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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Khorami S. Jain Sch. of Electr. Eng. & Comput. Sci. Polytech. Univ. Brooklyn NY USA Control/Robotics Research Laboratory School of Electrical Engineering & Computer Science Polytechnic University Brooklyn Park NY USA

Experimental results for end-point positioning of multilink flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed in the authors' Laboratory. The advocated approach is based on a two-stage control design. The first stage is an inner-loop nonlinear-based controller corresponding to the rigid body motion of the manipulator. The second stage is an outer control loop based on linear output LQR design. The outer-loop control design results in a nonconvex nonlinear optimization problem. A software package has been developed to solve this problem. The outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations. The measurement utilized for vibration suppression is through an accelerometer attached at the end point of the manipulator.< >

关键词： Control design Manipulator dynamics Vibration measurement Testing Motion control Design optimization Software packages Vibration control Damping Robust control

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FFG-61 PROTOTYPE DIGITAL TECHNICAL LIBRARY

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NAVAL ENGINEERS JOURNAL 1992年第2期104卷 58-68页

作者： VINROOT, CA ORNER, JG USN Capt. Charles A. Vinroot USN (Ret.)retired from the U.S. Navy in September 1991 following over 27 years of active duty as an engineering duty officer. He holds a BSEE from North Carolina State University and a MSEE and professional degree from the U.S. Naval Postgraduate School. During his naval career he served on USSIndependence (CVA-62) and USSLuce (DLC-7/DDC-38). He also served at Supship Quincy Mass. and Hunters Point Naval Shipyard. He was stationed in Washington D.C. with assignments at CNO (OP 98) ASN (S&L) and the Naval Sea Systems Command. Captain Vinroot was technical director of the Battleship Reactivation Program (PMS 378) technical director of the Destroyer Acquisition Program (PMS 389) and deputy program manager of the Amphibious Warfare and Strategic Sealift Program (PMS 377). Most recently he served as program manager for Gas Turbine Surface Combatants (PMS 314) and Surface Combatants (PMS 330). Captain Vinroot is now employed by PRC Inc. and serves as technical director for the Advanced Technology Division in Crystal City Va. Jeffery G. Ornergraduated from Wittenberg University in Springfield Ohio in 1979 with a bachelor of arts degree in political science and earned a master's of science degree in business from The American University in Washington D.C. in 1982. He has ten years of professional experience with the Naval Sea Systems Command in positions with responsibilities for logistic support planning policy and delivery computer-aided acquisition and logistic support and Fleet Modernization Program (FMP) and ship construction issues. He was a key player in establishing the current FMP integrated logistic support (ILS) process and in implementing of the Ships' Configuration and Logistic Support Information System (SCLSIS). His current position as Fleet Logistic Support Branch head for the Surface Combatant Program includes responsibility for logistic support and management of ship configuration and logistic data for all surface combatant ships (except for Aegis ships). In

USS Ingraham (FFG-61) is the prototype ship for NavSea's Advanced Technical Information System (ATIS). ATIS is a digital technical library, which holds on optical disks the ship's 2,000 technical manuals and 73,000 drawing sheets. It contains a detailed ship's configuration index (derived from SCLSIS) to lead the user to the proper drawing or manual, and it replaces the ship's aperture cards and the second (library) copy of the technical manuals. ATIS, and the data standards established and tested through ATIS development, will be the technical library portion of micro-SNAP and SNAP III. It also forms an important part of NavSea's plans to utilize EDMICS data. This paper describes the goals and technical concepts behind the development of ATIS. Problems encountered, solutions developed, and lessons learned are detailed. Special attention was paid to the application of the computer Aided Acquisition and Logistic Support (CALS) standards, problems caused by conflicts and ambiguities in those standards, the standards. Original program goals are compared with actual operational experiences. Plans for future expansion are outlined, including applications of this technology in the availability planning and execution process. A comparison is developed among the various methods of optical imaging and their costs and benefits.

关键词： Information Retrieval Systems

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TRANSFORMING TIME-VARYING MULTIVARIABLE SYSTEMS INTO BLOCK COMPANION CANONICAL-FORMS

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computerS & MATHEMATICS WITH APPLICATIONS 1991年第2-3期21卷 57-67页

作者： CHAI, WJ GU, KQ LOH, NK Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI 48309 USA

The problem of transforming a class of linear time-varying continuous time systems into controllable and observable block companion canonical forms is considered. In terms of system block controllability (observability) matrix, this paper generalizes the results of Shieh et al. [3] and provides systematic and straightforward algorithms for obtaining block companion canonical forms. An example is provided to illustrate this transformation technique.

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NECESSARY AND SUFFICIENT CONDITIONS OF QUADRATIC STABILITY OF UNCERTAIN LINEAR-SYSTEMS

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 1990年第5期35卷 601-604页

作者： GU, KQ ZOHDY, MA LOH, NK Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition of quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.

