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Proceedings IEEE International Symposium on Intelligent Control 1988最新文献

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Real-time data transfer in an intelligent CIM node 支持智能CIM节点的实时数据传输
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65522
M. D. Pardue, J. Palmer
{"title":"Real-time data transfer in an intelligent CIM node","authors":"M. D. Pardue, J. Palmer","doi":"10.1109/ISIC.1988.65522","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65522","url":null,"abstract":"A major step toward resolution of two of the major problems in CIM applications, real-time data transfer and uncertain information, is presented. The approach to real-time data transfer, including handling of asynchronous priority interrupts, is accomplished by introduction of an intelligent interface node connected to the primary data communications channel or information systems backbone. A secondary communications channel is developed for this purpose. In simulation runs, the intelligent interface node was able to satisfy 99.1% of the real-time data transfer resource shortfalls that otherwise would have resulted without implementation of the knowledge-based expert system, including all of the highest-priority data transfers. Resolution of uncertain information is accomplished by use of the MYCIN shell, modified for the specific purposes of CIM implementation.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116147023","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
Planning and world modeling for autonomous undersea vehicles 自主水下航行器的规划与世界建模
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65459
M. Herman, T. Hong, S. Swetz, D. Oskard, M. Rosół
{"title":"Planning and world modeling for autonomous undersea vehicles","authors":"M. Herman, T. Hong, S. Swetz, D. Oskard, M. Rosół","doi":"10.1109/ISIC.1988.65459","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65459","url":null,"abstract":"The planning and world modeling components of the MAUV (multiple autonomous undersea vehicles) architecture are described, with a focus on requirements for navigation of the MAUV vehicles. The goal of the MAUV project is to have multiple undersea vehicles exhibiting intelligent, autonomous, cooperative behavior. The MAUV control system is hierarchically structured and incorporates sensing, world modeling, planning, and execution. Also presented are some initial experimental results on lake tests run using code at the servo, primitive, and e-move levels.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125675953","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: 7
Limits of logic 逻辑的极限
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65398
T. Vámos
{"title":"Limits of logic","authors":"T. Vámos","doi":"10.1109/ISIC.1988.65398","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65398","url":null,"abstract":"A philosophical dialogue concerning the limits of logic is presented. Particular attention is given to the characteristics of computer-based techniques. A number of drawings illustrate the discussion.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126607207","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: 8
A model for coordination of intelligent machines using Petri nets 基于Petri网的智能机器协调模型
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65400
F. Wang, G. Saridis
{"title":"A model for coordination of intelligent machines using Petri nets","authors":"F. Wang, G. Saridis","doi":"10.1109/ISIC.1988.65400","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65400","url":null,"abstract":"A model, called coordination structure, is defined based on the framework for coordination to describe mathematically the information structure and information flow in the coordination level of intelligent machines. A Petri net transducer (PNT), which permits the description of concurrency and conflict, is introduced to model the dispatcher and coordinators with their ability to select the appropriate control actions among the alternatives corresponding to the nondeterministic property of the PNT. Synchronous composition of the PNTs is also defined to describe the synchronous operations of coordinators. The Petri net derived from the coordination structure underlies the precedence relationship of the information processing in the coordination level and provides the concepts and methods in Petri net theory for the analysis of various structure properties of coordination. It is shown that the liveness and boundedness of the entire coordination structure are guaranteed by the liveness and boundedness of the dispatcher and coordinators. Some results on the language properties of the PNT are also presented.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131551968","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: 15
Learning-based hybrid control of closed-kinematic chain robotic end-effectors 基于学习的闭动链机器人末端执行器混合控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65489
C. Nguyen, F. Pooran, T. Premack
{"title":"Learning-based hybrid control of closed-kinematic chain robotic end-effectors","authors":"C. Nguyen, F. Pooran, T. Premack","doi":"10.1109/ISIC.1988.65489","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65489","url":null,"abstract":"The authors propose a control scheme that combines the concepts of hybrid control and learning control for controlling force and position of a six-degree-of-freedom robotic end-effector with a closed-kinematic chain mechanism, which performs repeatable tasks. The control scheme consists of two control systems: the hybrid control system and the learning control system. The hybrid control system is composed of two feedback loops, a position loop and a force loop, which produce inputs to end-effector actuators, based on errors in position and contact forces of selected degrees of freedom. The learning control system, consisting of two proportional-derivative type learning controllers also arranged in a hybrid structure, provides additional inputs to the actuators to improve the end-effector performance after each trial. Experimental studies performed on a two-degree-of-freedom end-effector show that the control scheme provides path tracking with satisfactory precision while maintaining contact forces with minimal errors after several trials.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130376730","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: 1
A distributed system for robotic applications 用于机器人应用的分布式系统
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65515
P. Belmans, J. Borrelly, M. Mejía, D. Simon
