High-pain adaptive stabilization of multivariable linear systems — revisited

We consider the class of multi-input multi-output, finite dimensional, state space systems of the form , where the state dimension is unknown, the system is minumum phase, and it is known that det(CB) ≠ 0. For this class a universal adaptive high gain controller — not based on identification or estimation algorithms — is presented which ensures exponential decay of the motion of the closed-loop system. It is shown that the controller is robust with respect to certain nonlinear perturbations.     

Realization of STEP-NC enabled machining

A STEP-compliant CNC machine tool that demonstrated a G-code free machining scenario is presented. The aim of this research is to showcase the advantages of, and evaluate, STEP-NC—a new NC data model—by implementing it in a legacy CNC system. The work consists of two parts: retrofitting an existing CNC machine and the development of a STEP-compliant NC Converter called STEPcNC. The CompuCam's motion control system is used for retrofitting the machine, which is programmable using its own motion control language—6K Motion Control language and capable of interfacing with other CAPP/CAM programs through languages such as Visual Basic, Visual C++ and Delphi. STEPcNC can understand and process STEP-NC codes, and interface with the CNC controller through a Human Machine Interface. It makes use of STEP-NC information such as “Workplan”, “Workingstep”, machining strategy, machining features and cutting tools that is present in a STEP-NC file. Hence, the system is truly feature-based. The Application Interpreted Model of STEP-NC has been used.     

Human-centred appraoches to control and information technology: European experiences

In this paper, the concept of Human-Centred Technology will be described with regard to the different dimensions of workplace, groupwork and networks and in terms of the frameworks of both society and the natural environment. These different aspects of Human-Centred Systems will be illustrated by a series of case studies representing several European countries. The report covers a wide range of research fields. The emphasis is on technology: the roles of control and information technology in enterprises today — including issues of applying AI — and the strategies of designing and implementing technology taking into account the specific aspects which characterize human-centred systems.     

Structuring Acyclic Petri Nets for Reachability Analysis and Control

The incidence matrices—from places to transitions and vice versa—of an acyclic Petri net can obtain a block-triangular structure by reordering their rows and columns. This allows the efficient solution of some reachability problems for acyclic Petri nets. This result is further used in supervisory control of Petri nets; supervisors for Petri nets with uncontrollable transitions are constructed by extending the method of Yamalidou et al. (1996) to Petri nets where transitions can be executed simultaneously. A large class of Petri nets with uncontrollable transitions is given for which the maximally permissive supervisor can be realized by a Petri net. The original specification is algorithmically transformed—by using the results for acyclic Petri nets—into a new specification to take the presence of uncontrollable transitions into account. The supervisor is obtained by simple matrix multiplications and no linear integer programs need to be solved. Furthermore, a class of Petri nets is given for which the supervisor can be realized by extending the enabling rule with OR-logic.     

On the stabilization of feedforward systems with bounded control

For the global asymptotic stabilization of nonlinear—controllable in the first approximation—cascades consisting of a globally asymptotically—locally exponentially stable system driving a stable system, a Lyapunov-like design is proposed. This yields (bounded) control laws, where the control magnitude can be chosen arbitrarily large. This result provides an alternative to classical forwarding.     

Stabilizability by state feedback implies stabilizability by encoded state feedback

Encoded state feedback is a term which refers to the situation in which the state feedback signal is sampled every T units of time and converted (encoded) into a binary representation. In this note stabilization of nonlinear systems by encoded state feedback is studied. It is shown that any nonlinear control system which can be globally asymptotically stabilized by “standard” (i.e. with no encoding) state feedback can also be globally asymptotically stabilized by encoded state feedback, provided that the number of bits used to encode the samples is not less than an explicitly determined lower bound. By means of this bound, we are able to establish a direct relationship between the size of the expected region of attraction and the data rate, under the stabilizability assumption only, a result which—to the best of our knowledge—does not have any precedent in the literature.     

