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A queueing network with a single cyclically roving server

Queueing Systems 1992年第1-2期11卷 121-144页

作者： Sidi, Moshe Levy, Hanoch Fuhrmann, Steve W. Electrical Engineering Department Technion-Israel Institute of Technology Haifa 32000 Israel Computer Science Department Tel-Aviv University Tel-Aviv 69978 Israel IBM Research Division Zurich Research Laboratory Rüschlikon CH-8803 Säumerstrasse 4 Switzerland

A queueing network that is served by a single server in a cyclic order is analyzed in this paper. Customers arrive at the queues from outside the network according to independent Poisson processes. Upon completion of his service, a customer may leave the network, be routed to another queue in the network or rejoin the same queue for another portion of service. The single server moves through the different queues of the network in a cyclic manner. Whenever the server arrives at a queue (polls the queue), he serves the waiting customers in that queue according to some service discipline. Both the gated and the exhaustive disciplines are considered. When moving from one queue to the next queue, the server incurs a switch-over period. This queueing network model has many applications in communication, computer, robotics and manufacturing systems. Examples include token rings, single-processor multi-task systems and others. For this model, we derive the generating function and the expected number of customers present in the network queues at arbitrary epochs, and compute the expected values of the delays observed by the customers. In addition, we derive the expected delay of customers that follow a specific route in the network, and we introduce pseudo-conservation laws for this network of queues. © 1992 J.C. Baltzer AG, Scientific Publishing Company.

关键词： Polling systems queueing networks routing single server

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A Mean Field Solution to Anisotropic Edge Detection of Remotely Sensed Images

A Mean Field Solution to Anisotropic Edge Detection of Remot...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： S.T. Acton M.M. Crawford Laboratory for Vision Systems Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA Center for Space Research and Department of Mechanical Engineering University of Texas Austin Austin TX USA

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Control of a two-link robot to achieve sliding and hopping gaits

Control of a two-link robot to achieve sliding and hopping g...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.D. Berkemeier R.S. Fearing Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA

A new example of a hopping robot is considered, consisting simply of two links (the end of one link acts as the foot) joined by an actuated, revolute joint. For the stance phase a nonlinear controller is derived that maintains the balance of the robot and periodically accelerates the center of mass vertically. For large enough oscillations the robot can slide or take off. If flight is achieved, the drift caused by non-zero angular momentum can typically be cancelled by rotating the actuated joint an integral number of times, and the robot can land in the same configuration in which it took off. This is due to the holonomy of a single rotation of the actuated joint. Results of simulations are presented in which the robot achieves both sliding and hopping gaits.< >

关键词： Foot Weight control Acceleration Leg Helium Limit-cycles Legged locomotion Robot control Linear approximation

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research AND EDUCATION IN robotics AND MANUFACTURING SYSTEMS

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robotics AND computer-INTEGRATED MANUFACTURING 1992年第1期9卷 1-1页

作者： JAMSHIDI, M Guest Editor AT&T Professor & Director CAD Laboratory for Systems|Robotics Department of Electrical & Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

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Optimal nonlinear pattern restoration from noisy binary figures

Optimal nonlinear pattern restoration from noisy binary figu...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： D. Schonfeld Signal and Image Research Laboratory Department of Electrical Engineering and Computer Science University of Illinois Chicago Chicago IL USA

A mathematical framework for the solution of statistical inference problems on a class of random sets is proposed. It is based on a new definition of expected pattern. The least-mean-difference estimator (restoration filter) is proved, under certain conditions, to be equivalent to the minimization of the measure of size (area) of the set-difference between the original pattern and the expected pattern of the estimated (restored) pattern. Consequently, it is proved that, under certain conditions, if the estimator (restoration filter) is unbiased, then it is the least mean difference estimator (restoration filter).< >

关键词： Noise figure Image restoration Pattern analysis Filters Set theory Signal restoration Laboratories Area measurement Size measurement Morphology

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Implementation of a neural network model for control in grasping a moving target

Implementation of a neural network model for control in gras...

