On the implementation of velocity control for kinematically redundant manipulators
The velocity control of kinematically redundant manipulators has been addressed through a variety of approaches. Though they differ widely in their purpose and method of implementation, most are optimizations that can be characterized by Liegeois's (...
Robotic interception of moving objects using an augmented ideal proportional navigation guidance technique
Presents an approach to online, robot-motion planning for moving-object interception. The proposed approach utilizes a navigation-guidance-based technique, that is robust and computationally efficient for the interception of fast-maneuvering objects. ...
Constrained motion control using vector potential fields
Discusses the generation of a control signal that would instruct the actuators of a robotics manipulator to drive motion along a safe and well-behaved path to a desired target. The proposed concept of navigation control along with the tools necessary ...
Augmenting the operator function model with cognitive operations: assessing the cognitive demands of technological innovation in ship navigation
The increasing technological sophistication of ship navigation systems may significantly alter the skills, knowledge, and strategies involved in navigating large ships. Many examples in other domains illustrate the dangers of technology-driven ...
A model for types and levels of human interaction with automation
We outline a model for types and levels of automation that provides a framework and an objective basis for deciding which system functions should be automated and to what extent. Appropriate selection is important because automation does not merely ...
AMMETH: a methodology for requirements analysis of advanced human-system interfaces
This paper addresses the important issue of identifying the requirements for advanced human-system interface (HSI) in the context of a disciplined requirements engineering process. This is essential if we are to have effective, well-designed HSIs as ...
Diagnosis of quantized systems based on a timed discrete-event model
The paper deals with the diagnosis of continuous-variable systems whose state can be measured only by means of a quantizer. Hence, the online information used in the diagnosis is given by the sequences of input and output events. The diagnostic ...
Computational modeling of age-differences in a visually demanding driving task: vehicle detection
The visual task of detecting an approaching vehicle was modeled with a neurophysiologically motivated computational vision model, the National Automotive Center-visual perception model (NAC-VPM). The scientific literature documenting age-related changes ...
Global optimization: an auxiliary cost function approach
An efficient and practical solution to a class of global function optimization is proposed. The algorithm consists of a stochastic search of initial guesses and a gradient-based solution-finding algorithm. The key idea is to introduce an auxiliary cost ...
Ranking and screening multiple criteria alternatives with partial information and use of ordinal and cardinal strength of preferences
This paper consists of three parts: 1) some theories and an efficient algorithm for ranking and screening multicriteria alternatives when there exists partial information on the decision maker's preferences; 2) generation of partial information using ...
Modeling and constraining human interactions in shared control utilizing a discrete event framework
Human integration is essential in systems where autonomous control alone would not be successful. In this paper, we present a framework for integrating a human supervisor into an otherwise autonomous control system. To facilitate integration, discrete ...
Using multi-agent simulation and learning to design new business processes
Business process modeling, analysis, and then redesign are the central task in the efforts of re-engineering business processes. Frequently reviewing and promptly changing business processes to adapt to new business environment is the key to maintain ...
Hybridization of gradient descent algorithms with dynamic tunneling methods for global optimization
An algorithm based on gradient descent techniques with dynamic tunneling methods fur global optimization is proposed. The proposed algorithm consists of gradient descent for local search and a direct search scheme, based on dynamic tunneling technique, ...