Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain w...
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In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain why adaptive controllers can perform robustly in certain practical situations, while possibly failing in other situations. In particular, if the bandwidth constraints on a controlsystems are lenient enough to allow the use of a sampling frequency which is smaller than the frequency at which unstructured uncertainty becomes significant, an adaptive controller can behave robustly. Many, if not all, of the applications of adaptive control which have been successful employ relatively slow sampling of the process. Thus, the results of this paper provide a theoretical explanation of how certain adaptive controllers are performing robustly in practice. In addition, the final theorem is of a form which provides insight into what a priori knowledge is required to achieve robust adaptive control and how this knowledge say be used.
This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. A finite number system...
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This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. In computer arithmetic...
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This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. In computer arithmetic we are concerned with establishing a correspondence between abstract quantities (numbers) and some physical representation (symbols), and with simulating the operations on these symbols. The ADS is intended to help study the cost and performance of alternate simulations. A finite number system is a triple consisting of a symbol set (elements are called "digit-vectors"), an interpretation set, a mapping between these two sets, and a set of operators (digit-vector algorithms) defined on its symbol set. A set of these digit vector algorithms are proposed for conducting arithmetic design. A number system matrix defines the digit vector algorithm for numerous number systems and a method for computing time and space complexity of compositions of these algorithms is proposed. An example of how the system could be used to compare addition, with and without overflow detection, for three number systems is given.
作者:
Atkins, Daniel E.Ong, Shau-ChiProgram in Computer
Information and Control Engineering the Systems Engineering Laboratory of the Department of Electrical and Computer Engineering University of Michigan Ann Arbor MI 48109 United States
Component and time complexity measures in terms of number of gates and gate delays, respectively, are derived for two multioperand adder structures: a tree of carry-save adders and a tree of carry-lookahead adders. Th...
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作者:
Atkins, D.E.Program in Computer
Information and Control Engineering Systems Engineering Laboratory Department of Electrical and Computer Engineering University of Michigan Ann ArborMI48109 United States
An approach to the topic of computer arithmetic is suggested which may have a particular conceptual, pedagodical, and practical appeal to the designer of multiple-valued logic processors. computer arithmetic deals wit...
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This paper presents the results of one phase of a study concerning methods for addition of P>;2 numbers, each encoded as a vector of digits (digit vector) of length N. Such multi-operand addition has been studied m...
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This paper presents the results of one phase of a study concerning methods for addition of P>;2 numbers, each encoded as a vector of digits (digit vector) of length N. Such multi-operand addition has been studied most often in the context of reducing a set of partial products to a single result in the implementation of multiplication. More generalized multi-operand addition, most notably in the form of inner product calculations is, however, central to numerous scientific applications of digital computers. Although multi-operand addition is trivially accomplished by accumulation (iteration in time) in any general purpose machine, demands for very high-speed computation, typified by 2- and 3-D signal processing prompt implementation of dedicated, hardware-intensive structures for multi-operand addition. This study, for example, is motivated in part by requirements for rapid simultaneous addition of up to 100, 16-bit operands in the design of a dedicated processor for real-time reconstruction of 3-D images of the beating heart and breathing lungs [1].
Lower bounds are given on the attainable mean-square performance in causally tracking the phase and frequency of a subcarrier that modulates an optical carrier in a direct-detection opticalcommunication system.
Lower bounds are given on the attainable mean-square performance in causally tracking the phase and frequency of a subcarrier that modulates an optical carrier in a direct-detection opticalcommunication system.
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