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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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A parallel debugger with support for distributed arrays, multiple executables and dynamic processes 6th

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6th International Conference on Compiler Construction, CC 1996

作者： Fritzson, Peter Wismüller, Roland Hansen, Olav Sala, Jonas Skov, Peter PELAB Dept. of Computer and Information Science Linköping University LinköpingS-581 83 Germany Department of Computer Science University of Technology MunichMünchenD-802 90 Germany Parsytec Gmbh Jülicher Strasse 338 AachenD-52070 Germany Parallel Systems Dalvägen 8 SolnaS-171 23 Sweden

ISBN: (纸本)9783540610533

In this paper we present the parallel debugger DETOP with special emphasis on new support for debugging of programs with distributed data structures such as arrays that have been partitioned over a number of processors. The new array visualizer within DETOP supports transparent browsing and visualization of distributed arrays which occur in languages such as High Performance Fortran. Visualization of sparse arrays is supported through an array mapper facility, as well as transparent visualization of arrays which have been partitioned by hand for applications in C or Fortran77. Color coding makes the visualization more expressive and easier to read. DETOP provides a graphical user interface that is simple to use even for inexperienced users and supports not only static data parallel programs, but also dynamic programs and parallel applications based on functional decomposition. The combination of support for applications that include dynamic process creation, multiple executables, processes and threads, and distributed data structures, makes DETOP rather unique among parallel debuggers. DETOP has been implemented for Parsytec PowerPC based multicomputers with Sparcstation frontends. Ongoing efforts include portable versions of DETOP for PVM and MPI run-time environments. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Visualization

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A stable neural network-based adaptive controller for robot manipulators

A stable neural network-based adaptive controller for robot ...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： F.Q. Sun Z.Q. Sun R.J. Zhang Dept. of Comput. Sci. & Eng. Tsinghua Univ. Beijing China National Laboratory of Intelligence Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

A stable neural network-based adaptive controller design for integrating a neural network (NN) approach with an adaptive implementation of the sliding mode control with the sector is presented in this paper for the trajectory tracking control of a robot with unknown nonlinear dynamics. The sliding mode control with the sector serves two purposes, one is to provide the global stability of the closed loop system when the system goes out of the control, the other is to improve the tracking performance within the NN approximation region. The system stability and tracking error convergence are proved using Lyapunov techniques that yield a NN weight tuning algorithm. Finally, the effectiveness of the proposed control approach is illustrated through simulation studies.

关键词： Neural networks Adaptive systems Programmable control Adaptive control Robot control Sliding mode control Stability Trajectory Nonlinear dynamical systems Closed loop systems

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Physical spaces, virtual places and social worlds: a study of work in the virtual 96

Physical spaces, virtual places and social worlds: a study o...

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Proceedings of the 1996 ACM conference on computer supported cooperative work

作者： Geraldine Fitzpatrick Simon Kaplan Tim Mansfield Dept. of Computer Science University of Queensland Queensland Australia 4072 Depts. of Computer Science University of Queensland & University of Illinois at Urbana-Champaign CRC for Distributed Systems Technology University of Queensland Queensland Australia 4072

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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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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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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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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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Benchmarking implementations of functional languages with 'Pseudoknot', a float-intensive benchmark

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Journal of Functional Programming 1996年第4期6卷 621-655页

