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Proceedings. 5th IEEE International Symposium on Intelligent Control 1990最新文献

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State space control of a multi link robot manipulator by a translational modelling technique 基于平移建模技术的多连杆机械臂状态空间控制
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128470
D. L. P. Bopearatchy, G. C. Hatanwala
{"title":"State space control of a multi link robot manipulator by a translational modelling technique","authors":"D. L. P. Bopearatchy, G. C. Hatanwala","doi":"10.1109/ISIC.1990.128470","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128470","url":null,"abstract":"An attempt is made to control a multi-link flexible robotic manipulator by a general state-space controller. A model for the complicated dynamics can be achieved by a physical modelling technique. Simulation tests on the control of a two-link robotic flexible manipulator are carried out. The fundamental mode of vibration is modeled by a piggyback translational spring-mass system, making the derivation of the mathematical model more simple. An optimal control technique is used in the design of the controller.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115472758","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
A new approach for extracting shape from texture 一种新的纹理形状提取方法
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128459
F. S. Cohen, M. Patel
{"title":"A new approach for extracting shape from texture","authors":"F. S. Cohen, M. Patel","doi":"10.1109/ISIC.1990.128459","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128459","url":null,"abstract":"A novel way of modeling images that result from the projective distortions of homogeneous textures laid on illuminated 3D surfaces, as they are seen by a camera is presented. A Gaussian Markov random field (GMRF) is used for modeling the homogeneous planar parent texture. The projective distortions of the parent texture is a 2D Gaussian random field described by a probability distribution which is an explicit function of the parameters of the GMRF homogeneous texture model, the surface shape, and the camera model (orthographic or pinhole). The basic modeling concepts are used in extracting shape information from texture. Shape parameter estimation is posed as a maximum-likelihood estimation (MLE) problem.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"08 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115657336","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
Globally stable closed loops imply autonomous behavior 全局稳定闭环意味着自治行为
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128526
D. Koditschek
{"title":"Globally stable closed loops imply autonomous behavior","authors":"D. Koditschek","doi":"10.1109/ISIC.1990.128526","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128526","url":null,"abstract":"A program of research in robotics that seeks to encode abstract tasks in a form that simultaneously affords a control scheme for the torque-actuated dynamical systems, as well as a proof that the resulting closed-loop behavior will correctly achieve the desired goals, is reviewed. Two different behaviors that require dexterity and might plausibly connote 'intelligence'-navigating in a cluttered environment and juggling a number of otherwise freely falling objects-are examined with regard to similarities in problem representation, method of solution, and causes of success. The central theme concerns the virtue of global stability mechanisms. At the planning level they lend autonomy, that is, freedom from dependence upon some 'higher' intelligence. They encourage the design of canonical procedures for model problems, which may then be instantiated in particular settings by a change of coordinates. The procedures developed result in provably autonomous behavior. Simulation results and physical experimental studies suggest the practicability of these methods.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"73 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121081338","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
Control of the flexible automation of metal forming 金属成形柔性自动化控制
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128587
K. Stelson
{"title":"Control of the flexible automation of metal forming","authors":"K. Stelson","doi":"10.1109/ISIC.1990.128587","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128587","url":null,"abstract":"Pressbrake bending and multibending are two metal-forming processes that can produce a wide variety of parts with fixed tooling. An overview of the technology for producing such parts emphasizing the control issues is presented. Closed-loop control of these processes is essential to maintaining accuracy and to minimizing the setup time for a new part. Moreover, the control algorithms used must incorporate physically sound models of the process. Some recent research aimed at better controls for pressbrake bending and multibending is outlined.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123704058","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
The role of world modeling and value judgement in perception 世界模式化与价值判断在知觉中的作用
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128454
J. Albus
{"title":"The role of world modeling and value judgement in perception","authors":"J. Albus","doi":"10.1109/ISIC.1990.128454","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128454","url":null,"abstract":"The world model is the intelligent system's best estimate of the external world. It provides an interface between sensory processing and task decomposition. A world model architecture that represents knowledge in terms of maps, entity frames, and state variables is proposed. This structure is hierarchically organized to provide multiple levels of resolution in space and time. Three types of map coordinates are important: egospheres, object coordinates, and world coordinates. Value judgments provide an evaluation of hypothesized plans and perceived objects. events, and situations. Evaluations produce value state variables that indicate cost, benefit, risk, priority, desirability, attractiveness, and uncertainty.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126869459","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: 19
On passivity and simple adaptive control of nonlinear manipulators 非线性机械臂的无源性与简单自适应控制
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128542
I. Bar-Kana
