This paper proposes an indirect adaptive control scheme using the concept of network inversion. The neural model of the robot manipulator was obtained by training a radial basis function network from the input-output ...
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This paper proposes an indirect adaptive control scheme using the concept of network inversion. The neural model of the robot manipulator was obtained by training a radial basis function network from the input-output data generated from the plant. A query based learning algorithm has been proposed to improve the model prediction which uses an extended Kalman filtering based network inversion technique. A control scheme is designed incorporating the network inversion technique. The controller ensures Lyapunov stability of the dynamic system. The proposed control scheme is implemented on a two-link manipulator through simulation. simulation results indicate that the control scheme is robust and stable and corresponding trajectory tracking is accurate.
Visual language (VL) is a programming language without textual codes and algorithm animation (AA) is about visualizing a computer algorithm. Visual programming (VP) and AA are traditionally separate factions in softwa...
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Visual language (VL) is a programming language without textual codes and algorithm animation (AA) is about visualizing a computer algorithm. Visual programming (VP) and AA are traditionally separate factions in software visualization (SV). With the atomic reaction model (ARM) project we have bridged these two major branches in SV. Due to the advancements in graphics technology, many developers have come up with graphical applications that claim to be VLs. We see in this diversity of VP systems two main categories of VLs. They are the application specific and the general programming (GP). GPVLs are be developed with the eventual aim of substituting textual programming. Currently, there are two main approaches: graphical rewrite systems and dataflow VLs. AA systems have up to this point of time used the approach pioneered by the BALSA AA system to animate algorithms. Opsis, a java applet for teaching binary tree algorithms, has shown that the visual approach to AA is more effective as a learning tool. Therefore in this project, we create a VP system that can animate most of the algorithms traditionally done by textual coding. The ARM offered an alternative to the textual codes used in BALSA systems. We have also proven that a VL is capable of solving complex problems without sacrificing its visual clarity and showed that graphical rewrite systems are not necessarily simplistic and without much flow control as compared to dataflow VLs. We have even laid down the frameworks of a heterogeneous VL. Our research has successfully opened the door to true GPVLs.
A senior level compiler design course in an undergraduate computer science and engineering program usually deals with teaching the students the basics of compiler construction. Since the impetus of such an undergradua...
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A senior level compiler design course in an undergraduate computer science and engineering program usually deals with teaching the students the basics of compiler construction. Since the impetus of such an undergraduate course is to deal with the issues of compiler construction rather than intricacies of different machines, it is instructive to generate the code for a simple stack machine, incorporating a hardware stack, rather than dealing with a register-based machine such as a microcomputer. However, the educational institutions have the latter as a well established computing platform. Therefore, for testing a constructed compiler for a stack machine, it is feasible to make a microcomputer-based stack machine simulator. This paper presents the working design of a PC-based stack machine simulator developed by the authors for use in an undergraduate computer science and engineering course in compiler design. This paper begins by putting forward the architecture of the virtual stack machine for which the simulator is designed and constructed. The stack machine's instruction set is explained and then followed by a discussion of its encoding scheme. The main data structures and the different stages of the simulator are elaborated upon, culminating in a description of the salient features of the simulator that make it an effective tool in a compiler construction course. This includes the simulator's different analytical features such as measuring space-time complexity to analyze the effectiveness of a compiled code.
This paper summarizes and comments on the NSF report "Integration of Education and Research in Microelectronics". MOSIS is the premier NSF grant highlighting the integration of education and research, affect...
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This paper summarizes and comments on the NSF report "Integration of Education and Research in Microelectronics". MOSIS is the premier NSF grant highlighting the integration of education and research, affecting a broad section of US Computer engineering programs. An analysis of the MOSIS Project reports for 1995 has been published and its salient points are summarized here.
For mobile robots working in a dynamic environment, there is a great need for a global environment map that is updated frequently. In the paper, we propose a new method by which a mobile robot with an original environ...
