Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic system...
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Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.
Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot ...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the...
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The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy
computer-aided design (CAD) has found a hew home in the controlsystems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD pac...
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computer-aided design (CAD) has found a hew home in the controlsystems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through CAD packages and languages. Through these software tools, even a novice computer programmer can take advantage of powerful computational and numerical algorithms for controlsystems problems. In this paper a CAD language for control and Kalman filtering will be presented. The language, called control. lab is written in FORTRAN/77 and can run under UNIX or VMS on a DEC 11/780 VAX computer system.
Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain w...
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In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain why adaptive controllers can perform robustly in certain practical situations, while possibly failing in other situations. In particular, if the bandwidth constraints on a controlsystems are lenient enough to allow the use of a sampling frequency which is smaller than the frequency at which unstructured uncertainty becomes significant, an adaptive controller can behave robustly. Many, if not all, of the applications of adaptive control which have been successful employ relatively slow sampling of the process. Thus, the results of this paper provide a theoretical explanation of how certain adaptive controllers are performing robustly in practice. In addition, the final theorem is of a form which provides insight into what a priori knowledge is required to achieve robust adaptive control and how this knowledge say be used.
This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. A finite number system...
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This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. In computer arithmetic...
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This paper describes an evolving Arithmetic Design System (ADS) to support the quantitative evaluation of alternate number systems with respect to a given application and realization technology. In computer arithmetic we are concerned with establishing a correspondence between abstract quantities (numbers) and some physical representation (symbols), and with simulating the operations on these symbols. The ADS is intended to help study the cost and performance of alternate simulations. A finite number system is a triple consisting of a symbol set (elements are called "digit-vectors"), an interpretation set, a mapping between these two sets, and a set of operators (digit-vector algorithms) defined on its symbol set. A set of these digit vector algorithms are proposed for conducting arithmetic design. A number system matrix defines the digit vector algorithm for numerous number systems and a method for computing time and space complexity of compositions of these algorithms is proposed. An example of how the system could be used to compare addition, with and without overflow detection, for three number systems is given.
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