A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decom...
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A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed.
We consider the terrain navigation problem in a two-dimensional polygonal subdivision consisting of obstacles, "free" regions (in which one can travel at no cost), and regions in which cost is proportional t...
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ISBN:
(纸本)0897912705
We consider the terrain navigation problem in a two-dimensional polygonal subdivision consisting of obstacles, "free" regions (in which one can travel at no cost), and regions in which cost is proportional to distance traveled. This problem is a special case of the weighted region problem and is a generalization of the well-known planar shortest path problem in the presence of obstacles. We present an O(n2) exact algorithm for this problem and faster algorithms for the cases of convex free regions and/or obstacles. We generalize our algorithm to allow arbitrary weights on the edges of the subdivision. In addition, we present algorithms to solve a variety of important applications: (1) an O(n2W) algorithm for finding lexicographically shortest paths in weighted regions (with W different weights);(2) an O(k2n2) algorithm for planning least-risk paths in a simple polygon that contains k line-of-sight threats (this becomes O(k4n4) in polygons with holes);and (3) an O(k2n3) algorithm for finding least-risk watchman routes in simple rectilinear polygons (a watchman route is such that each point in the polygon is visible from at least one point along the route).
Variable structure controllers that can be effectively applied to control an electric arc furnace are investigated in this paper. A gereral formulation and solution of the variable structure system design problem is p...
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Variable structure controllers that can be effectively applied to control an electric arc furnace are investigated in this paper. A gereral formulation and solution of the variable structure system design problem is presented together with some guidlines for the choice of a suitable model following. A state space reduction method is applied to reduce the dominant dynamic order and hence simplify the design process. The effects of switching surface, modelling, gain polarity and magnitude are discussed.
We consider the terrain navigation problem in a two-dimensional polygonal subdivision consisting of obstacles, “free” regions (in which one can travel at no cost), and regions in which cost is proportional to distan...
ISBN:
(纸本)9780897912709
We consider the terrain navigation problem in a two-dimensional polygonal subdivision consisting of obstacles, “free” regions (in which one can travel at no cost), and regions in which cost is proportional to distance traveled. This problem is a special case of the weighted region problem and is a generalization of the well-known planar shortest path problem in the presence of obstacles. We present an Ο(n2) exact algorithm for this problem and faster algorithms for the cases of convex free regions and/or obstacles. We generalize our algorithm to allow arbitrary weights on the edges of the subdivision. In addition, we present algorithms to solve a variety of important applications: (1) an Ο(n2W) algorithm for finding lexicographically shortest paths in weighted regions (with W different weights); (2) an Ο(k2n2) algorithm for planning least-risk paths in a simple polygon that contains k line-of-sight threats (this becomes Ο(k4n4) in polygons with holes); and (3) an Ο(k2n3) algorithm for finding least-risk watchman routes in simple rectilinear polygons (a watchman route is such that each point in the polygon is visible from at least one point along the route).
The fundamental problems associated with the interactive display, manipulation, and editing of three-dimensional (3-D) objects obtained from medical imaging systems such as CT, PET, and MRI are addressed. Software, ha...
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The fundamental problems associated with the interactive display, manipulation, and editing of three-dimensional (3-D) objects obtained from medical imaging systems such as CT, PET, and MRI are addressed. Software, hardware, and firmware techniques for shaded graphics display of medical objects are described and evaluated in terms of flexibility and performance. A special purpose multiprocessor architecture (the Voxel Processor architecture) developed specifically for medical research, clinical diagnosis, and surgical planning is presented. The Voxel Processor implements a shaded graphics display system with rotation, scaling, translation, slice planes and tone scale transformations on gray-scale data in true real time. The high-speed image generation algorithms exploit the ability to partition object space and require only simple arithmetic and logical operations. Minimal preprocessing steps are required to prepare object data for the Voxel Processor, and the data are always readily accessible for analysis or editing. The architecture is highly structured and is ideally suited for VLSI implementation.
The modeling, analysis, and design of a ball-balancing control system are considered. An optimal linear regulator control system is constructed, and an optimal hybrid controller capable of absorbing external disturban...
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The modeling, analysis, and design of a ball-balancing control system are considered. An optimal linear regulator control system is constructed, and an optimal hybrid controller capable of absorbing external disturbance is implemented. The controller design is based on the theory of disturbance-accommodating control, optimal linear quadratic regulator control, and a digital delayed-data observer. Experimental results presented are useful for demonstrating practical aspects of the analysis. Furthermore, the ball-balancing control system developed is ideal for demonstrating the design and hardware implementation of optimal controllers based on modern control theory.
A nonlinear transformation for simplifying the robot dynamic formulation and control system modeling is presented. This is a canonical transformation in the Hamiltonian formulation of robot dynamics, and it can be emb...
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A nonlinear transformation for simplifying the robot dynamic formulation and control system modeling is presented. This is a canonical transformation in the Hamiltonian formulation of robot dynamics, and it can be embodied in a special decomposition of the total inertia matrix. In simplification by using this canonical transformation, the dynamic system is not only transformed to a linear model with the Brunovsky canonical form, the input formulation is also reduced to a simple recovery form. By taking advantage of the linearity of the robot dynamic equation with respect to the total inertia matrix, a detailed procedure of the realization is then described. A 3-D robot example illustrates the feasibility and computational efficiency of this procedure. And it also shows that the realization procedure for the canonical transformation can be summed up in two major steps: seek an imaginary robot and solve a reduced equation.
Model reference variable structure controllers are applied to switched-mode circuits, and their performance robustness is investigated. A generalized formulation together with its solution is presented for a class of ...
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Model reference variable structure controllers are applied to switched-mode circuits, and their performance robustness is investigated. A generalized formulation together with its solution is presented for a class of problems, in variable structure control, involving state-space analysis of inherently time-varying regulators. The effects of the design averaging model and its description on tracking error dynamics and convergence rates are also discussed.
This paper reports on the development of an on-line automated medical record system suitable for nursing homes. The software was written in standard MUMPS (Massachusetts General Hospital Utilities Multi-programming Sy...
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