence on the reconstruction of the desired target object. We review both of these pose detection approaches and illustrate each application with an example.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121045960","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 : 2004-09-27DOI: 10.1109/SSST.2004.1295652
C. Madubata, M. Arozullah
We present the development, modeling, analysis and performance evaluation of a deterministic call admission control (CAC) protocol for bursty traffic in high-speed broadband integrated services digital networks. This CAC protocol simultaneously satisfies two quality of service (QoS) parameters, namely cell loss ratio (CLR) and delay. The protocol presented is suitable for "on-line" application and provides efficient network resource (buffer space and link capacity) utilization. The end-to-end delay and CLR values are divided among the nodes of the connection. Deterministic models that capture the bursty nature of the traffic supported by the ATM network are developed for the source and the network node. These models satisfy the deterministic burstiness constraint required by ATM usage parameter control (UPC). Analytical expressions at nodes for CLR and delay are developed based on these models. These analytical expressions are used to develop a CAC protocol. This CAC protocol for bursty sources is evaluated by using queuing models.
{"title":"A deterministic call admission control protocol for bursty traffic in high-speed networks: modeling and analysis","authors":"C. Madubata, M. Arozullah","doi":"10.1109/SSST.2004.1295652","DOIUrl":"https://doi.org/10.1109/SSST.2004.1295652","url":null,"abstract":"We present the development, modeling, analysis and performance evaluation of a deterministic call admission control (CAC) protocol for bursty traffic in high-speed broadband integrated services digital networks. This CAC protocol simultaneously satisfies two quality of service (QoS) parameters, namely cell loss ratio (CLR) and delay. The protocol presented is suitable for \"on-line\" application and provides efficient network resource (buffer space and link capacity) utilization. The end-to-end delay and CLR values are divided among the nodes of the connection. Deterministic models that capture the bursty nature of the traffic supported by the ATM network are developed for the source and the network node. These models satisfy the deterministic burstiness constraint required by ATM usage parameter control (UPC). Analytical expressions at nodes for CLR and delay are developed based on these models. These analytical expressions are used to develop a CAC protocol. This CAC protocol for bursty sources is evaluated by using queuing models.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128710259","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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