关键词： Plant uncertain quantitative determination Sufficient conditions extremum values Necessary corners Uncertainty quadratic stabilizability Linear system

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Adaptive Robust Pole Placement - An Alternate Approach

Adaptive Robust Pole Placement - An Alternate Approach

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American Control Conference (ACC)

作者： M. Das P. Kokate N. K. Loh Center for Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

This paper proposes an alternate approach for adaptive robust control of linear systems with structured, wide-ranging parametric uncertainties. The overall scheme consists of two steps; namely, off-line design of a robust observer for the partial states of the system, and design of an on-line adaptive pole placement scheme. It is shown that by using this approach, both direct as well as indirect adaptive pole placement can be achieved. Proofs of stability of the schemes are also given.

关键词： Robustness State feedback Adaptive control Robust control programmable control Linear systems Uncertainty Uncertain systems Control systems robotics and automation

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Dynamical properties of manipulators exhibiting flexibilities

Dynamical properties of manipulators exhibiting flexibilitie...

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IEEE International Conference on Systems engineering

作者： F. Khorrami Control/Robotics Research Laboratory School of Electrical Engineering 0 Computer Science Polytechnic University Brooklyn NY USA

Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered

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A finger shaped tactile sensor using an optical waveguide

A finger shaped tactile sensor using an optical waveguide

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Annual Conference of Industrial Electronics Society

作者： N. Nakao M. Kaneko N. Suzuki K. Tanie NTT Tsukuba Field Engineering Development Center Tsukuba Ibaraki Japan School of Computer Science and System Engineering Department Kyushu Institute of Technology Fukuoka Japan Cybernetics Division Robotics Department Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing the scattering light at the sensor-object contact. The contact location is recognized using a CCD to detect light. By a simple calculation of the equation derived from the sensor surface geometry, the sensor can also provide the surface normal of the touched object. Through experiments using a prototype sensor, the fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed.< >

关键词： Optical waveguides Fingers Tactile sensors Optical sensors Sensor phenomena and characterization Optical scattering Charge coupled devices Optical surface waves Optical devices Light sources

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Necessary and sufficient conditions of quadratic stability of uncertain linear systems

Necessary and sufficient conditions of quadratic stability o...

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IEEE Conference on Decision and Control

作者： K. Gu M.A. Zohdy N.K. Loh Center of Robotics and Advanced Automation School of Engineering and Computer Science Oakland University Rochester MI USA

The stability of linear systems subject to possibly fast time-varying uncertainties is analyzed. A necessary and sufficient condition for quadratic stability is derived. An uncertainty stability margin coefficient rho is introduced to give a quantitative measure of the stability. It is proposed that the uncertain region be approximated by a convex hyperpolyhedron. In this case, the computation of rho becomes a two-level optimization problem, in which the extremum of the inner level can be reached by one of the corners of the hyperpolyhedron.< >

关键词： Sufficient conditions Linear systems Symmetric matrices Uncertain systems Stability analysis robotics and automation Time varying systems Uncertainty Feedback control Stability criteria

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Biological image understanding

Biological image understanding

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Medical Imaging III: Image Processing 1989

作者： Dunn, Stanley M. Department of Biomedical Engineering Rutgers University P.O. Box 909 PiscatawayNJ08855-0909 United States Laboratory for Computer Science Research Rutgers University Diagnostics Systems Program New Jersey Dental School NewarkNJ United States

The primary goal of any computer vision system is to construct scene descriptions similar to those formed by the human visual system. Biological image understanding is the automatic processing and interpretation of imagery of natural structures. The key constraint is the absence of explicit models of the objects anticipated to be in the scene. A clinician interprets imagery using principles of physiology and the image acquisition process. He learns to construct explicit models to recognize patterns from these principles, but is also able to infer an interpretation of an unknown structure from examples and physiology. Our overall goal is to develop a computer vision system to be used to interpret imagery of biological data using these principles. In this paper we present a paradigm for constructing image understanding systems designed to process natural images and present some applications of the system to hematology and radiography. The first step of our general approach is data acquisition. The second step is to find intrinsic properties at each pixel. The third step is to group pixels together to for homogeneous regions using the intrinsic properties. The final step is object recognition, where object type and location are determined from the quantitative features of the homogeneous regions. We shall outline the algorithms and data structures used at each step in the process, and their implementation. We shall describe in detail a key feature of this paradigm - forming homogeneous regions by geometry guided segmentation. The fact that classical algorithms do not always yield correct results led us to an algorithm that uses structural information and intensity values to group homogeneous regions. We shall illustrate this problem and the solution, as well as preliminary results of the application of the image understanding system. © 1989 SPIE. All rights reserved.

关键词： Physiology

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Uncertain systems: new uncertainty characterization for linear control design

Uncertain systems: new uncertainty characterization for line...

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IEEE Conference on Decision and Control

作者： K. Gu Y.H. Chen Center of Robotics and Advanced Automation School of Electrical Engineering and Computer Science Oakland University Rochester MI USA The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >

关键词： Uncertain systems Uncertainty Control design Riccati equations Feedback control robotics and automation Time varying systems Magnetic levitation Design automation computer science

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