作者： Hartel, Pieter H. Feeley, Marc Alt, Martin Augustsson, Lennart Baumann, Peter Beemster, Marcel Chailloux, Emmanuel Flood, Christine H. Grieskamp, Wolfgang Van Groningen, John H. G. Hammond, Kevin Hausman, Bogumil Ivory, Melody Y. Jones, Richard E. Kamperman, Jasper Lee, Peter Leroy, Xavier Lins, Rafael D. Loosemore, Sandra Röjemo, Niklas Serrano, Manuel Talpin, Jean-Pierre Thackray, Jon Thomas, Stephen Walters, Pum Weis, Pierre Wentworth, Peter Department of Computer Systems University of Amsterdam 1098 SJ Amsterdam Kruislaan 403 Netherlands Dept. d'Informatique et R.o. Université de Montréal Montréal Que. H3C 3J7 succursale centre-ville Canada Informatik Universität des Saarlandes 66041 Saarbrücken 11 Germany Department of Computer Systems Chalmers University of Technology 412 96 Göteborg Sweden Department of Computer Science University of Zurich 8057 Zurich Winterthurerstr. 190 Switzerland LIENS URA 1327 du CNRS Ecl. Normale Supérieure 75230 Paris Cédex 05 45 rue d'Ulm France Laboratory for Computer Science MIT Cambridge MA 02139 545 Technology Square United States Berlin University of Technology 10587 Berlin Franklinstr. 28-29 Germany Fac. of Math. and Computer Science Univ. of Nijmegen 6525 ED Nijmegen Toernooiveld 1 Netherlands Department of Computing Science Glasgow University Glasgow G12 8QQ 17 Ulybank Gardens United Kingdom Computer Science Lab. Box 1505 S-125 25 Älvsjö Sweden Computer Research Group Inst. for Sci. Computer Research Lawrence Livermore Natl. Laboratory Livermore CA 94550 P.O. Box 808 L-419 United States Department of Computer Science University of Kent at Canterbury Canterbury Kent CT2 7NF United Kingdom CWl 1098 SJ Amsterdam Kruislaan 413 Netherlands Department of Computer Science Carnegie Mellon University Pittsburgh PA 15213 5000 Forbes Avenue United States INRIA Rocquencourt Projet Cristal 78153 Le Chesnay B.P. 105 France Departamento de Informática Universidade Federal de Pernambuco Recife PE Brazil Department of Computer Science Yale University New Haven CT United States INRIA Rocquencourt Projet Icsla 78153 Le Chesnay B.P. 105 France Europ. Comp.-Indust. Research Centre D-81925 Munich Arabella Straße 17 Germany Harlequin Ltd. Barrington Hall Barrington Cambridge CB2 5RG United Kingdom Department of Computer Science University of Nottingham Nottingham NG7 2RD United Kingdom Department of Computer Science Rhodes University Grahamstown

Over 25 implementations of different functional languages are benchmarked using the same program, a floating-point intensive application taken from molecular biology. The principal aspects studied are compile time and execution time for the various implementations that were benchmarked. An important consideration is how the program can be modified and tuned to obtain maximal performance on each language implementation. With few exceptions, the compilers take a significant amount of time to compile this program, though most compilers were faster than the then current GNU C compiler (GCC version 2.5.8). Compilers that generate C or Lisp are often slower than those that generate native code directly: the cost of compiling the intermediate form is normally a large fraction of the total compilation time. There is no clear distinction between the runtime performance of eager and lazy implementations when appropriate annotations are used: lazy implementations have clearly come of age when it comes to implementing largely strict applications, such as the Pseudoknot program. The speed of C can be approached by some implementations, but to achieve this performance, special measures such as strictness annotations are required by non-strict implementations. The benchmark results have to be interpreted with care. Firstly, a benchmark based on a single program cannot cover a wide spectrum of 'typical' applications. Secondly, the compilers vary in the kind and level of optimisations offered, so the effort required to obtain an optimal version of the program is similarly varied.

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A parallel logic language for transaction specification in multidatabase systems

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Journal of systems Integration 1995年第3期5卷 219-252页

作者： Kühn, Eva Elmagarmid, Ahmed K. Leu, Yungho Boudriga, Noureddine Institute of Computer Languages University of Technology Vienna Vienna 1040 Argentinierstraße 8 Austria Indiana Center for Database Systems Purdue University Department of Computer Sciences West Lafayette 47907 IN United States CS Dept. School of Telecommunications University of Tunis II Ariana 2083 Tunisia

The realization of truly heterogeneous database systems is hampered by two principal obstacles. One is the unsuitability of traditional transaction models;this has led to the proposal of a number of new, advanced transaction models. The second is the lack of appropriate programming support for these advanced concepts. This paper addresses these two issues by pointing out the advantages of using a logic-based approach for the integration of autonomous software systems. © 1995 Kluwer Academic Publishers.

关键词： coordination languages heterogeneous transaction processing multidatabase systems parallel and distributed computing Prolog

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