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3rd International Conference on Artificial Intelligence Planning systems, AIPS 1996

作者： Doan, AnHai Decision Systems and Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Wisconsin-Milwaukee MilwaukeeWI53201 United States

ISBN: (纸本)0929280970

Most existing decision-theoretic planners represent uncertainty about the state of the world with a precisely specified probability distribution over world states. This representation is not expressive enough to model many interesting classes of practical planning problems, and renders inapplicable some abstraction-based planning approaches. In this paper we propose as a remedy a more general world and action model with a well-founded semantics based on probability intervals. We introduce the concept of interval mass assigment. Unlike mass assignments, which assign a probability mass to each set of states, interval mass assignments assign a probability interval to each set of states and are more expressive. Interval mass assignments are interpreted as representing sets of probability distributions and are used in our framework to represent the uncertainty about the state of the world. Within this representation, we present a projection rule and a method for computing a plan's expected utility. We compare our approach with existing probability-interval approaches. We provide complexity results and empirical evidence which suggest evaluating plans (projecting plans and computing the expected utility) in our framework is efficient, and the action model is applicable in real-world planning domains. Copyright © 1996 AAAI (***). All rights reserved.

关键词： Probability distributions

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An Abstraction-Based Approach to Interleaving Planning and Execution in Partially-Observable Domains

An Abstraction-Based Approach to Interleaving Planning and E...

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1996 AAAI Fall Symposium

作者： Helwig, James Haddawy, Peter Decision Systems and Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Wisconsin-Milwaukee MilwaukeeWI53201 United States

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A design techique for the control of discrete-time systems subject to state and control constraints

A design techique for the control of discrete-time systems s...

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IEEE Conference on decision and control

作者： G. Bitsoris E. Gravalou Control. Systems Laboratory Electrical and Computer Engineering Department University of Patras Patras Greece

The regulation problem of linear discrete-time systems under state and control constraints is investigated. In the first part of the paper necessary and sufficient conditions for the existence of a solution to the constrained control problem are established. The constructive form of the proof of this result provides also a method for the derivation of a control law transferring to the origin any state belonging to a given set of initial states while respecting the state and control constraints. Then a design technique for the determination of a solution to the constrained control problem is developed. The proposed technique is based on the reduction of the constrained control problem to simple linear programming problems.

关键词： control systems Sufficient conditions Laboratories Ear Strain control Linear programming Vectors Constraint theory

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Robust internal-force based impedance control for coordinating manipulators-theory and experiments

Robust internal-force based impedance control for coordinati...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Department of Electrical and Computer Engineering Systems Control and Robotics Laboratory University of California Davis CA USA

A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal force-based impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. The scheme is computationally inexpensive and suitable for general-purpose microcomputer implementation. Rigorous experimental investigations are performed and the results presented which validate the proposed concepts.

关键词： Robust control Impedance Manipulator dynamics Force control Nonlinear dynamical systems Velocity control Robot kinematics Uncertainty Payloads Stability analysis

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Robust dual-arm manipulation of rigid objects via palm grasping-theory and experiments

Robust dual-arm manipulation of rigid objects via palm grasp...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Systems Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Los Angeles Davis CA USA

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. The controller uses sensed moments at the palm interface to maintain proper orientation of the palms to achieve maximum surface contact. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. Rigorous experimental investigations are are performed and the results presented which validate the proposed concepts.

关键词： Robustness Robot sensing systems Robot kinematics Impedance Force control Closed-form solution Minimization methods Manipulator dynamics Nonlinear dynamical systems Robust control

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Phase correction for coherent noise reduction in short-range radar measurements

Phase correction for coherent noise reduction in short-range...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： S.G. Beaven S.P. Gogineni P. Kanagaratnam Development Test & Evaluation Division Naval Command Control and Ocean Surveillance Center San Diego CA USA Radar Systems and Remote Sensing Laboratory Department of Electrical and Computer Engineering University of Kansas Lawrence KS USA

Short-range scatterometer systems are used to obtain radar backscatter signatures for understanding the interaction between electromagnetic energy and geophysical media in a number of remote sensing applications. Unlike long-range and intermediate-range radar systems, the sensitivity of short-range radars is not limited by thermal noise, but rather by reflections and leakage signals from the antenna and RF section. These leakage signals and their sidelobes are the primary sources of unwanted signals (coherent noise) in short-range FM radar systems. The authors have employed coherent noise reduction techniques to reduce the effects of these unwanted signal sources. Reduction of these coherent noise sources is critical to obtaining accurate backscatter measurements from geophysical targets. Recent advances include the use of phase correction to overcome limitations due to drift of local oscillators and effects of temperature changes on the system. The authors present results from the standard and phase-corrected coherent noise reduction techniques. These techniques increased the dynamic range of field and laboratory measurements of radar backscatter from sea ice and allows the authors to use data from past experiments that had previously been discarded due to low signal-to-noise ratio.

