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Proceedings IEEE International Symposium on Intelligent Control 1988最新文献

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Grasp impedance: examples of finger's targeted impedance 抓握阻抗:手指目标阻抗的例子
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65479
S. Payandeh, Andrew A. Goldenberg
{"title":"Grasp impedance: examples of finger's targeted impedance","authors":"S. Payandeh, Andrew A. Goldenberg","doi":"10.1109/ISIC.1988.65479","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65479","url":null,"abstract":"Two examples of formulating the targeted impedance of fingers of a mechanical hand are presented. A unified model of targeted impedance, based on the physical equivalence postulate of the closed-loop dynamics behavior of fingers, is used. Based on this postulate, the parameters of the targeted impedance can be selected such that the dynamic behavior of the closed-loop system satisfies specific task requirements. The first example is a formulation of the targeted impedance based on the object desired grasp stiffness properties at the point of interaction with the environment. The second example is a formulation of the targeted impedance for the case where the grasped object has some oscillatory motion, such that the oscillation of the object is minimized about some nominal equilibrium point. A method of obtaining the finger configuration based on the static relationship of the targeted impedance is also presented.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"17 10 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":"128819228","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
A learning algorithmic scheme for collision free navigation 无碰撞导航的学习算法方案
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65493
N. Bourbakis
{"title":"A learning algorithmic scheme for collision free navigation","authors":"N. Bourbakis","doi":"10.1109/ISIC.1988.65493","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65493","url":null,"abstract":"A learning algorithmic scheme for collision-free navigation is presented. This scheme determines the minimum collision-free navigation path of an autonomous platform by using a trial and error process and past navigation knowledge and by extracting the current information from the surrounding environment. This scheme is related to the Odysseus autonomous navigation platform. However, it could be made into a general-purpose scheme with simple modifications. Simulated results for an illustrative example in a graphical representation are provided.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"12 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":"126428893","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
Using the Newton simulation system as a testbed for control 采用牛顿仿真系统作为控制的试验台
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65465
J. Cremer, A. Stewart
{"title":"Using the Newton simulation system as a testbed for control","authors":"J. Cremer, A. Stewart","doi":"10.1109/ISIC.1988.65465","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65465","url":null,"abstract":"The use of the Newton system for experimenting with the control of many-degrees-of-freedom articulated objects is described. Newton is a large general-purpose system for simulating the dynamics of complex physical objects. The system automatically formulates and analyzes the dynamics equations of motion for collections of bodies in a wide variety of constrained relationships. An experimental control paradigm is presented and applied to the balancing of a humanoid figure and the endpoint-control of redundant robot arm.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"29 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":"117052354","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
A knowledge-based approach for detection and diagnosis of out-of-control events in manufacturing processes 基于知识的制造过程中失控事件的检测和诊断方法
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65523
P. L. Love, M. Simaan
{"title":"A knowledge-based approach for detection and diagnosis of out-of-control events in manufacturing processes","authors":"P. L. Love, M. Simaan","doi":"10.1109/ISIC.1988.65523","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65523","url":null,"abstract":"The authors discuss an approach which combines statistical process control principles and knowledge of the process to arrive automatically at a comprehensive detection and diagnosis of out-of-control conditions in a manufacturing process. This approach consists of capturing data from the process and passing selected signals from it through a two-level decision-making system. The first level of this system involves the use of nonlinear filtering techniques to detect three features (peaks, steps, and ramps) of the input signals. These features are examined to produce a set of out-of-control events. The second level of the process is the application of a rule-set to each event using a backward-chaining algorithm to attempt to diagnose a process cause that led to the event. Status reports of diagnosed and undiagnosed events are generated by the system.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"9 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":"121770900","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
A representation scheme for rapid 3D collision detection 一种快速三维碰撞检测的表示方案
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65450
S. Bonner, R. Kelley
{"title":"A representation scheme for rapid 3D collision detection","authors":"S. Bonner, R. Kelley","doi":"10.1109/ISIC.1988.65450","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65450","url":null,"abstract":"A scheme is presented for the representation of objects for the rapid detection of collisions in a dynamic 3D environment, such as when a proposed path for a robot-carried object is tested for collisions with obstacles along the path. The successive spherical approximation (SSA) representation provides a representation scheme which allows rapid collision detection while still providing for the exact representation of dynamic objects. The hierarchy of representation levels is based on the subdivision of a sphere. The degree of approximation of the SSA representation decreases as the scheme traverses down the representation tree. The creation of the SSA representation is illustrated using an object database containing boundary representations. The use of the SSA hierarchical representation for rapid and exact collision detection between 3D objects and the environment is shown by considering the collision detection problem between stationary and moving objects. It is shown that there is little additional cost incurred by allowing changes in position and orientation of the objects. The contribution of the SSA representation is that it leads to a time-efficient, hybrid collision detection scheme.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"111 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":"130740107","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: 33
Expert aided adaptive control 专家辅助自适应控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65494