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For mobile robots working in a dynamic environment, there is a great need for a global environment map that is updated frequently. In the paper, we propose a new method by which a mobile robot with an original environment map automatically detects changes in the environment and modifies the map into a new version. The changes are identified by performing robot localization and change detection alternatively at some planned observation positions. To deal with robot position errors caused by dead reckoning, available information on the original map and a local map recording already detected changes is utilized as much as possible. simulation results show this method is efficient even for detecting large changes in a complex environment.
An efficient simulation approach is presented in order to analyze digitally-controlled switching mode power converter circuits and systems with feedback and feedforward control loops. The general computer-aided simula...
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An efficient simulation approach is presented in order to analyze digitally-controlled switching mode power converter circuits and systems with feedback and feedforward control loops. The general computer-aided simulation procedure is based on a circuit and system equation modeled by time-varying resistors which substitute active power switches and the passive diodes of the converter circuits in addition to a state equation for the inductors and the capacitors, an algebraic computation method to transform the matrices of the circuit equation into the matrices of the state equation. In this approach, the numerical integration is achieved with rather less numerical calculation steps because of the small matrice size of the state equation. The effectiveness of this approach are proved by introducing a newly-developed PWM DC-DC high-power converter operating at high-voltage transformer parasitic circuit parameters under a digital control scheme.
We present a gain scheduling technique for stabilizing integrator chains in the presence of magnitude and rate limitations on the input. The controller was first presented by Lauvdal et al. (1997), where they showed e...
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We present a gain scheduling technique for stabilizing integrator chains in the presence of magnitude and rate limitations on the input. The controller was first presented by Lauvdal et al. (1997), where they showed excellent experimental results on a pitch axis flight control experiment at Caltech in the case of input rate limits only. The controller has several interesting features: it is easy to tune and it gives a minimal loss in performance. These properties are illustrated in a simulation study.
We present two nonlinear controller designs for a bank-to-turn, air-to-air missile. The first controller is a gain-scheduled /spl Hscr//sub /spl infin// design and the second is a nonlinear dynamic inversion design us...
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We present two nonlinear controller designs for a bank-to-turn, air-to-air missile. The first controller is a gain-scheduled /spl Hscr//sub /spl infin// design and the second is a nonlinear dynamic inversion design using a two time scale separation. We carried out a number of time and frequency domain analysis procedures on the resulting designs, and tested their performance on a nonlinear simulation of the missile. We compare the controller designs for nominal performance, robustness to uncertainties in the aerodynamic coefficients, and sensitivity to measurement noise.
A new genetic algorithm which exploits an idea of "coevolution" is proposed. The proposed method consists of two GAs: Host GA and Parasite GA. The Host GA searches for the solutions, and these two GAs are cl...
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A new genetic algorithm which exploits an idea of "coevolution" is proposed. The proposed method consists of two GAs: Host GA and Parasite GA. The Host GA searches for the solutions, and these two GAs are closely related to each other. The Parasite GA plays an important role in searching for useful schemata in the Host GA. Furthermore, two methods of fitness evaluation of Parasite GA are examined: differentiating method and averaging method. The differentiating method will yield the search for schemata that are not yet discovered by the Host GA. The averaging method will yield the search for schemata that have high average of fitness. Various computer simulations confirm the effectiveness of the proposed methods.
This paper considers a resource allocation problem in a manufacturing system consisting of two machines and two types of parts. We introduce a discrete-time model of the system and examine stability and bifurcation ph...
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This paper considers a resource allocation problem in a manufacturing system consisting of two machines and two types of parts. We introduce a discrete-time model of the system and examine stability and bifurcation phenomena. We show by computer simulation that chaotic behaviors are observed after successive occurrence of period-doubling bifurcations. It is also shown that the optimal state of the system is stabilized by a reward mechanism proposed by Hogg and Huberman (1991).
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