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IEEE Control Systems

Issue 1 • Date Feb. 1992

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Displaying Results 1 - 9 of 9
  • Voluntary movements for robotic control

    Publication Year: 1992, Page(s):8 - 14
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (706 KB)

    A neuromuscular-like nonlinear mathematical model for controlling robotic limbs is described. The model consists of two muscle-reflex models representing a pair of muscles acting as an agonist and an antagonist in moving a load. The responses of the model have been compared with experimental data from human wrist movements in order to identify command signals in the form of a series of rectangular... View full abstract»

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  • Handling real-world motion planning: a hospital transport robot

    Publication Year: 1992, Page(s):15 - 19
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (638 KB)

    A description is given of a hospital transport mobile robot, HelpMate, developed to carry out such tasks as the delivery of off-schedule meal trays, lab and pharmacy supplies, and patient records. Unlike many existing delivery systems in the industry which operate within a rigid network of wires buried or attached to the floor, a hospital transport robot is expected to be able to navigate much lik... View full abstract»

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  • Applying a flexible microactuator to robotic mechanisms

    Publication Year: 1992, Page(s):21 - 27
    Cited by:  Papers (55)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (558 KB)

    A flexible microactuator (FMA) driven by an electropneumatic (or electrohydraulic) system has been developed. It has three degrees of freedom-pitch, yaw, and stretch-making it suitable for robotic mechanisms such as fingers, arms, or legs. It is made of fiber-reinforced rubber, and the mechanism is very simple, enabling miniature robots without conventional link mechanisms to be designed. Serially... View full abstract»

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  • Coordinating space telescope operations in an integrated planning and scheduling architecture

    Publication Year: 1992, Page(s):28 - 37
    Cited by:  Papers (8)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1005 KB)

    The heuristic scheduling testbed system (HSTS), a software architecture for integrated planning and scheduling, is discussed. The architecture has been applied to the problem of generating observation schedules for the Hubble Space Telescope. This problem is representative of the class of problems that can be addressed: their complexity lies in the interaction of resource allocation and auxiliary ... View full abstract»

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  • Image-based homing

    Publication Year: 1992, Page(s):38 - 45
    Cited by:  Papers (33)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (854 KB)

    A system that allows a robot to use a model of its environment to navigate is reported. The system maps the environment as a set of snapshots of the world taken at target locations. The robot uses an image-based local homing algorithm to navigate between neighboring and target locations. The approach has an imaging system that acquires a compact, 360 degrees representation of the environment as an... View full abstract»

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  • Concurrent planning and execution for autonomous robots

    Publication Year: 1992, Page(s):46 - 50
    Cited by:  Papers (18)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (490 KB)

    The task control architecture (TCA) provides communication and coordination facilities to construct distributed, concurrent robotic systems. The use of TCA in a system that walks a legged robot through rugged terrain is described. The walking system, as originally implemented, had a sequential sense-plan-act control cycle. Utilizing TCA features for task sequencing and monitoring, the system was m... View full abstract»

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  • Intelligent and cooperative control of telerobot tasks

    Publication Year: 1992, Page(s):51 - 56
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (757 KB)

    Techniques of intelligent and cooperative control of a telerobot have been implemented in a telerobot system called MEISTER (model enhanced intelligent and skilful teleoperational robot), which integrates a task knowledge base and cooperative control to realize man/robot cooperation in task execution from the intelligent level to the motion level. To support multilevel man/robot cooperation, MEIST... View full abstract»

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  • A predictive PI controller for processes with long dead times

    Publication Year: 1992, Page(s):57 - 60
    Cited by:  Papers (73)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (355 KB)

    A predictive PI (proportional-integral) controller with dead-time compensation is described. Its advantage compared with previous dead-time compensating controllers is that although it also contains five parameters, only three are adjusted by the operator, namely, the gain, the integral time and the dead time. The controller is also suited for processes with varying dead times. Conceptually, the n... View full abstract»

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  • Comments, with reply, on 'Fuzzy logic for control of roll and moment for a flexible wing aircraft' by S. Chiu et al

    Publication Year: 1992, Page(s):61 - 63
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (166 KB)

    In a paper by S. Chiu et al. (see ibid., vol.11 no.4, p.42-8, 1991) the use of fuzzy logic in certain control problems is explored as an alternative to conventional control methodologies. An attempt is made to demonstrate the usefulness of the fuzzy design by example. There are two notable features about the article that deserve a closer look. It is shown that it is a simple matter to design a lin... View full abstract»

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As the official means of communication for the IEEE Control Systems Society, the IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers.

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