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Date 6-8 June 1984

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Displaying Results 1 - 25 of 221
  • Dedication: Aleksondr Ya. Lerner

    Publication Year: 1984 , Page(s): 1 - 2
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    Freely Available from IEEE
  • Operating Committee

    Publication Year: 1984 , Page(s): 3
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    Freely Available from IEEE
  • Program Committee

    Publication Year: 1984 , Page(s): 3
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    Freely Available from IEEE
  • ACC 1984 Program at a Glance

    Publication Year: 1984 , Page(s): 4
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    Freely Available from IEEE
  • Table of contents and Program

    Publication Year: 1984 , Page(s): 5 - 21
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    Freely Available from IEEE
  • Foreword

    Publication Year: 1984 , Page(s): 1
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    Freely Available from IEEE
  • The modeling of human cognitive decision processes in the intelligent machine model (TIMMTM)

    Publication Year: 1984 , Page(s): 1 - 5
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (464 KB)  

    The Intelligent Machine Model (TIMMTM) is a software package that enables a user to build an "expert system"--that is, a system which is capable of providing expert advice in some well-defined domain of expertise. To accomplish this, (TIMMTM) attempts to represent some of the analog character of the real world domain, in addition to a standard rule base. This extra information defines a metric over the rule base. This metric allows (TIMMTM) to model some distinctly human capabilities. (TIMMTM) is able to reach decisions for new, uncertain, and incompletely defined situations. (TIMMTM) is able to examine its own rule base and suggest new rules that seem appropriate for the domain. These are important capabilities for real world expert systems. View full abstract»

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  • A Research Paradigm for Multi-Human Decision Making

    Publication Year: 1984 , Page(s): 6 - 11
    Cited by:  Papers (9)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (607 KB)  

    A novel experimental paradigm, motivated by Naval tactical Command Control and Communication (C3) problems, is proposed that can be used to examine the general problem of how a team of humans "solve" problems of distributed resource management under uncertainty in a multi-task environment. Via the paradigm we can examine different organizational and informative structures, and different assignment of responsibility among the team members. The paradigm is highly amenable to analytic modeling, making it an excellent candidate for a research tool with which to develop normative-descriptive theories of team decision making. View full abstract»

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  • ASW Commander Tactical Decision Simulation Model

    Publication Year: 1984 , Page(s): 12 - 18
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    A normative-descriptive simulation model of an ASWC's tactical decision process, consisting of situation assessment and aircraft resource management, is discussed. A hypothetical case study is presented to illustrate the potential application of a fully validated model. Recommendations for future research are made. View full abstract»

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  • An Accuracy Test Procedure for Robotic Manipulators Utilizing a Vision based, 3-D Position Sensing System

    Publication Year: 1984 , Page(s): 19 - 22
    Cited by:  Papers (4)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (261 KB)  

    A vision based, three dimensional position sensing system was constructed and used to measure the positioning accuracy of an articulated robot arm. With a twenty-five millimeter lens, the sensor achieved a sensitivity of 0.004 inches for measurements along the focal axis of the camera and 0.001 inches for measurements perpendicular to the focal axis. The system was used to optically define a reference frame in the robot workspace and then to check the positioning accuracy of the manipulator as it was instructed to move within this reference frame. View full abstract»

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  • Structures for Sensor-Based Robot Motion Control

    Publication Year: 1984 , Page(s): 23 - 31
    Cited by:  Papers (8)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (452 KB)  

    Feedback of end-effector position to robot controllers provides an effective means for compensating for manipulator path errors and variations in workpiece geometry. Most current robot controllers do not provide the facility for real-time path correction using sensor feedback; this capability will be an essential element of future robot control systems. This paper presents a comparison of two alternative control structures, as applied to realistic models of robot mechanical and microelectronic control systems. View full abstract»

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  • Simplified Grasping and Manipulation with Dextrous Robot Hands

    Publication Year: 1984 , Page(s): 32 - 38
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    A method is presented for stably grasping 2 dimensional polygonal objects with a dextrous hand when object models are not available. Basic constraints on object vertex angles are found for feasible grasping with two fingers. Local tactile information can be used to determine the finger motion that will reach feasible grasping locations. With an appropriate choice of finger stiffnesses, a hand can automatically grasp these objects with two fingers. The bounded slip of a part in a hand is shown to be valuable for adapting the fingers and object to a stable situation. Examples are given to show the ability of this grasping method to accommodate disturbance forces and to perform simple part reorientations and regrasping operations. View full abstract»

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  • Force Feedback Control in Insertion Process using Pattern Analysis Techniques