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IEEE Region 10 International Conference TENCON

作者： R.S.L. Lim P. Horan R.A. Jarvis Department of Computing and Mathematics Deakin University Geelong VIC Australia Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

An approach to the control of a robot manipulator in grasping a simple moving target with constant speed is presented. A layered neural network architecture-based controller has been developed. It can automatically learn visual motor coordination for the fast reaching movements required in grasping a moving target. A learning scheme known as two-phase learning is described for teaching the skill to the controller. Learning in the controller is achieved through a sequence of trial movements without the presence of a 'teacher'. Visual feedback showing the action of the controller is used to adapt it so as to reduce the error between the target and the robot's gripper.< >

关键词： Neural networks Intelligent networks Neurons Cameras Neurofeedback Grippers Robot vision systems Output feedback Lattices Bismuth

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Fingerlike biomechanical robots

Fingerlike biomechanical robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： D.C. Deno R.M. Murray K.S.J. Pister S.S. Sastry Department Electrical Engineering and Computer Science and Electronics Research Laboratory University of California Berkeley Berkeley CA USA Department Mechanical Engineering Caltech Pasadena CA USA

The authors present a technique to analyze the forces and dynamics of a class of mechanical systems, called fingerlike systems, which may be viewed as an extension of simple robots to include networks for force/displacement generation and transmission. Fingerlike mechanical system can be described using a graph-theoretic approach to force and displacement generation and transmission. Branches consist of actuators, cables, springs, and other building blocks. Upon specification of the connectivity graph and branch behaviors, a symbolic mathematics program can generate the affine maps from actuator control variables to mechanical system torques and forces. This process systematizes and simplifies the determination of biological and robotic mechanical dynamics.< >

关键词： Robots Mechanical systems Actuators Cables Springs Mathematics Mechanical variables control Force control Torque control Control systems

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Steering car-like systems with trailers using sinusoids

Steering car-like systems with trailers using sinusoids

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Tilbury J.-P. Laumond R. Murray S. Sastry G. Walsh Electronics Research Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry's (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu's (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented.< >

关键词： Control systems Robot kinematics Optimal control Algebra Frequency Laboratories Control theory Fingers Mobile robots Sun

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Stabilization of trajectories for systems with nonholonomic constraints

Stabilization of trajectories for systems with nonholonomic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Walsh D. Tilbury S. Sastry R. Murray J.-P. Laumond Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

A technique for stabilizing nonholonomic systems to trajectories is presented. It is well known that such systems cannot be stabilized to a point using smooth static-state feedback. The authors suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired nominal feasible trajectory, an explicit control law which will locally exponentially stabilize the system to the desired trajectory is given. The theory is applied to several examples, including a car-like robot.< >

关键词： Control systems Feedback Open loop systems Sensor systems Time varying systems Mobile robots Error correction Laboratories Ear Constraint theory

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A video pattern generator for vision test

A video pattern generator for vision test

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： M.S. Obaidat D.S. Abu-Saymeh G. Cibis D. Pierce Comput. Eng. Res. Lab. Missouri Univ. Columbia MO USA Computer Engineering Research Laboratory Department of Electrical & Computer Engineering University of Missouri Columbia USA Transoft Limited Kansas City MO USA

A hardware and software system for the generation of video patterns that can be used for various vision tests, particularly depth perception, is presented. Among the capabilities of the system is generation of static and dynamic random dot stereograms that can be used to test depth perception. The system generates the patterns in real time, which provides the ability of moving the objects in the stereogram. The system is based on the TMS34010 graphics processor, operating at 40 MHz. The processor is interfaced to 512 Kb of video random access memory (VRAM), 256 Kb of dynamic random access memory (DRAM), and 16 Kb of erasable programmable read only memory (EPROM). The system also has an RS-232C serial communication part for communicating with a host computer and a red, green, and blue (RGB) video output for connection to an RGB color video monitor which displays the various video patterns. The software developed produces the various patterns and test experiments. A monitor program was also written to aid in developing any new software needed to produce new patterns or test experiments.< >

关键词： Test pattern generators Software testing System testing Random access memory EPROM computer displays computerized monitoring Hardware Software systems Real time systems

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