This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV)-with a fixed baseline body configuration-that is required to operate over a fi...
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This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV)-with a fixed baseline body configuration-that is required to operate over a finite number of representative trimming conditions in the vertical plane, determine the optimal size of the bow and stern control surfaces so that a weighted average J of the power required at trimming is minimized, subject to the conditions that: (i) a given set of open loop requirements are met, and (ii) stabilizing feedback controllers can be designed to meet desired time and frequency closed loop performance requirements about each trimming point. The solution proposed is rooted in the theory of linear matrix inequalities (LMIs) and leads to efficient PCO algorithms that build on a recently released LMI Toolbox.
Sensory based control, particulary vision based control has become quite important in autonomous vehicle applications. For certain simple control tasks, as for exmnple light source position detection and tracking, vis...
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Sensory based control, particulary vision based control has become quite important in autonomous vehicle applications. For certain simple control tasks, as for exmnple light source position detection and tracking, vision based control using video cameras is rather complicated. The paper describes simple vision sensor called "fuzzy eye" which is quite appropriate for such control tasks. The fuzzy eye principles, the control algorithm and the experimental setup are described as well.
We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we inve...
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We present the results of an empirical study in which we evaluated cost-sensitive learning algorithms on a rooftop detection task, which is one level of processing in a building detection system. Specifically, we investigated how well machine learning methods generalized to unseen images that differed in location and in aspect. For the purpose of comparison, we included in our evaluation a handcrafted linear classifier, which is the selection heuristic currently used in the building detection system. ROC analysis showed that, when generalizing to unseen images that differed in location and aspect, a naive Bayesian classifier outperformed nearest neighbor and the handcrafted solution.
This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV) - with a fixed baseline body configuration - that is required to operate over ...
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This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV) - with a fixed baseline body configuration - that is required to operate over a finite number of representative trimming conditions in the vertical plane, determine the optimal size of the bow and stern control surfaces so that a weighted average J of the power required at trimming is minimized, subject to the conditions that: i) a given set of open loop requirements are met, and ii) stabilizing feedback controllers can be designed to meet desired time and frequency closed loop performance requirements about each trimming point. The solution proposed is rooted in the theory of Linear Matrix Inequalities (LMIs) and leads to efficient PCO algorithms that build on a recently released LMI Toolbox.
The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem usin...
The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem usin...
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The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem using the variational method. Two iteration schemes are developed to find the optimum solution in the normal and degenerated cases. Numerical results have indicated that a significant reduction in link weight can be achieved by the proposed method. For example, for a geometrically similar cross section and a specified fundamental frequency ranging from 1 Hz to 10 Hz, the weight of an optimum link is 400% to 600% lighter than that of an uniform link. (C) 1997 John Wiley & Sons, Inc.
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring in...
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A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process
Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF ...
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Three degree of freedom planar mechanisms occur in nature and are fundamental to many robotic devices. This paper concerns the use of evaluation criteria, developed by the authors, to select the link lengths of 3 DOF planar manipulators and analyze their operational performance. The technique has wide application to the design of serial and parallel robots.
Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coor...
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Hybrid position/force control is not always stable by adjusting the control parameters. There may be unstable regions if position and force control are exerted simultaneously because of an inappropriate kinematic coordinate transformation in the feedback path. To realize hybrid control for redundant manipulators, we analyze system stability and develop an improved hybrid control scheme that ensures kinematically stable operation.
In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global err...
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In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global errors. These criteria provide a basis for performance evaluation and optimal design.
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