    Publication Year: 1984 , Page(s): 39 - 44
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (484 KB)  

    A statistical analysis of peg-hole configuration recognition during the peg insertion process is presented. Equations for generating a force/moment vector corresponding to each possible contact configuration are derived. These equations are used to generate training samples for learning the distribution parameters of the conditional probabilty density function for each peg-hole configuration. A decision rule, based on minimum probability of the error, is then formulated for recognition of the peg-hole contact configurations. Results of a computer simulation of the proposed learning and recognition techniques are presented. Experimental verification of the technique is currently being conducted on a PUMA robot arm. View full abstract»

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  • Ultrasonic Sensors in Robotic Seam Tracking

    Publication Year: 1984 , Page(s): 45 - 47
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (205 KB)  

    A seam tracking system for application in robotic arc welding using an ultrasonic sensor has been developed. The acoustic sensing system obtains range information between the sensor and the workpiece. Real time surface characterization and the calculation of the torch path is performed on an LSI 11/23 microprocessor, interfaced to the controller of an Advanced Robotics Corporation, Cyro 725 robot. View full abstract»

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  • Practical Experience with Kamyr Digester Level Self-Tuning Control

    Publication Year: 1984 , Page(s): 48 - 53
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (355 KB)  

    This paper presents the application in a mill of a chip level self-tuning regulator (STR). Three strategies using the same STR algorithm are compared, one using the blow flow, the others using the outlet device speed as main manipulated variable. The four strategies are shown to behave similarly in terms of control performance. However, for operational reasons, the strategies using the out-let device speed are preferred by the mill personnel. The level control scheme has been well received by the operators and is now in continuous operation. View full abstract»

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  • A Self-Tuning Strategy for Moisture Control in Papermaking

    Publication Year: 1984 , Page(s): 54 - 61
    Cited by:  Papers (2)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (478 KB)  

    Self-tuning controllers are generally more susceptible to deviations from theory imposed by a practical implementation than most other advanced controllers due primarily to their adaptive nature. The control of moisture content in the papermaking process can create several situations causing parameter divergence or unsuitable estimation or control. Careful consideration of the theory, the process and the limits imposed by each upon the other are required in order to successfully implement a self-tuning control strategy for continuous operation under all circumstances. This paper presents the design strategy for handling these exceptions to the theory along with results obtained to date. View full abstract»

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  • MIMO Self-Tuning Control of Chemical Process Operation

    Publication Year: 1984 , Page(s): 62 - 66
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (400 KB)  

    The problem of selecting a feasible model structure for a MIMO self-tuning controller (MIMOSC) is addressed. The dependency of the necessary structure complexity in relation to the specific process operating point is investigated. Experimental results from a fixed-bed chemical reactor are used to illustrate the points. View full abstract»

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  • Auto-Selection of the Sampling Period for a Class of Pole-Placement Controllers

    Publication Year: 1984 , Page(s): 67 - 73
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (505 KB)  

    For a class of discrete-time pole-placement controllers that utilize a single non-zero pole, the effect of varying the control sampling period, both on the optimal location of the closed-loop pole and on the size of the feasible pole location region, has been considered. With both deterministic and stochastic optimality measures, fast sampling yields an optimal pole location close to 1 with a very narrow feasible operating region. Conversely, slow sampling yields an optimal pole location at 0 with a much wider feasible operating region; however, the closed-loop response characteristics for slow sampling are much poorer. Sampling at a rate which yields an optimal closed-loop pole in the range 0.2-0.7 is seen to avoid the excessive system sensitivity (as when located closer to 1) and a somewhat degraded system response (when located at 0). These results suggest the basis of an ad hoc design technique for on-line selection of the sampling period which is demonstrated using a nonlinear model of a fixed-bed chemical reactor. View full abstract»

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  • Automatic Tuning of PID and Other Simple Regulators in a Digital Process Automation System

    Publication Year: 1984 , Page(s): 74 - 78
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (355 KB)  

    Self-tuning of PID and other simple controllers and design of a special station for that purpose in a digital process automation system are considered. The tuning station is mainly intended to serve as a user's aid when taking use or retuning control loops in the system. Adaptive mode is, however, also available by making the station continuously tune the loop controller. View full abstract»

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  • A Dynamic Model of a Condenser in a Closed Rankine Cycle Power Plant

    Publication Year: 1984 , Page(s): 79 - 84
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (340 KB)  

