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IEEE International Conference on Robotics and Automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems Robotics and automation systems engineering and theory Iterative algorithms Convergence

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Model-based multisensor data fusion: a minimal representation approach

Model-based multisensor data fusion: a minimal representatio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： Robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering systems engineering and theory Equations Manifolds Fuses

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Feedback control of congestion in packet switching networks: the case of multiple congested nodes

Feedback control of congestion in packet switching networks:...

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American Control Conference (ACC)

作者： L. Benmohamed S.M. Meerkov Advanced Systems Division National Institute for Standards and Technology Gaithersburg MD USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

In this paper, an analytical method for the design of a congestion control scheme in store-and-forward networks is presented. The control architecture is rate based with a local feedback controller associated with each switching node. The controller itself is a generalization of the standard PD controller with the only difference that extra D terms are involved to accommodate the delay present in high speed networks. It is shown that, under a specific priority discipline introduced, there exists a set of control gains that result in asymptotic stability of the linearized network model. A method for calculating these gains is given. In addition, it is shown that the resulting steady state rate allocation possesses the so-called max-min fairness property. The theoretical results are illustrated by a simulation example where it is shown that the controller designed using the methods developed works well for both the priority scheme introduced in this paper and for the standard first-come-first serve scheme.

关键词： Feedback control Intelligent networks Packet switching computer aided software engineering Communication system control Communication system traffic control Telecommunication traffic Adaptive control PD control High-speed networks

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Feedback control of highway congestion by a fair on-ramp metering

Feedback control of highway congestion by a fair on-ramp met...

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IEEE Conference on Decision and Control

The problem considered in this paper is motivated by the fact that the existing feedback control approaches to highway congestion prevention may result in an unfair capacity allocation whereby one ramp may capture most of the highway capacity, depending on its relative location in the network. To avoid this problem, a new control architecture is proposed. In the framework of this architecture, each segment of the highway is equipped with a congestion controller which, according to a decentralized control law and local measurements, calculates the traffic admission rate beneficial from this segment's point of view. These rates are transmitted to the on-ramps which, according to a control protocol, select the traffic admission rate beneficial from the network's point of view. Thus, the system under consideration is represented by a set of decentralized controllers interacting through the network. It is shown that: (1) the steady states of the system satisfy the so-called max-min fairness property; (2) there exists a set of controller gains that ensure asymptotic stability of these steady states; (3) an adaptive method for the selection of these gains is proposed. Finally results of a numerical investigation, which support the conclusions of the analytical study, are reported.< >

关键词： Feedback control Road transportation Communication system traffic control Control systems Steady-state Distributed control Protocols Asymptotic stability Programmable control Adaptive control

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A collision avoidance algorithm for telerobotics applications

A collision avoidance algorithm for telerobotics application...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Strenn T.C. Hsia K. Wilhelmsen Systems Division Santa Barbara Research Center Goleta CA USA Department of Electrical and Computer Engineering University of California Davis Davis CA USA Advanced Process Technology Lawrence Livermore National Laboratories Livermore CA USA

This paper proposes a new algorithm, known as the segmentation algorithm, which provides model-based, real-time, whole-arm collision avoidance for telerobotic applications. The work presented is an extension and modification of potential field theory. Novel aspects of the algorithm include the application of a hierarchical segmentation technique to minimize on-line processing and the development of procedures which account for workspace object translation, rotation, and grasping. The segmentation algorithm outputs torques, which, when applied to the control arm, prevent the teleoperator from driving the remote arm into a collision. The teleoperator actually feels workspace objects that are spatially close to the remote arm-an experience known as virtual force-reflection. The segmentation algorithm's performance has been analyzed in terms of its speed and efficiency vis a vis various system parameters, including workspace object distribution, size, and number. Simulation results show that the segmentation algorithm succeeds in providing real-time collision avoidance where less elegant brute force algorithms fail.< >

关键词： Collision avoidance Telerobotics Humans Robot sensing systems Application software Teleoperators Orbital robotics Neural networks Kinematics Force measurement