关键词： Noise reduction Radar antennas Radar remote sensing Backscatter Radar measurements Geophysical measurements Sea measurements Radar applications Radar scattering Electromagnetic scattering

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Visibility analysis on a massively data-parallel computer

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Concurrency and Computation: Practice and Experience 1996年第6期8卷

作者： Daniel Germain Denis Laurendeau Guy Vézina Computer Vision and Systems Laboratory Electrical Engineering Department Université Laval Ste-Foy Québec Canada G1K 7P4 Command and Control and Information Sytems Division Defence Research Establishment Valcartier PO Box 8800 Courcelette Québec Canada G0A 1R0

Visibility analysis algorithms use digital elevation models (DEMs), which represent terrain topography, to determine visibility at each point on the terrain from a given location in space. This analysis can be computationally very demanding, particularly when manipulating high resolution DEMs accurately at interactive response rates. Massively data-parallel computers offer high computing capabilities and are very well-suited to handling and processing large regular spatial data structures. In the paper, the authors present a new scanline-based data-parallel algorithm for visibility analysis. Results from an implementation onto a MasPar massively data-parallel SIMD computer are also presented.

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POSITIVE REALNESS PRESERVING MODEL-REDUCTION WITH H-INFINITY NORM ERROR-BOUNDS

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IEEE TRANSACTIONS ON CIRCUITS AND systems I-FUNDAMENTAL THEORY AND APPLICATIONS 1995年第1期42卷 23-29页

作者： CHEN, X WEN, JT Control Laboratory for Mechanical Structures Department of ElectricalComputerand Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Many physical systems that occur in applications are naturally passive, for example, mechanical systems with dual sensors and actuators, and electrical circuits with passive components. Taking advantage of this property, many controller schemes have been proposed with the property that the controller is strictly positive real. Due to design and implementation considerations, the plant or the controller may need to be approximated by a lower-order system. It is highly desirable for the reduced-order system to also possess the positive realness property to guarantee that the resulting closed-loop system remains stable. Motivated by this problem, this paper considers the general model-reduction problem for a positive real system under the constraint that the reduced system is also positive real. We present a solution based on the balanced stochastic truncation. When the higher-order system is strictly positive real, we derive an H(infinity) norm bound on the approximation error. We also consider alternate approaches of approximating the spectral factors with associated H(infinity) norm error bounds. An example is included to show the efficacy of this method and comparison with other approaches.

关键词： Reduced order systems Mechanical sensors Actuators Stochastic processes Binary search trees Sensor systems and applications Circuits control systems Approximation error Riccati equations

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REAL-TIME FEEDBACK FOR SIDEWALL PROFILE control IN REACTIVE ION ETCHING

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JOURNAL OF VACUUM SCIENCE & TECHNOLOGY A-VACUUM SURFACES AND FILMS 1995年第3期13卷 1792-1796页

作者： RASHAP, B FREUDENBERG, J ELTA, M Electronics Manufacturing and Control Systems Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor Michigan 48109&#x2010 2122|c|

Reactive ion etching is an important process in the fabrication of microelectronic devices. This article reports on work in progress towards developing a strategy for controlling sidewall profile during this process. ... 详细信息

关键词： Reactive ion etching

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Genetic algorithms-based identification

Genetic algorithms-based identification

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IEEE International Conference on systems, Man and Cybernetics

作者： Songwu Lu T. Basar Decision and Control Laboratory Coordinated Science Laboratory and the Department of Electrical and Computer Engineering University of Illinois Urbana IL USA

We study genetic algorithms (GAs)-based identification for nonlinear systems in the presence of unknown driving noise, using both feedforward multilayer neural network models and radial basis function network models. Under perfect state measurements, we first show that a standard GA-based estimation scheme, in its full potential, even though leading to a satisfactory model for state estimation, may generally not yield a sufficiently accurate system model, i.e. the parameter estimates do not secure a good approximant for the system nonlinearity. We then introduce a new approach that utilizes a robust identification scheme, which leads to a good approximation of the nonlinearity in the system. Several numerical and simulation studies included in the paper demonstrate the effective use of GAs in this framework, in searching for the parameter values that lead to the "best" finite-dimensional approximation of the nonlinearities in the system dynamics.

关键词： State estimation Multi-layer neural network Yield estimation Genetic algorithms Nonlinear systems Neural networks Feedforward neural networks Radial basis function networks Measurement standards Parameter estimation

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