IEEE Control Systems

Issue 5 • Oct. 1993

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Displaying Results 1 - 5 of 5
  • Identifying robot parameters using partial pose information

    Publication Year: 1993, Page(s):6 - 14
    Cited by:  Papers (20)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (869 KB)

    A simple radial-distance linear transducer (LVDT) that measures the distance from several fixed points in the workspace to the robot's endpoint has been used to infer the kinematic parameters of a robot. The motivation, theory, implementation, and performance of this particularly easy calibration and parameter identification method are discussed. A disagreement in the literature about the type of ... View full abstract»

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  • Integrated interface for advanced teleoperation

    Publication Year: 1993, Page(s):15 - 20
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (870 KB)

    A smart operator interface that simplifies update and control of the automatic features of advanced teleoperators and reduces operator workload is described. The robot joystick has the double function of moving the manipulator and acting as a point-and-click device on a computer screen. The interface can be equipped with knowledge of the teleoperated task and can provide automatic parameter update... View full abstract»

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  • Coordinated intelligent control via epistemic utility theory

    Publication Year: 1993, Page(s):21 - 29
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (944 KB)

    An approach to local reactive coordinated intelligent control based on the concept of an epistemic system, together with a principle of action that may be exercised locally, is presented. An epistemic system provides a mechanism for agents to characterize their knowledge corpora, options, goals, and beliefs. Levi's rule of epistemic utility provides a principle of action for decision making by com... View full abstract»

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  • Mobile robot navigation using neural networks and nonmetrical environmental models

    Publication Year: 1993, Page(s):30 - 39
    Cited by:  Papers (41)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (950 KB)

    A reasoning and control architecture for vision-guided navigation that makes a robot more humanlike is presented. This system, called NEURO-NAV, discards the more traditional geometrical representation of the environment, and instead uses a semantically richer nonmetrical representation in which a hallway is modeled by the order of appearance of various landmarks and by adjacency relationships. Wi... View full abstract»

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  • A cartpole experiment benchmark for trainable controllers

    Publication Year: 1993, Page(s):40 - 51
    Cited by:  Papers (43)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (1246 KB)

    The inverted pendulum problem, i.e., the cartpole, which is often used for demonstrating the success of neural network learning methods, is addressed. It is shown that a random search in weight space can quickly uncover coefficients (weights) for controllers that work over a wide range of initial conditions. This result indicates that success in finding a satisfactory neural controller is not suff... 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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Jonathan P. How
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