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TECHNICAL ISSUES REGARDING SATELLITE PACKET-SWITCHING

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 257-267页

作者： IVANCIC, WD CHU, P SHYY, DJ National Aeronautics and Space Administration Lewis Research Center Cleveland Ohio 44135 USA. A design engineer in the Digital Technology Branch of the Space Electronics Division. He has extensive experience in satellite communications systems modulation and coding on-board switching and routeing and high speed digital design. Since joining NASA in 1982 Mr. Ivancic has been responsible for the development of a variety of matrix switch controllers ground terminal equipment numerous pieces of special test equipment a beacon controller for the SARSAT program (Search and Rescue Satellite) and a time-shared decoder for a processing satellite. In addition Mr. Ivancic has been technical contract monitor on a number of advanced communications technology contracts including the Advanced Modulation Technology Development a 5 GHz fibre-optic link and multi-programmable modem study. He was awarded the B.S.E.E. and M.S.E.E. degrees by Cleveland State University in 1982 and 1986 respectively. Cleveland State University Cleveland Ohio 44115 USA. Currently an assistant professor of Electrical Engineering Department at Cleveland State University. He obtained the M.S. and Ph.D. degrees from Iowa State University majoring in Electrical and Computer Engineering. His research interests include high-speed computer networks digital systems and neural networks applications. He is a member of Sigma Xi Phi Kappa Phi as well as the IEEE and ACM. ComSearch Reston Virginia 22091 USA. Received the B.S. degree in electrical engineering from National Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory University Atlanta as a Programmer. From September 1989 to December 1989 he worked for the Advanced Development Laboratory. AMP Inc. Atlanta as a Test Engineer. From February 1990 to August 1993 he wor

Many concepts for advanced communication satellite networks have recently been proposed. Critical technical issues relating to satellite packet switching for meshed very small aperture terminal networks and broadband ... 详细信息

关键词： FAST PACKET SWITCH BISDN MESHED VSAT ON-BOARD PROCESSING

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USING VIRTUAL ENVIRONMENTS IN THE DESIGN OF SHIPS

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NAVAL ENGINEERS JOURNAL 1994年第3期106卷 91-106页

作者： JONS, OP RYAN, JC JONES, GW Otto P. Jons:received a Diplom Ing. in shipbuilding from the Technical University of Hanover W. Germany and an MS in naval architecture and marine engineering from MIT. He then joined Litton Ship Systems where he was responsible for the preliminary design of the DD-963 hull structure and then for ship system integration as manager LHA ship systems engineering department. From 1972 to 1974 he was the principal research scientist at Hydronautics. In 1974 as technical director he helped establish the Crystal City office of Designers and Planners. Mr. Jons was one of the co-founders of Advanced Marine Enterprises Inc. in 1976 where he serves as corporate vice president engineering. J. Christopher Ryan:earned his bachelors and masters degrees in naval architecture from Webb Institute and MIT respectively. He spent three years at the advanced marine technology division of Litton Industries working on the DD-963 class ship design and related computer aided design projects. He subsequently went to the Navy Department concentrating on early stage design of surface combatants for twelve years including work on the FFG-7 Sea Control Ship CSGN and CVV aircraft carrier projects. He then shifted focus and became the Technical Director for the Computer Supported Design Program in NavSea for five years. Mr. Ryan has served in several supervisory positions within the Ship Design Group in NavSea since that time. He is currently the director of the future ship concepts division. Gary W. Jones:graduated from the University of Tennessee in 1971 with a BS in mechanical engineering and followed up with graduate work at George Washington University and the University of Maryland. Mr. Jones was with the Naval Sea Systems Command from 1971 until 1988 where he was a naval architect in the submarine section of the hull form design division. In 1988 he was detailed to the Defense Advanced Research Projects Agency (DARPA) where he became the program manager for the advanced submarine technology program's hydrodynamic hydroac

A major contributor to the expense and length of time to design, build, and test new systems has been the need to build and test hardware prototypes to determine their effectiveness in meeting operational requirements. Recent and dramatic advances in computer simulation technologies hold forth the promise of revolutionizing design and acquisition strategies by providing the means to validate end users' requirements prior to hardware construction. By designing and operationally testing virtual prototypes in a virtual environment, these technologies will soon offer naval architects the ability to build and launch ships in computer-based cyberspace in lieu of the shipbuilder's ways. The authors of this paper provide the background for these developments, explore the significance and ramifications of these technologies to the current process of ship and system design, outline challenges lying ahead, and present their vision and recommendations for future development.

