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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Khorrami A.A. Gomez M.D. Hills Polytechnic University School of Electrical Engineering 4 Computer Science Control/Robotics Research Laboratory Brooklyn NY USA Bernoulli Optical Systems Company Danbury CT USA Control/Robotics Research Laboratory (CRRL) School of Electrical Engineering 4 Computer Science University of California Brooklyn NY USA

Utilization of inertial actuators, such as torque wheels, for vibration damping of a single-link flexible manipulator is considered. The torque wheel is mounted at the end effector of the manipulator to provide a bending moment at the tip for vibration suppression and pointing purposes. The torque exerted by the torque wheel at the end-effector of the manipulator is achieved through controlling the velocity of the torque wheel. A decentralized control scheme is advocated in this paper for slewing and vibration suppression. The local loop around the torque wheel is closed through feedback of the accelerometer signal at the tip. Experimental results are provided to show the effectiveness of the proposed method for end-effector positioning of flexible-link manipulators. Although the experimental results reported are for a single-link flexible manipulator, the results are applicable to the multi-link case. It may be shown that the dynamics from the voltage input to the torque wheel mounted at the tip to the tip position is minimum phase and hence invertible given that an inner-loop controller has been applied to stabilize the rigid-body motion.< >

关键词： Wheels Damping Torque control Manipulator dynamics Actuators End effectors Velocity control Distributed control Vibration control Feedback loop

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Using Laplace transforms to compute performance of mobile radio links

Using Laplace transforms to compute performance of mobile ra...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： R.F. Diesta J.-P.M.G. Linnartz Department of Electrical Engineering and Computer Sciences Cory Hall University of California Berkeley CA USA Telecommunications and Traffic Control Systems Delft University of Technnology Delft Netherlands

This paper reviews progress in developing a mathematical framework to evaluate the performance of mobile radio links. It takes into account multi-ray multipath fading with Rician or Nakagami probability density, lognormal shadowing and path loss of wanted and interfering transmitters, additive white Gaussian noise, man-made burst noise and discontinuous transmission. The method uses Laplace transforms of the PDF of the power of each interfering signal. This method is computationally efficient and allows inclusion of a wide range of link aspects. We also show that, in contrast to common belief, it is not realistic to approximate the Rician fading of the wanted signal by a Nakagami model. New results are given for microcells along highways.

关键词： Land mobile radio Rician channels Additive white noise Fading Shadow mapping Propagation losses Radio transmitters Gaussian noise Microcell networks Road transportation

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Automatic Derivation of World Update Schemes 2

Automatic Derivation of World Update Schemes

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2nd International Conference on Artificial Intelligence Planning systems, AIPS 1994

作者： Downs, Joseph Reichgelt, Han Shadbolt, Nigel Department of Automatic Control and Systems Engineering University of Sheffield SheffieldSI 4DU United Kingdom Subdepartment of Computer Science Department of Mathematics University of the West Indies Kingston 7 Mona Jamaica Artificial Intelligence Group Department of Psychology University of Nottingham NottinghamNG7 2RD United Kingdom

ISBN: (纸本)0929280563

Al planning systems must be able to update their internal model of the domain in order to determine the effects of a possible action. The most widely used update method is the STRIPS operator. STRIPS operators are extremely effìcient. However, the use of STRIPS operators requires that one specify all the consequences of an action beforehand. This becomes almost impossible for complex domains. Work by Pednault (1989) and Wilkins (1988) overcomes the problems associated with ordinary STRIPS operators by enhancing them with context-dependent effects and demons respectively. In this paper we describe a modelling procedure which can incorporate both these features. Moreover, the update method is automatically derived from an axiomatisation of the domain in temporal calculus. This allows the system designer great flexibility in choosing the trade-off point between representational expressivity against computational speed. Copyright © 1994, AAAI (***). All rights reserved.