{"title":"On passivity and simple adaptive control of nonlinear manipulators","authors":"I. Bar-Kana","doi":"10.1109/ISIC.1990.128542","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128542","url":null,"abstract":"Extension of passivity to a class of nonlinear systems linear in control and its application to robust adaptive control of robots are considered. Passivity, also called positive realness in linear time-invariant systems, is needed for realizability of networks, optimality of control systems, and stability of nonlinear or adaptive controllers. It is shown that stabilizability and parallel feedforward can be used to satisfy passivity conditions in manipulators. This result guarantees robust stability of nonstationary, nonlinear, or adaptive controllers if they are applied to almost strictly passive (ASP) configurations.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114573489","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
Transport access control: a communication scheme between hosts and transport layer front end processors 传输访问控制:主机和传输层前端处理器之间的通信方案
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128479
Y. Qu, H. V. Nguyen, J. Herath, C. Yang
{"title":"Transport access control: a communication scheme between hosts and transport layer front end processors","authors":"Y. Qu, H. V. Nguyen, J. Herath, C. Yang","doi":"10.1109/ISIC.1990.128479","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128479","url":null,"abstract":"The front-end processor (FEP) approach, an efficient method for host computers to access a communication networks, is considered. The transport access control method, which is used for communications between network hosts and their FEPs in an Open System Interconnection environment, is introduced. It has been developed to support communications between the transmission control protocol (TCP) of an FEP and the upper level protocols of a host in a reliable and transparent manner. Two key issues in designing and implementing a network are the layer distribution between the hosts and their FEPs, and the interlayer communications schemes. The focus in this paper, with respect to the former issue, is on the case in which the FEPs contain the three bottom layers and the transport layer. With regard to the latter, the focus is on the communications between the transport layer and the upper layer.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121898420","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
Estimation of dynamic system parameters by neural networks 基于神经网络的动态系统参数估计
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128510
C. Batur, A. Srinivasan
{"title":"Estimation of dynamic system parameters by neural networks","authors":"C. Batur, A. Srinivasan","doi":"10.1109/ISIC.1990.128510","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128510","url":null,"abstract":"Identification of dynamic systems, operating under correlated noise, is conventionally performed by the generalized least squares algorithm. The Hopfield neural network has been used in connection with the generalized least squares technique to identify the system parameters. A theoretical comparison is made between the conventional generalized least squares and the neural-network-based generalized least squares techniques. This comparison is also supported by the simulated examples. It is shown that the Hopfield-based neural network can perform two fundamental steps of the generalized least squares algorithm in parallel fashion. These steps are the application of least squares routines.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117246977","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
Nonlinear internal model control and model predictive control using neural networks 基于神经网络的非线性内模控制和模型预测控制
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128589
D. C. Psichogios, L. Ungar
{"title":"Nonlinear internal model control and model predictive control using neural networks","authors":"D. C. Psichogios, L. Ungar","doi":"10.1109/ISIC.1990.128589","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128589","url":null,"abstract":"The ramifications of incorporating neural networks into two model-based control architectures, namely internal model control (IMC) and model predictive control (MPC), are considered. The development of a neural network analog to the conventional IMC design is described, the controller behavior is discussed, and control architectures necessary to improve controller performance are presented. The performance of the neural network controller under less restrictive assumptions is examined, and a neural network analog to the conventional MPC design is developed and tested. An IMC-type neural network controller in which the process model replaced by a neural network gives very good performance, even when only partial state data are available, also gives excellent performance. These results indicate that neural networks can learn accurate models and give good nonlinear control when model equations are not known. Suggestions for improving performance are presented.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128474903","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: 20
Rapid learning using CMAC neural networks: real time control of an unstable system 利用CMAC神经网络快速学习:不稳定系统的实时控制
Proceedings. 5th IEEE International Symposium on Intelligent Control 1990 Pub Date : 1990-09-05 DOI: 10.1109/ISIC.1990.128498
W. Miller, C. Aldrich
{"title":"Rapid learning using CMAC neural networks: real time control of an unstable system","authors":"W. Miller, C. Aldrich","doi":"10.1109/ISIC.1990.128498","DOIUrl":"https://doi.org/10.1109/ISIC.1990.128498","url":null,"abstract":"Results of real-time experiments involving the control of an unstable, nonlinear plant using the feedback error learning approach and CMAC (cerebellar model articulation controller) neural networks are presented. The plant comprised a one-wheeled cart pushed from behind by means of a vertical rod in a ball bearing (similar to the caster on the leg of a chair) by a General Electric P-5 industrial robot with a wrist-mounted video camera. The task was to accurately follow a winding track (with a constant cart velocity) drawn on a flat surface. It was found that simple fixed control laws alone were not sufficient to keep the cart from flipping rapidly around the point of contact with the robot (referred to as 'spinning out'). However, similar fixed control laws were sufficient for training control CMAC neural networks during online learning, such that the plant was rapidly stabilized. The controller was able to track the path accurately, at the requested velocity, within three laps around the track. Stable performance could not be achieved in a similar neural network configuration trained by direct inverse modeling.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129093210","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: 23
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