    This paper describes a simple model to predict the transient behavior of a condenser when subjected to changes in inlet enthalpy as well as changes in inlet and exit mass flow rates. The model predicts the pressure, fluid temperature, wall temperatures, mass in the condensing region, mass in the subcooled liquid region and the position of the liquid interface, all as a function of time during a transient. Five ordinary simultaneous differential equations along with several algebraic equations are solved numerically to obtain the behavior during a transient. Sample results are presented for ramp and sinusoidal variations of inlet and exit mass flow rates. View full abstract»

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  • THEDA-2 Code Verification with Data from Model Tests of a Once-Through Steam Generator

    Publication Year: 1984 , Page(s): 85 - 92
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (485 KB)  

    A computer code (THEDA-2) developed for predicting the thermal and hydraulic performance of nuclear once-through and inverted U-tube steam generators was benchmarked. Data from a full-length laboratory steam generator, representative of Babcock & Wilcox once-through nuclear steam generators, were obtained and compared to THEDA-2 predictions. Two geometrical arrangements of the laboratory steam generator were tested to produce detailed, multidimensional data for thoroughly evaluating THEDA-2 capabilities. Agreement between code-predicted and measured steam generator fluid temperatures was good -- generally within 5°F (2.8°C). Results from this study indicated that further improvements in predictive capabilities will come from improvement in empirical correlations. View full abstract»

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  • Modeling and Dynamics of Two-Phase Flow Heat Exchangers using Temperature - Entropy Bond Graphs

    Publication Year: 1984 , Page(s): 93 - 98
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (298 KB)  

    Two-phase flow heat exchangers have many industrial and residential applications, such as in nuclear power plants, HVAC systems, steam generators, and heat pumps. Dynamic response of such heat exchangers are of interest in order to increase reliability and decrease energy consumption. This paper utilizes true bond graphs, with temperature and rate of change of entropy as power variables, to model the dynamics of two-phase flow heat exchangers. A bond graph for variable density flow is derived such that it satisfies mass, momentum, and energy equations. Due to thermofluid bond graphs requirements, a specific entropy - specific volume plane is developed and an algorithm to calculate 2-phase flow properties from this plane is discussed. For stability purposes, the resulting nonlinear system equations are nondimensionalized. Simulation results of the model for a condenser of a residential air-conditioning unit is compared with experimental data. Comparison shows good agreement in both magnitude and shape of the response between the bond graph model and the experiments. View full abstract»

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  • Transient Simulation and Experimental Verification of Gas-Steam and Liquid-Steam, Shell, and Tube Type Heat Exchangers

    Publication Year: 1984 , Page(s): 99 - 104
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (379 KB)  

    The condensing steam heaters dynamically modeled in this work are shell and tube type heat exchangers with the condensing steam on the shell side. Two variations of the model are developed, one for heating a gas stream where the thermal mass of the gas is very small, and one for heating a liquid stream where the thermal mass of the heated fluid is appreciable. Predictions from the gas heater model compare excellently with data collected from transient experiments on two industrial heat exchangers at the General Electric Coal Gasification Process Evaluation Facility. These two heat exchangers differ widely in their design and operating conditions. Consequently, the good agreement that was found between the model predictions and experimental data show the wide applicability of the model. View full abstract»

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  • Parameter Space Design of Control Systems using Interactive Computer Graphics

    Publication Year: 1984 , Page(s): 105 - 114
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (673 KB)  

    This paper presents contributions to computer-aided control system design in the parameter space approach. Newly developed modeling algorithms allow the use of three-dimensional interactive computer graphics as a powerful and very flexible tool for multivariable control system design. Robustness with respect to plant variation and sensor failures, actuator constraints, sensor noise and quantization effects in addition to specifications about stability, damping, and bandwidth are handled in a direct geometric way by working with admissible regions of several design parameters. An interactive CAD software package with these capabilities is discussed and several design examples demonstrate the potential and versatility of the method. View full abstract»

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  • Control Engineers Workbench, A Methodology for Microcomputer Implementation of Controls

    Publication Year: 1984 , Page(s): 115 - 119
    Cited by:  Papers (1)
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (474 KB)  

    The concept of the Control Engineers Workbench is discussed, and the Control Engineers Workbench is defined as a set of software tools which are integrated to assist with the implementation of real time control systems. The control system is assumed to consist both of analog and microcomputer electronics (which in part may reside in VLSI silicon). The workbench therefore supports most importantly the software engineering activities. The basis for the Control Engineers Workbench is established and a methodology based upon the concept of a design environment is proposed. Within the environment two key tools are introduced: information management of the requirements documentation and the use of a state language (1) to describe the high-level hardware/software architecture. View full abstract»

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