Self-tuning of quantitative feedback theory for force control of an electro-hydraulic test machine

The aim of this paper is to design and fabricate an electro-hydraulic test machine (EHTM) for conducting performance and stability test of force and/or position control in the bench system and to propose a robust adaptive controller—the self-tuning quantitative feedback theory (STQFT)—in order to improve the force control performance of electro-hydraulic actuators (EHAs). By using the gradient descent method to adjust the QFT parameters, the novel STQFT controller is able to adapt to a wide range of working conditions. Experiments were carried out to evaluate the effectiveness of the proposed control method applied to the EHTM.     

Direct scheme in optimal control problems with fast and slow motions

The nonlinear optimal control problems described by singularly perturbed models are studied in order to obtain the ways of decomposition and to construct the suboptimal control sequences. A new scheme, the so-called direct scheme, applying the Vasil'eva boundary layer functions method in control theory is introduced. It consists in directly expanding the problem's conditions into postulated asymptotic series and then in successively solving lower-dimensional approximate decomposition problems of optimal control. By means of the direct scheme a new property of an asymptotic expansion — the relaxation — is obtained, i.e. the decrease of the performance index with each new control approximation. Illustrating examples are given.     

Distributed Multi-Level Recovery in Main-Memory Databases

In this paper we present recovery techniques for distributed main-memory databases, specifically for client-server and shared-disk architectures. We present a recovery scheme for client-server architectures which is based on shipping log records to the server, and two recovery schemes for shared-disk architectures—one based on page shipping, and the other based on broadcasting of the log of updates. The schemes offer different tradeoffs, based on factors such as update rates.Our techniques are extensions to a distributed-memory setting of a centralized recovery scheme for main-memory databases, which has been implemented in the Dalì main-memory database system. Our centralized as well as distributed-memory recovery schemes have several attractive features—they support an explicit multi-level recovery abstraction for high concurrency, reduce disk I/O by writing only redo log records to disk during normal processing, and use per-transaction redo and undo logs to reduce contention on the system log. Further, the techniques use a fuzzy checkpointing scheme that writes only dirty pages to disk, yet minimally interferes with normal processing—all but one of our recovery schemes do not require updaters to even acquire a latch before updating a page. Our log shipping/broadcasting schemes also support concurrent updates to the same page at different sites.     

Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams

While terminology and some concepts of behavior-based robotics have become widespread, the central ideas are often lost as researchers try to scale behavior to higher levels of complexity. “Hybrid systems” with model-based strategies that plan in terms of behaviors rather than simple actions have become common for higher-level behavior. We claim that a strict behavior-based approach can scale to higher levels of complexity than many robotics researchers assume, and that the resulting systems are in many cases more efficient and robust than those that rely on “classical AI” deliberative approaches. Our focus is on systems of cooperative autonomous robots in dynamic environments. We will discuss both claims that deliberation and explicit communication are necessary to cooperation and systems that cooperate only through environmental interaction. In this context we introduce three design principles for complex cooperative behavior—minimalism, statelessness and tolerance—and present a RoboCup soccer system that matches the sophistication of many deliberative soccer systems while exceeding their robustness, through the use of strict behavior-based techniques with no explicit communication.     

Implementation of self-tuning regulators with variable forgetting factors

A modified version of the self-tuning regulator having limited adaptability has been successfully implemented on a large-scale chemical pilot plant. The new algorithm uses a least-squares estimator with variable weighting of past data; at each step a weighting factor is chosen to maintain constant a scalar measure of the information content of the estimator. It is shown that, for nearly deterministic systems, such an approach enables the parameter estimates to follow both slow and sudden changes in the plant dynamics. Furthermore, the use of a variable forgetting factor with correct choice of information bound can avoid one of the major difficulties associated with constant exponential weighting of past data—namely, ‘blowing-up’ of the covariance matrix of the estimates and subsequent unstable control. Accordingly, the control algorithm described here may be well suited to the regulation of plants which would otherwise require periodic re-tuning of control constants.     

