The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. Systems having distinct or repeated fixed modes are considered and decentralized controllers requiring ...
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The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. Systems having distinct or repeated fixed modes are considered and decentralized controllers requiring minimum number of interconnection gains for the elimination of fixed modes are characterized.
Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic system...
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Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.
Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointill...
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Orientation selection is the inference of orientation information out of images. It is one of the foundations on which other visual structures are built, since it must precede the formation of contours out of pointillist data and surfaces out of surface markings. We take a differential geometric view in defining orientation selection, and develop algorithms for actually doing it. The goal of these algorithms is formulated in mathematical terms as the inference of a vector field of tangents (to the contours), and the algorithms are studied in both abstract and computational forms. They are formulated as matching problems, and algorithms for solving them are reduced to biologically plausible terms. We show that two different matching problems are necessary, the first for 1-dimensional contours (which we refer to as Type I processes) and second for 2-dimensional flows (or Type II processes). We conjecture that this difference is reflected in the response properties of “simple” and “complex” cells, respectively, and predict several other psychophysical phenomena.
Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot ...
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The problem of simplifying the Lagrange dynamic equation of PUMA 600 robot manipulators is considered. By applying the numeric significance evaluation procedure to the symbolically expressed dynamic projection functio...
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This paper addresses the problems encountered in controlling a dextrous hand. It shows the inadequacies of existing control models. Control is seen here as being distributed in the modelling itself. The rest of the pa...
This paper addresses the problems encountered in controlling a dextrous hand. It shows the inadequacies of existing control models. Control is seen here as being distributed in the modelling itself. The rest of the paper elaborates the use of potential fields in distributing control. Finally the joint and motor control issues of the Salisbury Hand in this context is given.
The Ada Research Group of the robotics Research laboratory at The University of Michigan is currently developing a real-time distributed computing capability based upon the premises that real-time distributed language...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy
computer-aided design (CAD) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD pac...
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computer-aided design (CAD) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD packages and languages. Through these software tools, even a novice computer programmer can take advantage of powerful computational and numerical algorithms for control systems problems. In this paper a CAD language for control and Kalman filtering will be presented. The language, called CONTROL. lab is written in FORTRAN/77 and can run under UNIX or VMS on a DEC 11/780 VAX computer system.
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