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Proceedings of the 1991 IEEE International Symposium on Intelligent Control最新文献

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A fuzzy supervisor for flexible manipulator control 柔性机械臂控制的模糊监督
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187330
E. García-Benitez, S. Yurkovich, K. Passino
{"title":"A fuzzy supervisor for flexible manipulator control","authors":"E. García-Benitez, S. Yurkovich, K. Passino","doi":"10.1109/ISIC.1991.187330","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187330","url":null,"abstract":"A two-level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator is proposed. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114167683","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}
引用次数: 10
Automatic process control method 自动过程控制方法
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187380
S. Sugiyama
{"title":"Automatic process control method","authors":"S. Sugiyama","doi":"10.1109/ISIC.1991.187380","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187380","url":null,"abstract":"The need to produce individualized goods in small quantities raises for manufacturers problems regarding production rate and cost, among others. A computer-based production control system that can estimate production situations (no-load processes, overloaded processes, process starting and finishing times, etc.) beforehand even though the processes are different for each item is described.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125313872","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}
引用次数: 3
Intelligent re-location based manipulation of objects using robot hands. II. Process modelling and implementation issues 利用机器人手进行基于智能重新定位的物体操作。2流程建模和实现问题
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187359
S. Ananthanarayanan, A. Goldenberg, J. Mylopoulos
{"title":"Intelligent re-location based manipulation of objects using robot hands. II. Process modelling and implementation issues","authors":"S. Ananthanarayanan, A. Goldenberg, J. Mylopoulos","doi":"10.1109/ISIC.1991.187359","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187359","url":null,"abstract":"For pt.I see ibid., p.203-8 (1991). Implementation issues in the context of intelligent dexterous manipulations of objects using robot hands are discussed. A brief overview of manipulation process modeling and an algorithmic procedure for the determination of finger manipulations for a given desired displacement of the object are provided. For purposes of implementation of this model, it is necessary to use, strategically, information at multiple levels of abstraction. The authors highlight this issue and discuss the integrated use of qualitative and quantitative knowledge of the robot grasping situation in order to perform model-based dexterous manipulation. Six relevant issues to be considered in the implementation of dexterous manipulation have been identified, and solutions are suggested, using either qualitative or traditional quantitative analysis methods according to the suitability of either method to the context of the problem.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125216012","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}
引用次数: 0
Nonlinear system control based on Gaussian potential function network 基于高斯势函数网络的非线性系统控制
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187395
S. Lee, R.M. Kil
{"title":"Nonlinear system control based on Gaussian potential function network","authors":"S. Lee, R.M. Kil","doi":"10.1109/ISIC.1991.187395","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187395","url":null,"abstract":"A new approach for the neural network-based control of a nonlinear system subject to input saturation, is presented. The approach is based on: 1) the training of a Gaussian potential function network (GPFN) to model nonlinear system dynamics based on the hierarchically self-organizing learning (HSOL) algorithm; and 2) the planning of a path from the initial state to the goal state which ensures the state reachability under input saturation and the satisfaction of performance criteria. Path planning is done in the regulatable region associated with the feasible state transition region based on a potential field method. The advantage of using GPFN with HSOL compared to backpropagation networks is due to the capability of HSOL to recruit a required number of Gaussian hidden units automatically and incrementally by monitoring network performance. This allows the structural limitation of a network and the local minima problem in learning to be overcome. Simulation results are shown for the regulation of first-order SISO (single-input single-output) nonlinear plants.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131441245","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}
引用次数: 5
Analysis and synthesis of discrete event systems using temporal logic 用时间逻辑分析和综合离散事件系统
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187347
Feng Lin
{"title":"Analysis and synthesis of discrete event systems using temporal logic","authors":"Feng Lin","doi":"10.1109/ISIC.1991.187347","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187347","url":null,"abstract":"A systematic way of analyzing and synthesizing supervised discrete event systems using temporal logic is proposed. Syntax and semantics of temporal logic that are suitable for the study of supervised discrete-event systems are introduced. A systematic way is given to verify that a temporal logic formula is satisfied in a supervised discrete-event system. Given a temporal logic formula, a supervised discrete-event system satisfying the formula is synthesized. A synthesis algorithm is developed. The development is illustrated by examples.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127806469","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}
引用次数: 54
Symbolic feature-based representation and planning for an agent based robot controller 基于智能体的机器人控制器的符号特征表示与规划
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187403
K. Barber, K. Harbison-Briggs, O. Mitchell