Improving the Motion of Walking Machines by Autonomous Kinematic Calibration

Legged machines designed to walk on flat or irregular terrain do not need to possess great foot positioning accuracy in order to perform stable motion. However, the propulsion of the body—which normally follows a straight line—, requires feet to follow perfect straight lines—in the body's reference frame—, which must be parallel to each other; otherwise internal foot forces will arise. When this occurs, mainly due to mechanical imperfections and kinematic inaccuracies, foot slippage and changes in the attitude/altitude of the vehicle appear. In the case of legged robots that need to move on rigid structures to achieve stable locomotion, precise foot positioning is required to reduce the foot force interaction. Examples of such robots are legged robots that move by grasping structures or climbing robots that clasp their feet to a wall. Kinematic calibration is a traditional method of improving the accuracy of robot manipulators. These techniques, especially those based on kinematic closed chains, can also be applied to legged robots. This article introduces a method for calibrating legged machines autonomously. The theory has been developed to control a special four-legged robot, and for calibrating purposes each leg has been considered as a 2-DOF leg. Nevertheless, the theory can be easily extended to 3-DOF-leg machines as well as to six-legged machines. The method is of particular interest for industrial machines that walk on rigid structures so that the feet clasp firmly and cannot slip. The method is evaluated through simulation and tested in an industrial four-legged machine developed to walk in a double bottom cell of a ship's hull. Some experiments have been conducted using the calibrated kinematic model to validate the usefulness of the calibration method.     

Text planning with opportunistic control

This report describes the current state of our central research thrust in the area of natural language generation. We have already reported on our text-level theory of lexical selection in natural language generation ([59, 60]), on a unification-based syntactic processor for syntactic generation ([73]) and designed a relatively flexible blackboard-oriented architecture for integrating these and other types of processing activities in generation ([60]). We have implemented these ideas in our prototype generator, Diogenes — a DIstributed, Opportunistic GENEration System — and tested our lexical selection and syntactic generation modules in a comprehensive natural language processing project — the KBMT-89 machine translation system ([15]). At this stage we are developing a more comprehensive Diogenes system, concentrating on both the theoretical and the system-building aspects of a) formulating a more comprehensive theory of distributed natural language generation; b) extending current theories of text organization as they pertain to the task of planning natural language texts; c) improving and extending the knowledge representation and the actual body of background knowledge (both domain and discourse/pragmatic) required for comprehensive text planning; d) designing and implementing algorithms for dynamic realization of text structure and integrating them into the blackboard style of communication and control; e) designing and implementing control algorithms for distributed text planning and realization. In this document we describe our ideas concerning opportunistic control for a natural language generation planner and present a research and development plan for the Diogenes project.Many people have contributed to the design and development of the Diogenes generation system over the last four years, especially Eric Nyberg, Rita McCardell, Donna Gates, Christine Defrise, John Leavitt, Scott Huffman, Ed Kenschaft and Philip Werner. Eric Nyberg and Masaru Tomita have created genkit, which is used as the syntactic component of Diogenes. A short version of this article appeared in Proceedings of IJCAI-89, co-authored with Victor Lesser and Eric Nyberg. To all the above many thanks. The remaining errors are the responsibility of this author.     

Outdoor Visual Position Estimation for Planetary Rovers

This paper describes (1) a novel, effective algorithm for outdoor visual position estimation; (2) the implementation of this algorithm in the Viper system; and (3) the extensive tests that have demonstrated the superior accuracy and speed of the algorithm. The Viper system (Visual Position Estimator for Rovers) is geared towards robotic space missions, and the central purpose of the system is to increase the situational awareness of a rover operator by presenting accurate position estimates. The system has been extensively tested with terrestrial and lunar imagery, in terrains ranging from moderate—the rounded hills of Pittsburgh and the high deserts of Chile—to rugged—the dramatic relief of the Apollo 17 landing site—to extreme—the jagged peaks of the Rockies. Results have consistently demonstrated that the visual estimation algorithm estimates position with an accuracy and reliability that greatly surpass previous work.     

