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Characterization of Singular Controls for Nonholonomic Path Planning

IFAC Proceedings Volumes 1996年第1期29卷 2460-2465页

作者： Dan O. Popa John T. Wen Center for Advanced Technology in Automation Robotics and Manufacturing Dept. of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180

A class of Iterative algorithms have been proposed in recent years for the nonholonomic motion planning problem. The convergence of these algorithms predicates on the control signal in each iteration be "nonsingular". At the present, the singularity structure is only identified for the unicycle and front-wheel-drive car kinematic models. In this paper, we extend the consideration to all systems reducible to one-chain form, which include unicycle, car, as well as any N-trailer system. In particular, we show that a control is singular if and only if the first control variable is identically zero. We also identified all singular controls for the ball rolling on a plate problem. which is not reducible to the one-chain form.

关键词： Nonholonomic motion planning Nonholonomic systems Path Planning Gradient algorithms Singular Controls

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Neural modeling of piecewise linear classifiers

Neural modeling of piecewise linear classifiers

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13th International Conference on Pattern Recognition, ICPR 1996

作者： Vriesenga, Mark Sklansky, Jack GDE Systems Inc. 16250 Technology Drive San Diego CA 92127 United States Dept. of Electrical and Computer Engineering University of California Irvine CA 92715 United States

ISBN: (纸本)081867282X

We show that every piecewise linear classifier can be constructed as a three-layer network of linear decision functions. We define neural modeling as the replacement and subsequent training of each of these linear decision functions by a formal neuron with a differentiable activation function. We show that neural modeling of a piecewise linear classifier provides a means of combining the economy of design of piecewise linear classifiers with the good generalizing ability and low error rates of well designed neural classifiers. We show that globally optimized neural classifiers can be obtained from neural modeling of genetically designed piecewise linear classifiers. We describe applications of these techniques to an artificial data set and to a detector of lines and edges in a noisy aerial image. © 1996 IEEE.

关键词： Neural networks

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Novel high-speed architecture for machine vision applications

Novel high-speed architecture for machine vision application...

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Machine Vision Applications, Architectures, and systems Integration V

作者： Farroha, Bassam S. Deshmukh, R.G. Astronaut Memorial Space Science Center BCC P.O. Box 1274 Melbourne FL 32902 United States Electrical and Computer Engineering Dept. Florida Institute of Technology 150 W. University Blvd. Melbourne FL 32901 United States

This paper focuses on producing a state-of-the-art technique for designing an image recognition system for machine vision applications. The motivation behind the new system design is to provide a unique methodology, using strategic design techniques, to implement a system that addresses real-world image recognition applications. The introduction of application-specific, massively parallel array of processors, where low-level processing is accomplished on reconfigurable hardware structures, highlights the scheme. The system was built and simulated on a VLSI chip and results were verified using Electric Rules Check and Harris Timing Analysis examination tools. The system is composed of there functional layers and a main control unit. The top two layers are used for image loading and manipulation and the third layer is used for processing the pixel values. Each layer has a local control unit, while the main control unit oversees the operations of the whole system and synchronizes the processes. A CAD designer tool was implemented to facilitate the design and reconfiguration f the low-level processing elements. This tool has a modular library of processing elements and a logic verification algorithm. The current architecture of the chip was built to accommodate a 64 by 64 array with unlimited stackable characteristics to handle larger images. This paper will present the top level design layers, the distributed control, and demonstrate that the proposed system is image complexity invariant. The massively parallel approach of transferring data and control signals and the processing of image data is presented. The system takes into consideration cost, size, speed,and reliability needs of today's applications. ©2005 Copyright SPIE - The International Society for Optical engineering.

关键词： computer vision

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A flexible decision method for transmission system expansion planning considering power interruption cost

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electrical engineering IN JAPAN 1996年第4期117卷 10-18页

作者： Yamashiro, S Kinoshita, H Nakamura, K Kimura, M Fukushima, T Kitami Institute of Technology Hokkaido Electric Power Co. [?]Graduated in 1963 from Hokkaido University Electrical Eng. Dept. and in 1967 received his Ph.D. degree. In 1971 he was an Assistant Professor at Kitami Institute of Technology where he was promoted to Professor in 1976. Since 1989 he has been Head of Information Processing Center. He is engaged in R&D in power systems engineering. He is a member of IEEE Information Processing Society of Japan Japan Solar Energy Society and the Thermal and Nuclear Power Engineering Society of Japan.

Under the current deregulation of the electric utility industry, power system planning has become more complex. System planners are required to study how to use available resources to meet customer's demand economically with acceptable reliability and quality. Integrated resource planning has emerged recently as one effective approach for this problem, and the approach has been expanded to include the value of reliability, that is, power interruption cost. This paper is aimed at developing a flexible decision method to select a favorable plan among various transmission system expansion alternatives, not only from a power supplier's viewpoint, but also from the customer's perspective, including cost of interruption. Bellman-Zadeh's maximizing decision using a fuzzy decision set is applied as a flexible decision method which is able to reflect the planner's intentions. Numerical examples are given to ascertain the effectiveness of the proposed method.