{"title":"A distributed system for robotic applications","authors":"P. Belmans, J. Borrelly, M. Mejía, D. Simon","doi":"10.1109/ISIC.1988.65515","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65515","url":null,"abstract":"A distributed control system for robotic applications is presented. This system allows a real-time performance increase, by parallelism of computation, and offers great modularity and versatility in robot control algorithm implementation. The robot control theory based on task-functions is outlined, and a model for robotic applications is proposed. This philosophy is more general than the classical hierarchical structure and allows smart sensor feedback at the servo. Software and hardware architectures are proposed to implement such control algorithms. All the system activity depends on communication between tasks and so the design of a real-time communication system is considered.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130603210","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: 4
General purpose robotic manipulation 通用机器人操作
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65478
R. Grupen, T. Henderson, K. Biggers
{"title":"General purpose robotic manipulation","authors":"R. Grupen, T. Henderson, K. Biggers","doi":"10.1109/ISIC.1988.65478","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65478","url":null,"abstract":"A general-purpose manipulator may act as a sensory device or perform in either a powerful or a dexterous mode of operation. Work toward a control methodology which supports general-purpose manipulation is presented. Three major issues in the development of intelligent robotic systems are identified: the design of well-behaved robots, the perceptual problem, and strategy synthesis. The focus is on the control of multifingered robot hands. The discussion includes a description of the well-behaved robot (a robot and low-level controller which are inherently good at manipulation) and focuses on manipulation strategy synthesis. The perceptual problem is not considered. A schematic of a proposed controller and a description of its major components are presented. Experiments illuminating the behavior of the strategy synthesis portion of the controller are presented for grasp planning and multifingered manipulation.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124655211","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
Planning via heuristic search in a Petri net framework Petri网框架下的启发式搜索规划
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65455
K. Passino, P. Antsaklis
{"title":"Planning via heuristic search in a Petri net framework","authors":"K. Passino, P. Antsaklis","doi":"10.1109/ISIC.1988.65455","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65455","url":null,"abstract":"An artificial intelligence planning system's main components consist of a planner and a problem domain. The problem domain is the environment about which the planner reasons and on which it takes action. In the paper, a special type of extended input/output Petri net is defined and then used as the problem representation for a wide class of problem domains. A planning strategy is developed using results from the theory of heuristic search. In particular, using the developed Petri net framework and metric spaces, a class of heuristic functions that are both admissible and consistent for the A* algorithm is specified. The planning system architecture is discussed, and, as an illustration of the results, two simple planning problems are modeled and solved.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121462813","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: 21
Contact stability in model-based force control systems of robot manipulators 基于模型的机械臂力控制系统的接触稳定性
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65467
S. Karunakar, A. Goldenberg
{"title":"Contact stability in model-based force control systems of robot manipulators","authors":"S. Karunakar, A. Goldenberg","doi":"10.1109/ISIC.1988.65467","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65467","url":null,"abstract":"The authors address the stability problem in force control of robot manipulators. They analyze the stability of four well-known model-based force control systems: hybrid force control, resolved acceleration based force control, stiffness control, and impedance control. The analysis is based on linearized models and uses the Routh-Hurwitz criteria. The results show that the stability of the four control systems studied depends upon the feedback gains as well as the manipulator configuration. When an arm engaged in a contact task unexpectedly loses contact with the environment, all control systems studied except the hybrid control remain stable. The cause of instability in contact tasks is that the environmental stiffness matrix increases the equivalent position gain in the control system. If the velocity gain is chosen based only on the position gain neglecting a large environmental stiffness, the resulting system will be highly underdamped and possibly unstable.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134334819","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: 11
Enhanced maximal nonsaturating effort adaptive control 增强的最大非饱和力自适应控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65497
K. Cheok, H.X. Hu, C.Q. Liu, N. K. Loh
{"title":"Enhanced maximal nonsaturating effort adaptive control","authors":"K. Cheok, H.X. Hu, C.Q. Liu, N. K. Loh","doi":"10.1109/ISIC.1988.65497","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65497","url":null,"abstract":"An enhanced maximal nonsaturating effort adaptive control (EMNEAC) scheme for servo-control systems that have input saturation and deadbands is described. The proposed EMNEAC builds on two key online enhancement techniques: a knowledge-enhanced parameter identification (KEPI) algorithm and a maximal nonsaturating effort selection (MNES) algorithm. The KEPI algorithm uses a priori information about the characteristics of the physical system being controlled. It generates parameter estimates which lie within admissible ranges of physical values. The EMNEAC scheme incorporates an automatic self-selection of suitable closed-loop performance specifications for online self-tuning control design. It uses heuristic information derived from computed control input and designs a controller whose output level is kept with the admissible set of control. The result is that the EMNEAC scheme puts out maximal control effort for high tracking performance without saturating the control input of the system. It is more robust in terms of stability and achieves superior performance over other standard self-tuning control algorithms.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133403036","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
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