{"title":"Symbolic feature-based representation and planning for an agent based robot controller","authors":"K. Barber, K. Harbison-Briggs, O. Mitchell","doi":"10.1109/ISIC.1991.187403","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187403","url":null,"abstract":"A prototype system has been developed to input 3-D computer-aided-design (CAD) data to automatically generate and implement robot trajectories for such application as waterjet cutting, surface finishing and polishing. The system can drive various robot configurations and handle contingencies such as collisions and singularities. The system provides a framework for integration of high-level reasoning, real-time path and trajectory planning, and various levels of feedback based on contingency detection algorithms or sensor data. Although initial CAD data have been in the form of IGES geometric entities, a higher-level CAD description based on manufacturing features which incorporates both geometric and process information is being developed. This feature-based CAD representation provides a direct interface between the CAD design data and the planning system for robot control. An agent actor paradigm is proposed as the representation for software/hardware system specifications and associated software and hardware modules.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123734529","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}
引用次数: 0
Compression for computation delays in leader-follower coordination of two manipulators using exponential time functions in joint space 利用关节空间指数时间函数压缩两个机械臂的leader-follower协调的计算延迟
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187378
Z. S. Tumeh
{"title":"Compression for computation delays in leader-follower coordination of two manipulators using exponential time functions in joint space","authors":"Z. S. Tumeh","doi":"10.1109/ISIC.1991.187378","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187378","url":null,"abstract":"Coordinated control of two manipulators using discrete position feedback is developed and experimentally tested using a hierarchical multiprocessor architecture and two PUMA robot arms. Since the research is heavily experimental, leader-follower coordination is adopted because of its computational efficiency. The computation of desired follower arm positions consumes one sampling interval. Another sampling interval is lost due to the fact that a desired follower arm position has to be computed before it can be assumed. The design of a class of prediction equations to compensate for these timing delays is emphasized. These equations are developed by computing an estimated model for the delayed desired follower arm trajectory using exponential time functions. Both exact and least squares spline fitting are used and compared.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114963071","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}
引用次数: 0
Multiresolutional feedforward/feedback loops 多分辨率前馈/反馈回路
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187338
A. Meystel
{"title":"Multiresolutional feedforward/feedback loops","authors":"A. Meystel","doi":"10.1109/ISIC.1991.187338","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187338","url":null,"abstract":"It is maintained that hierarchies of task decomposition such as planner-navigator-pilot controllers in autonomous vehicles, pyramidal connectionist schemes, and their hybrids are just different reincarnations of the principles of multiresolutional control. An attempt is made to demonstrate how this unity emerges in an intelligent controller for autonomous mobile robots as a system of multiresolutional feedforward-feedback control loops.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125400750","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}
引用次数: 5
Intelligent re-location based manipulation of objects using robot hands. I. Extracting qualitative abstracts from quantitative concepts 利用机器人手进行基于智能重新定位的物体操作。1 .从定量概念中提取定性抽象
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187358
S. Ananthanarayanan, A. Goldenberg, J. Mylopoulos
{"title":"Intelligent re-location based manipulation of objects using robot hands. I. Extracting qualitative abstracts from quantitative concepts","authors":"S. Ananthanarayanan, A. Goldenberg, J. Mylopoulos","doi":"10.1109/ISIC.1991.187358","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187358","url":null,"abstract":"The authors discuss the relevant qualitative modeling issues that need to be addressed while developing a framework suitable for intelligent dexterous manipulation of objects using a robot hand, based on common-sense reasoning. Relevant qualitative concepts are abstracted from the existing analytical model of a robot grasping situation and suitably aggregated according to their functional interrelationships. The concepts of qualitative vectors, qualitative reference frames, qualitative planes, qualitative forces and qualitative displacements are defined in the context of robot grasping and dexterous manipulation. An incremental change in the orientation of a grasped object is modeled using a qualitative rotational transformation.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122320224","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}
引用次数: 0
A hierarchical model of intelligent materials processing 智能材料加工的分层模型
Proceedings of the 1991 IEEE International Symposium on Intelligent Control Pub Date : 1991-08-13 DOI: 10.1109/ISIC.1991.187379
D.J. Williams, A. A. West, C. Hinde
{"title":"A hierarchical model of intelligent materials processing","authors":"D.J. Williams, A. A. West, C. Hinde","doi":"10.1109/ISIC.1991.187379","DOIUrl":"https://doi.org/10.1109/ISIC.1991.187379","url":null,"abstract":"A review of the domain of intelligent materials processing is presented, followed by the description of a hierarchical framework that has been found to be of use in the design of the control and planning activity in this area. An attempt is made to use this framework to match some of the available control and planning techniques to materials processing problems. The hierarchical framework gives some insight into the steps that need be applied in the implementation of intelligent materials processing systems.<<ETX>>","PeriodicalId":140507,"journal":{"name":"Proceedings of the 1991 IEEE International Symposium on Intelligent Control","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127113291","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}
引用次数: 5
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