G. Sullivan, L.K. Lauderbaugh
{"title":"Expert aided adaptive control","authors":"G. Sullivan, L.K. Lauderbaugh","doi":"10.1109/ISIC.1988.65494","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65494","url":null,"abstract":"The idea of a two-level control scheme, the A/E (adaptive/expert) controller, is introduced as a way to optimize the behavior of an adaptive controller using expert system techniques. The proposed structure uses a constant expert system sampling interval and 14 features to describe the state of the adaptive controller. Key issues discussed are the transformation of signal domain data for use by the expert system module of the A/E controller, and the use of a three-part knowledge base to formulate corrective actions of the expert system module. Simulation results show a prototype of the A/E controller in comparison to a standard adaptive controller. These results indicate that even a simple prototype of the A/E controller can improve the performance of an adaptive controller over that found when using conventional adaptive techniques. Preliminary results indicate that the A/E controller will result in significant improvements in adaptive control reliability and performance.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"20 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":"129574133","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
Qualitative and quantitative approaches to the diagnosis of plant faults 植物故障诊断的定性和定量方法
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65410
A.H. Jones, B. Porter, R. Fripp
{"title":"Qualitative and quantitative approaches to the diagnosis of plant faults","authors":"A.H. Jones, B. Porter, R. Fripp","doi":"10.1109/ISIC.1988.65410","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65410","url":null,"abstract":"The architecturally relevant issues which arise in the development of both qualitative and quantitative fault-diagnostic systems are discussed, and the technical issues of acquiring the knowledge and using it effectively are addressed. A direct comparison is drawn between the performances of both fault-detection systems while detecting the same fault on a laboratory test rig. It is concluded that fault-diagnostic systems must be sensitive to the appearance of faults but robust enough not to produce false alarms. It is also concluded that the fault signatures associated with plant-transgression-based methods are stronger, and therefore easier to detect, than model-based transgressions. However, the model-based approach can be extremely effective at detecting faults which manifest themselves as changes in internal plant dynamics.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"26 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":"127784457","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
Knowledge-based optimal control 基于知识的最优控制
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65440
M. Rao, T. Jiang, J. Tsai
{"title":"Knowledge-based optimal control","authors":"M. Rao, T. Jiang, J. Tsai","doi":"10.1109/ISIC.1988.65440","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65440","url":null,"abstract":"The authors present a novel methodology for developing knowledge-based control systems. A knowledge-based optimal control system is described. It consists of several expert systems, such as IDSOC (intelligent decision-making system for optimal control), SMP (symbolic mathematical manipulation and processing system), and a metasystem, as well as a number of numerical computation routines. The authors illustrate the idea of using AI (artificial intelligence) techniques in solving optimal control problems. The philosophy of problem solving is presented. Knowledge representation and implementation issues are discussed in detail. The control of the intelligent system is addressed. The authors discuss the acquisition and representation of expertise knowledge and point out that building an expert system is not just a translation from the existing knowledge into a computer program, but a process in which the new expertise knowledge may be generated and acquired.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"242 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":"132704734","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: 2
An efficient computational scheme for robot manipulators 机器人操纵臂的一种高效计算方案
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65471
J. Machado, J.L.M. de Carvalho, J. Matos, A. Costa
{"title":"An efficient computational scheme for robot manipulators","authors":"J. Machado, J.L.M. de Carvalho, J. Matos, A. Costa","doi":"10.1109/ISIC.1988.65471","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65471","url":null,"abstract":"A novel robot manipulator computational scheme that is a blend of ordinary and Boolean algebra is presented. This method may also be interpreted as a dedicated compiler that optimizes the online computing time at the expense of the offline stage. The offline requirements are alleviated by the implementation of some general rules that stem from the structure of the robot manipulator equations, and the online computing time is optimized through the use of binary decision diagrams. The algorithm is illustrated on the example of a 2R robot manipulator. The results show a considerable computational improvement over conventional sequential machines, and they clearly point out new computational parallel architectures. It is observed that the proposed algorithm is not restricted to robot dynamic computations, but is also applicable to many other computing structures.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"35 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":"131801495","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
A dynamically evolving learning network for intelligent control 面向智能控制的动态进化学习网络
Proceedings IEEE International Symposium on Intelligent Control 1988 Pub Date : 1988-08-24 DOI: 10.1109/ISIC.1988.65487
J. R. Crosscope, R. Bonnell
{"title":"A dynamically evolving learning network for intelligent control","authors":"J. R. Crosscope, R. Bonnell","doi":"10.1109/ISIC.1988.65487","DOIUrl":"https://doi.org/10.1109/ISIC.1988.65487","url":null,"abstract":"A variation on the adaptive learning network (ALN), which is used for dynamic system identification is discussed. The dynamically evolving ALN (DEALN) is self-organizing and operates online to generate a model of a dynamic plant. The network evolves the necessary structure and parameter values to mimic and predict the plant to within a specified tolerance. An intelligent controller can use the DEALN to simulate the plant, perform diagnoses, and plan coarse and fine control strategies. A high-level intelligent planner can also generate and program lower-level control laws to be implemented by the network, much as a human automates a skill. Results of an initial implementation which indicate that an online self-structuring learning network can be developed are presented.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"88 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":"131826477","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
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