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FUEL-CELL POWER-PLANTS FOR SURFACE FLEET APPLICATIONS

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NAVAL ENGINEERS JOURNAL 1994年第3期106卷 59-76页

作者： GOUBAULT, P GREENBERG, M HEIDENREICH, T WOERNER, J Philippe Goubault:graduated in 1983 from the “Ecole Nationale Superieure de Techniques Avancees” in Paris with a major in naval architecture. After one year of military service with the French navy he worked as naval architect and program director for the French navy between 1984 and 1988. He was in charge of the development of AGNES200 Surface Effect Ship design which completed its sea trials in 1992. He also was responsible for the construction of five ships (four hydrographic vessels and one experimental MCM vessel) which entered service between 1988 and 1991. He has been involved in a number of projects and studies for the U.S. Navy U.S. Coast Guard and other foreign and domestic customers. At Band Lavis & Associates Inc. Mr. Goubault has expanded the computer tools used to conduct parametric analysis of advanced hullforms and has developed cost-effectiveness assessment tools and methodologies for both commercial and military ships. Mr. Goubault is a member of ASNE. Marc Greenberg:is employed as a cost analyst at the cost and economic analysis branch systems assessment and engineering division Naval Surface Warfare Center. He provides cost estimates and analyses of Navy ship and submarine technologies and has assisted in the development of parametric cost models since 1991. Employed as an electronics engineer by the U.S. Army Information Systems Command from 1989 to 1991 he provided support in simulation design and construction of high frequency and microwave communication systems. Mr. Greenberg received his BS degree in ceramic science and engineering from the Pennsylvania State University May 1987. He is a member of MORS. Todd Heidenreich:is employed in the design analysis and tools branch systems assessment and engineering division of the Carde-rock Division Naval Surface Warfare Center. He is involved as a project naval architect in the conceptual design of future surface ship designs future technology impact assessments and the assessment of current domestic and foreign surface ship desig

This paper describes the results of a study undertaken to determine the impact of fuel cell technology on the design and effectiveness of future naval surface combatants. The study involved the collection of data to characterize four different fuel cell technologies: proton exchange membrane, molten carbonate, phosphoric acid, and solid oxide fuel cells. This information was used to expand current computer models to develop specific fuel cell plants that met the power requirements for several applications on a nominal 5000 Lton destroyer and a nominal 2000 Lton corvette. Each of the fuel cell technologies was incorporated into several applications aboard the destroyer and the corvette. These applications included combinations of centralized and distributed ship service power, and propulsion power. In addition, the impact of fuel cell technology was determined for a ship service power backfit option aboard a DDG-51 class destroyer. The results of the impact on the ship designs were analyzed and a military effectiveness assessment was conducted to address such issues as the impact of fuel cells on mobility, survivability, affordability, and on the environment. The paper identifies which aspects of the fuel cell technologies have the greatest impact upon the ship designs and their operational costs. Recommendations are given for future technology development efforts required to make fuel cells suitable for Navy service.

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ANALYSIS OF A MOVABLE BOUNDARY ACCESS TECHNIQUE FOR A MULTISERVICE MULTIBEAM SATELLITE SYSTEM

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 299-312页

作者： BOHM, S ELHAKEEM, AK MURTHY, KMS HACHICHA, M KADOCH, M Department of Electrical and Computer Engineering Concordia University 1455 De Maisonneuve Blvd. West Montreal H3A 1M8 Canada Was born in Montreal Canada on 14 September 1966. He received the B. Eng. degree in electrical engineering from Concordia University Montreal Canada in 1989. He is at present completing the M.A.Sc. degree in electrical engineering at Concordia University. (S'75–S'79–M'79–SM'86) received the Ph.D. degree from Southern Methodist University Dallas TX in 1979. He spent the next two years working as a Visiting Professor in Egypt after which he moved to Ottawa Canada in 1982. He assumed teaching and research positions in Carleton and Manitoba Univerities and later moved to Concordia University Montreal Canada in 1983 where he is now a Professor in the Electrical and Computer Engineering Department. He has published numerous papers in IEEE and international journals in the areas of spread spectrum and networking. He is a well-known expert in these areas and serves as a consultant to many companies. His current research interests include wide-band metropolitan networks switching architectures and performance of on-board multibeam satellites acquisitionless CDMA networks code distribution and orthogonalization of CDMA signals responsive congestion control for ATM-based networks ARQ techniques and investigation of the novel SUGAR CDMA systems in fading channels. Dr. Elhakeem is a Senior Member of the Canadian Electrical Engineering Society and Armed Forces Association. He has chaired numerous technical sessions in IEEE Conferences was the Technical Program Chairman for IEEE Montech 1986 Montreal Canada. Dr. Elhakeem is the key guest editor of theIEEE Journal of Selected Areas in Communicationsfor the May June issues 1993 covering CDMA networks. Advanced Technology & Networks VISTAR Telecommunications Inc. Ottawa Ontario K1G 3J4 Canada . He is ITU's Specialist Consultant and Chief Advisor for a number of ITU/UNDP projects including VSATs Rural Networks Digital Broadc