关键词： power system planning interruption cost supply reliability fuzzy set theory integrated resource planning

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Reporting bulk power system delivery point reliability

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IEEE TRANSACTIONS ON POWER systems 1996年第3期11卷 1262-1267页

作者： Weber, E Adler, B Agarwal, S Allan, R Bhavaraju, M Billinton, R Blanchard, M DAquanni, R Ellis, R Endrenyi, J Garrison, D Grigg, C Luehmann, M Odom, J Preston, G Rau, N Reppen, N Salvaderi, L Schilling, M Schneider, AW Vojdani, A White, T Division of System Studies Western Area Power Administration Billings MT Reliability and Performance PECO Energy Company Philadelphia PA Electrical Energy Systems UMIST Manchester UK General Reliability CA Public Service Electric and Gas Company Newark NJ Esearch and Extension University of Saskatchewan Saskatoon SAS Canada IREQ (Hydro-Quebec) Varennes Canada Applied Resources Group Inc. Brookline MA Power System Operations Bonneville Power Administration Vancouver WA Ontario Hydro Technologies Toronto ONT Canada Duke Power Company Charlotte NC Department of Electrical and Computer Engineering Rose-Hulman Institute of Technology Terre Haute IN Consumers Power Company Jackson MI Florida Power Corp. Saint Petersburg FL Utility Dept. City of Austin Elect. Austin TX Utility Planner National Renewable Energy Laboratory Golden CO Power Technologies Inc. Schenectady NY ENEL-Planning Dept. Rome Italy Universidade Federal Fluminense Brazil MAIN Coordination Center Lombard IL Electrical Systems EPRI Palo Alto CA MAPP Coordination Center Minneapolis MN

This paper is part of an ongoing activity of the IEEE Application of Probability Methods Subcommittee to advance the probabilistic methods used to analyze Bulk Power System (BPS) reliability. The objective of the Task Force is to develop a set of guidelines for measuring delivery point reliability. This involves reviewing published literature and other documentation of existing procedures, definitions, and indices. This report presents the results of the Task Force efforts to compile a useful set of terms and procedures for consistent reporting of BPS delivery point reliability.

关键词： Power system reliability Guidelines Power system measurements Power measurement Power system analysis computing Force measurement Power system planning Power system security Power system transients Power system harmonics

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MAGNETIC FIELD AND ITS ERROR DISTRIBUTION PREDICTED BY INVERSE-FORWARD ANALYSIS

MAGNETIC FIELD AND ITS ERROR DISTRIBUTION PREDICTED BY INVER...

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1996 ROMA International Symposium on Electromagnetic Compatibility, EMC 1996

作者： Hayashi, Shose Masuda, Koichiro Hatakeyama, Ken-Ichi Shu, Eimei Scientific & Engineering Analysis Dept. NEC Informatec Systems Ltd. KSP R&D Bldg. 2-1Sakado 3-ChomeTakatsu Ku Kawasaki Kanagawa213 Japan EMC Engeering Center Resources & Environment Protection Research Labs NEC Corporation 1-1.Miyazaki 4-ChomeMiyamae Ku Kanagawa Kawasaki216 Japan Dept. of Electrical Engineering Faculty of Science & Technology Science University of Tokyo 2641 Yamazaki Chiba-ken Noda-shi278 Japan

ISBN: (纸本)9798331500009

Ifnear magnetic fields measured around a metallic plane are given, by utilizing inverse analysis such as the maximum likelihood estirnationfMl.E), surface current distribution on the metallic plane can be estimated. Using this estimated surface current distribution, magnetic fields can be predicted by forward analysis directly. However, the estimated surface current usually contains the error due to measurement error and the coefficient matrix defined by the measurement grid and the surface scheme. Such estimation error distribution will yield the predicted error distribution when magnetic fields are predicted. A model source is set up and the magnetic fields around a specific plane of this model were measured. The surface current distribution and its estimation error distribution were calculated. Then the magnetic fields and its prediction errors at about 3.0m from the plane were calculated. The analyzed results of this experimental example showed that if the magnitudes of the measurement error are smaller than those of the maximum measured magnetic field by a factor of 10-1, then the maximum magnitudes of the prediction error will be smaller than those of the predicted magnetic fields by a factor of 1/6. Therefore, if accurate magnetic fields at the designated distances are to be req uired, the prediction error has to be considered. © 1996 IEEE. All rights reserved.

关键词： Inverse problems

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Test processor ASIC design

Test processor ASIC design

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IEEE International Conference on Semiconductor Electronics (ICSE)

作者： L. Ali Z.M. Darus M.A.M. Ali I. Ahmed Dept. of Electr. Electron. & Syst. Eng. Univ. Kebangsaan Malaysia Department of Electrical Electronic and Systems Engineering Universiti Kebangsaan Malaysia Malaysia Faculty of Computer Science and Information Technology University of Malaya Malaysia

In this paper, a design of a test processor ASIC employing a probabilistic approach is presented. The test processor chip is computer programmable. It consists of linear feedback shift register (LFSR) which can select one of 16 polynomials and set user programmable need for every test set, signature analyzer and 3 built-in RAMs and other control circuitry. It is capable of generating random numbers and applying them to the circuit under test (CUT) and then retrieve the responses from the CUT. It can generate a signature by compressing the response data and detect circuit faults by comparing this signature with that of a good CUT. This ASIC can be used to design a low cost IC tester of reliable performance.