A Transaction Model for XML Databases

The hierarchical and semistructured nature of XML data may cause complicated update behavior. Updates should not be limited to entire document trees, but should ideally involve subtrees and even individual elements. Providing a suitable scheduling algorithm for semistructured data can significantly improve collaboration systems that store their data—e.g., word processing documents or vector graphics—as XML documents. In this paper we show that concurrency control mechanisms in CVS, relational, and object-oriented database systems are inadequate for collaborative systems based on semistructured data. We therefore propose two new locking schemes based on path locks which are tightly coupled to the document instance. We also introduce two scheduling algorithms that can both be used with any of the two proposed path lock schemes. We prove that both schedulers guarantee serializability, and show that the conflict rules are necessary.     

Simulation aided design of organizational structures in manufacturing systems using structuring strategies

This paper presents a simulation aided approach for designing organizational structures in manufacturing systems. The approach is based on a detailed modeling and characterization of the forecasted order program, especially of elementary processes, activity networks and manufacturing orders. Under the use of the organization modeling system FORM, that has been developed at the ifab-Institute of Human and Industrial Engineering of the University of Karlsruhe, structuring strategies—e.g., a process-oriented strategy—can be applied in order to design organizational structures in manufacturing systems in a flexible and efficient way. Following that, a dynamical analysis of the created manufacturing structures can be carried out with the simulation tool FEMOS, that has also been developed at the ifab-Institute. The evaluation module of FEMOS enables to measure the designed solutions with the help of logistical—e.g., lead time degree—and organizational—e.g., degree of autonomy—key data. This evaluation is the basis for the identification of effective manufacturing systems and also of improvement potentialities. Finally, a case study is presented in this paper designing and analyzing different organizational structures of a manufacturing system where gear boxes and robot grip arms were manufactured.     

Web Verification: Perspective and Challenges

The Web poses novel and interesting problems for both programming language design and verification—and their intersection. This paper provides a personal outline of one thread of work on this topic.     

Pragmatism and purism in artificial intelligence and legal reasoning

The paper identifies and assesses the implications of two approaches to the field of artificial intelligence and legal reasoning. The first — pragmatism — concentrates on the development of working systems to the exclusion of theoretical problems. The second — purism — focuses on the nature of the law and of intelligence with no regard for the delivery of commercially viable systems. Past work in AI and law is classified in terms of this division. By reference to The Latent Damage System, an operational system, the paper articulates and responds to conceivable purist (jurisprudential and AI) objections to such a program. The methods of the pragmatist are also called into question and refined. The author concludes that pragmatism within a purist framework is the only sound approach to developing reliable AI systems in law.     

Stabilization in spite of matched unmodeled dynamics and an equivalent definition of input-to-state stability

We consider nonlinear systems with input-to-output stable (IOS) unmodeled dynamics which are in the range of the input. Assuming the nominal system is globally asymptotically stabilizable and a nonlinear small-gain condition is satisfied, we propose a first control law such that all solutions of the perturbed system are bounded and the state of the nominal system is captured by an arbitrarily small neighborhood of the origin. The design of this controller is based on a gain assignment result which allows us to prove our statement via a Small-Gain Theorem [JTP, Theorem 2.1]. However, this control law exhibits a high-gain feature for all values. Since this may be undesirable, in a second stage we propose another controller with different characteristics in this respect. This controller requires morea priori knowledge on the unmodeled dynamics, as it is dynamic and incorporates a signal bounding the unmodeled effects. However, this is only possible by restraining the IOS property into the exp-IOS property. Nevertheless, we show that, in the case of input-to-state stability (ISS)—the output is the state itself-ISS and exp—ISS are in fact equivalent properties.Yuan Wang was supported in part by NSF Grant DMS-9403924 and by a scholarship from Université Lyon I, France.