关键词： Economic and social effects

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Packet-switched cellular communication architecture for IVHS using a single radio channel

Packet-switched cellular communication architecture for IVHS...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： J.-P.M.G. Linnartz Telecommunication&Traffic Control Systems Delft University슠of슠Technology Delft Netherlands Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

This paper proposes a radio architecture that offers two-way transmission services essential to intelligent vehicle highway systems (IVHS) using only a single (30 kHz) radio channel. Within this bandwidth multiple communication services can be supported, including datacasting, packet switched transmission to and from vehicles, collection of traffic data from probe vehicles and transmission of emergency messages. The design is based on theoretical investigations reported at PIMRC '93 and VTC '94 on packet-switched downlink transmissions and ALOHA random access for traffic reports from probe vehicles, respectively. These analyses revealed that contiguous frequency reuse gives optimum packet delay and highest spectrum efficiency. New results are included for datacasting messages to groups of vehicles.

关键词： Data communication Broadcasting Probes Intelligent vehicles Road transportation Bandwidth Packet switching Communication switching Downlink Frequency

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H/sub /spl infin// control and estimation problems with delayed measurements: state space solutions

H/sub /spl infin// control and estimation problems with dela...

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American control Conference (ACC)

作者： K.M. Nagpal R. Ravi Electrical & Computer Engineering Department University of Iowa Iowa IA USA GE Cor rate Research & Development Control Systems and Electronic Technologies Laboratory Schenectady NY USA

Necessary and sufficient conditions for existence of estimators and controllers meeting desired H/sub /spl infin// performance criterion are given for the case where the finite sensor delays exist. A complete characterization of such controllers is also presented. The necessary and sufficient conditions are computable and are framed in terms of two algebraic Riccati equations and one finite-horizon Riccati differential equation. The controllers and estimators that are obtained here have a linear periodic structure and are easily implementable. At the foundation of these results lies a modified Nehari problem, the state space solution for which may be of independent interest.

关键词： Delay estimation State estimation State-space methods Riccati equations Sufficient conditions Differential equations control systems Sensor phenomena and characterization Differential algebraic equations Periodic structures

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Juggling control using neural oscillators

Juggling control using neural oscillators

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Miyakoshi M. Yamakita K. Furuta Department of Systems Science Tokyo Institute of Technology Okayama Tokyo Japan Department of Information and Computer Sciences Toyohashi University of Technology Toyohashi Japan Department of Control and Systems Engineering Tokyo Institute of Technology Okayama Tokyo Japan

In this paper we discuss pattern generations and switching for robot manipulators to perform tasks under qualitative changes of the dynamic environment. The approach is to compose continuous type artificial neural elements as an oscillator based on mutual entrainment and generate trajectories for the manipulators. Using the neural oscillator, juggling control of manipulators is considered as a concrete task, and a method to alternate patterns of the trajectories according to the change of the desired value and environment is proposed. Some numerical examples show the efficiency of the proposed method.< >

关键词： Oscillators Legged locomotion Manipulator dynamics control systems Kinetic energy Service robots Nonlinear equations Switches Robotics and automation systems engineering and theory

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ERROR PERFORMANCE OF SYNCHRONOUS MULTIUSER CODE-DIVISION MULTIPLE-ACCESS DETECTOR WITH MULTIDIMENSIONAL ADAPTIVE CANCELER

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EUROPEAN TRANSACTIONS ON TELECOMMUNICATIONS 1994年第6期5卷 719-724页

作者： SIVESKI, Z BARNESS, Y CHEN, DW Center for Communications and Signal Processing Electrical and Computer Engineering Department New Jersey Institute of Technology University Heights Newark NJ 07102 - USA Was on sabbatical with Delft University of Technology Faculty of Electrical Engineering Telecommunications and Traffic-Control Systems Group Delft - The Netherlands.

A code division multiple access detector that employs a combination of a decorrelator and a multidimensional interference canceler is considered. The weights of the canceler are adaptively controlled using a steepest descent algorithm. The probability of error is evaluated and compared to those of the decorrelating detector and a similar, fixed-weights scheme that requires an estimation of received signal energies. It is shown that the proposed two-stage detector provides substantial improvement over the decorrelating detector, particularly in the presence of strong interfering signals. This is especially noticeable in the high bandwidth efficiency cases. It is also observed that in the presence of weak interferers, the proposed scheme performs better than its fixed-weights counterpart.