关键词： Application specific integrated circuits Process design Circuit testing Linear feedback shift registers Polynomials Linear feedback control systems Feedback circuits Random number generation electrical fault detection Fault detection

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Kerr electro-optic measurement technique for determination of nonuniform electric fields

Kerr electro-optic measurement technique for determination o...

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International Conference on Conduction and Breakdown in Dielectric Liquids

作者： A. Ustundag T.J. Gung M. Zahn Dept. of Electr. Eng. & Comput. Sci. MIT Cambridge MA USA Department of Electrical Engineering and Computer Science Labomtoy for Electromagnetic and Electronic Systems Massachusetts Institute of Technology Cambridge MA USA Massachusetts Institute of Technology Cambridge MA US

Use of the ac modulation technique which has an ac high voltage superposed onto a dc high voltage has increased the sensitivity of Kerr electro-optic measurements. The technique has been used when the electric field magnitude and direction have been constant along the light path. Recently the technique was extended with use of the Abel transformation to recover the non-uniform axisymmetric electric field magnitude along the ground plane and along the needle axis of a point/plane electrode geometry. In these measurements the direction of light propagation is constant along the light path. The experimental results were in good agreement with analysis for the space charge free case. In this work we extend the technique to also allow the electric field direction to vary along the light path. We show that it is possible to measure three "characteristic parameters", analogous to non-uniform photo-elastic stress analysis, that allow determination of the electric field magnitude and direction. These three parameters are related to the electric field through the matricant of the differential equations that govern the Kerr media and reduce to the electric field direction and light phase retardation proportional to the electric magnitude squared for the case where the electric field direction is constant.

关键词： Measurement techniques Voltage Electric fields Nonuniform electric fields Electrooptic modulators Needles Electrodes Geometry Optical propagation Space charge

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The Stability Analysis of Sampled-Data systems with Averaging Samplers and Time Delays

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IFAC Proceedings Volumes 1996年第1期29卷 4132-4137页

作者： Roy S. Smith Peter Blixt Electrical & Computer Engineering Dept. University of California Santa Barbara CA 93106 USA. +1 805 898-2967 Ericsson Components AB Optical System Solutions & Components Microelectronic Systems Technology Isafjordsgatan 16 S-164 81 Kista-Stockholm Sweden +46 8 404 61 42.

An exact analysis of the stability of a sampled-data feedback loop, involving all averaging sampler and continuous-time delays, is presented. An equivalent discrete-time model is derived and it is shown that the continuous-time behaviour at frequencies greater than the sample frequency can significantly affect the system stability, leading to counterintuitive analysis results. An optical fiber link synchronization application is studied with these methods. It is shown that the gain margin of the system increases with the addition of a small continuous-time delay and this effect is predicted only by the sampled-data approach.

关键词： Sampled-data systems Sampling elements Stability robustness Delay elements

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Polymer current limiters: Affordable protection for the Navy's electrical and electronic components

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NAVAL ENGINEERS JOURNAL 1996年第4期108卷 31-34页

作者： Singer, C Dougal, R Duggal, A Palmer, K University of Maryland Electrical Systems Division Propuls. and Auxiliaries Syst. Dept. Naval Surface Warfare Center Annapolis MD United States Texas Tech. University Dept. of Elec. and Comp. Engineering University of South Carolina Massachusetts Inst. of Technology Gen. Elec. Corp. R. and D. Center Carnegie Mellon University Westinghouse Elec. Corp.'s Sci. T.

electrical equipment aboard Navy ships is currently protected by current Limiting fuses which provide reliable protection against high fault currents. Fuses, however, must be replaced after each fault event. While individual fuses are relatively inexpensive, the aggregate costs of replacing large numbers of them lie in the millions of dollars. Furthermore, the manpower and time required to replace blown fuses are also expensive. This has led us to investigate the use of modern current limiting elements to replace fuses. In the past, the excessive cost, size and weight of current limiters prohibited their widespread use. New studies show that the emerging polymer current limiter (PCL) technology will effectively limit fault currents while reducing life cycle costs. This advantage arises because of the self-resetting capability and inexpensive procurement costs characteristic of PCLs. The protection performance and the cost advantages of polymer current limiters are described here in the context of use with distribution and load equipment. We also outline the operating mechanism of PCLs and strategies for using PCLs to improve coordination between circuit breakers. Finally, an application of PCLs as protection for solid-state devices such as Silicon Controlled Rectifiers (SCR) and MOS Controlled Thyristors (MCT) is considered.

关键词： Limiters

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