In this paper, the performance of a new movable boundary accessing (MBA) technique for future integrated services multibeam satellite systems is studied. The multiservice environment considered includes both asynchronous and isochronous traffic consisting of video, voice, file transfer and interactive data. The movable boundary access technique proposed here will maximize the utilization of the up-link frame capacity. It is shown that the potential user population is substantially increased with the use of a moving boundary policy with minimal overhead.

关键词： MOVABLE BOUNDARY ACCESS TECHNIQUE MF-TDMA DAMA MULTIBEAM SATELLITE

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PERFORMANCE OF A PRIORITIZED ON-BOARD BASEBAND SWITCH FOR A MULTISERVICE MULTIBEAM SATELLITE

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 283-297页

作者： BOHM, S ELHAKEEM, AK HACHICHA, M Department of Electrical and Computer Engineering Concordia University 1455 De Maisonneuve Blvd. West Montreal H3A 1M8 Canada Was born in Montreal Canada on 14 September 1966. He received the B. Eng. degree in electrical engineering from Concordia University Montreal Canada in 1989. He is at present completing the M.A.Sc. degree in electrical engineering at Concordia University. (S'75–S'79–M'79–SM'86) received the Ph.D. degree from Southern Methodist University Dallas TX in 1979. He spent the next two years working as a Visiting Professor in Egypt after which he moved to Ottawa Canada in 1982. He assumed teaching and research positions in Carleton and Manitoba Univerities and later moved to Concordia University Montreal Canada in 1983 where he is now a Professor in the Electrical and Computer Engineering Department. He has published numerous papers in IEEE and international journals in the areas of spread spectrum and networking. He is a well-known expert in these areas and serves as a consultant to many companies. His current research interests include wide-band metropolitan networks switching architectures and performance of on-board multibeam satellites acquisitionless CDMA networks code distribution and orthogonalization of CDMA signals responsive congestion control for ATM-based networks ARQ techniques and investigation of the novel SUGAR CDMA systems in fading channels. Dr. Elhakeem is a Senior Member of the Canadian Electrical Engineering Society and Armed Forces Association. He has chaired numerous technical sessions in IEEE Conferences was the Technical Program Chairman for IEEE Montech 1986 Montreal Canada. Dr. Elhakeem is the key guest editor of theIEEE Journal of Selected Areas in Communicationsfor the May June issues 1993 covering CDMA networks. Advanced Technology & Networks VISTAR Telecommunications Inc. Ottawa Ontario K1G 3J4 Canada An Associate Director of Advanced Technology & Networks Group VISTAR Telecommunications Inc. Ottawa Canada. He is also an Adjunct Pr

In this paper, we study the performance of a prioritized on-board baseband switch in conjunction with a multibeam satellite handling integrated services. The services considered for the analysis include voice, video, file transfer and interactive data. The prioritized switch uses both input and output buffering, switch speed-up as well as a two-phase head-of-line resolution algorithm, in order to reduce the buffer loss while maintaining acceptable user delays. The minimum required buffer capacity and switch speed-up for each service in a prioritized environment are found under uniform traffic conditions. It is shown that under uniform traffic conditions, only minimal buffering and switch speed-up are needed even for the lowest priority users. The performance dependence on the switch size is also substantially reduced with head of line resolution and buffering even in a prioritized environment.

关键词： SWITCH ON-BOARD BASEBAND MULTIBEAM PRIORITIZED HEAD-OF-LINE UNIFORM LOAD SPEED-UP

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