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Bootstrapped decorrelating algorithm for adaptive interference cancelation in synchronous CDMA communications systems

Bootstrapped decorrelating algorithm for adaptive interferen...

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IEEE International Symposium on Spread Spectrum Techniques and Applications

作者： Y. Bar-Ness Z. Siveski D.W. Chen Faculty of Electrical Engineering Telecommunications and Traffic-Control Systems Group Delft University of Technnology Delft Netherlands Center for Communications and Signal Processing Electrical and Computer Engineering Department New Jersey Institute of Technology Newark NJ USA

A code division multiple access detector that employs a combination of a correlation detector and a multiuser adaptive interference canceler was previously proposed by the authors. The weights of the canceler are adaptively controlled by the steepest descent algorithm using the minimum power criterion of the canceler outputs. It was shown that such a canceler substantially outperforms the decorrelating detector and has almost the same error probability as a canceler that uses reliable estimates of the received signal energies. In this paper, a different weight control criterion based on minimizing the correlation between the signals at the outputs of the canceler is used, and its performance is compared to that obtained with the minimum power criterion. It is shown that both cancelers have almost the same performance, particularly when SNR is modestly high. Although it is not shown in this paper, we believe that minimizing correlation rather than power outputs is a more suitable criterion when dealing with highly dispersive channels.< >

关键词： Decorrelation Interference cancellation Code division multiplexing Multiaccess communication Detectors Signal processing algorithms Filters Impedance matching Communication system traffic Telecommunication traffic

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Error performance of the blind decision feedback equalizer using decorrelation

Error performance of the blind decision feedback equalizer u...

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MILCOM, Military Communications Conference

作者： R.E. Kamel Y. Bar-Ness Center for Communications and Signal Processing Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA Telecommunications & Traffic-Control Systems Group Delft University of Technnology Delft Netherlands

The decision feedback equalizer has the advantage of compensating for channel amplitude distortion without enhancing noise. Conventional decision feedback equalizers require a training sequence to help them adapt to unknown channel characteristics. Training sequences are not always appropriate. In such situations blind equalizers are more suitable. The blind decision feedback equalizer inherits from the conventional the advantage of not enhancing noise, while compensating for severe ISI. It is thus superior over the blind linear equalizer. On the other hand the blind decision feedback equalizer also suffers from error propagation. In this paper we study the transient behavior of the blind DFE. This is done by deriving an upper bound on the probability of error due to residual ISI and show that it vanishes for the noiseless case. We also determine lower and upper bounds on the probability of error for the additive white Gaussian noise case. The upper bound obtained is the same as that of Duttweiler, et al. (1974). Using a different approach from that of Duttweiler, et al., we derive a lower bound. This bound is tighter than tile "no ISI" lower bound.< >

关键词： Decision feedback equalizers Decorrelation Upper bound Blind equalizers Intersymbol interference Additive white noise Steady-state Convergence Gaussian noise AWGN

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A new discrete-time algorithm for simple adaptive control and its application to motor control

A new discrete-time algorithm for simple adaptive control an...

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International Conference on Industrial Electronics, control and Instrumentation

作者： H. Shibata G. Maruoka K. Yasaki B. Zhang Department of Computer and Systems Sciences College of Engineering University of Osaka Prefecture Osaka Osaka Japan OE Control Technology Research & Development Center Institute of Optics and Electronics Chinese Academy and Sciences Chengdu China

A discrete-time algorithm for simple adaptive control (SAG) was proposed by Shibata and Kurebayashi (1993). The algorithm solves the problem of additional time delay arising in discretization of continuous-time algorithm, and therefore becomes reliable in theoretical strictness. This paper applies the algorithm to the position control of a DC motor with variable load, Experimental results illustrate satisfactory performance even if the load is largely changed.< >

关键词： Adaptive control Motor drives control systems Sampling methods Programmable control Stability Application software Delay effects Position control DC motors

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