Zvi S. Roth

• Doctor of Philosophy
• Professor at Florida Atlantic University

In the last chapter, we provided very detailed discussions about the fuzzy logic control systems, including the fundamental theoretical knowledge of the fuzzy technologies and fuzzy inference systems, such as fuzzy sets, membership functions, control rules, lookup tables, and basic operations of a FIS. Following the theoretical introductions, a pow...

In this chapter, we discussed most popular mathematical models for most often used systems in our world. In Sect. 4.2, various mathematical models for most popular physical systems are introduced and analyzed, which include the mechanical rotational system, electrical circuit system, and electromechanical system. Following this introduction, the re...

In the point of view of control types, the fuzzy logic control technology can be divided into two categories: type-1 and type-2. So far, the fuzzy logic control technologies discussed in all previous chapters in this book belong to the type-1 fuzzy logic controls. In type-1 FLC, each membership function has a definite value or a membership degree b...

This chapter provides a fundamental and basic introduction to one of the updated microcontroller units (MCU) LaunchPad™, Tiva™ C Series TM4C123G made by Texas Instruments™. Both theoretic introductions about modern control technologies with simulations and hands-on techniques with actual control programming codes are provided in this chapter. This...

In Chap. 5, we provided detailed discussions about the classical linear control systems or PID control systems with various design methods. One of the most important and critical key requirements to design and implement a PID control system is that the dynamic model of the process or plant is the prerequisite condition . However, in some actual app...

Provide an overview and introduction about the book with highlights on the following special features:

This chapter provides a fundamental and basic introduction to most popular control systems implemented in our current world. In fact, all control systems in our world belong to nonlinear time-variant systems (NLTV), which mean that the outputs of all systems are always changed and varied with the time period and different outputs can be achieved at...

The main topic of this chapter is concentrated on the PID control system design and analysis. Three popular methods, root locus, Bode plot, and state space, are introduced and discussed in details with quite a few example projects. Starting from Sect. 5.2, the root locus strategy is discussed with some special properties used in this method. The ef...

This chapter, on practical nonlinear control design, includes a variety of open-loop and closed-loop control design techniques that not only do not avoid the nonlinearities of the model but sometimes utilize the nonlinearities as part of a successful control strategy. The chapter includes many MATLAB Simulink examples. One of the chapter purposes i...

A design-for-testability method and an electrical interconnect test method are proposed to detect open defects occurring at interconnects among dies and input/output pins in 3D stacked ICs. As part of the design method, an nMOS and a diode are added to each input interconnect. The test method is based on measuring the quiescent current that is made...

In this paper, a built-in test circuit for an electrical interconnect test method is proposed to detect an open defect occurring at an interconnect between an IC and a printed circuit board. The test method is based on measuring the supply current of an inverter gate in the test circuit. A time-varying signal is provided to an interconnect as a tes...

We describe a systematic approach used in integrating design for assistive technologies into an engineering capstone design course. Due to its mild winter weather, advanced healthcare facilities and affordable living costs, South Florida, attracts many seniors who, even in their advanced years, value the freedom of living at home over the safety of...

In this paper, a built-in electrical test circuit is proposed to detect an open defect at an interconnect between a land on a printed circuit board and an IC. The test circuit is made of an integrating circuit, nMOS switches and a switch control circuit. A time-varying signal generated by the integrating circuit is provided to a targeted interconne...

Since the 3D integrated circuit (3D-IC) consists of several dies that are connected by the huge number of through-silicon vias (TSVs), the yield of a 3D-IC makes an impact on the chip cost. Therefore, development of testing technology for 3D-IC becomes essential for reducing the manufacturing cost of 3D-IC. In this chapter, we describe the testing...

In microgrids it is essential to coordinate and control generation, demand participation and storage devices. Various approaches have been attempted to model microgrid control algorithms that manage such resources. This paper presents the optimization of a microgrid operation based on centralized control strategies. All energy sources and loads are...

In this paper, a Design-for-Testability method is proposed to detect an open defect occurring at an interconnect between dies in a 3D IC. The open defect is detected by means of a supply current flowing whenever a time-varying voltage signal is provided to the targeted interconnect as a test input stimulus. Feasibility of the test method is examine...

An estimation method of quiescent output voltage of a defective TSV is proposed at which a hard open defect occurs in a 3D IC. The method enables us to reduce the number of times of 3D electromagnetic simulation.

We report on a multi-year project to use engineering capstone designs to aid elderly and persons with disabilities; and to enhance undergraduate engineering education through multidisciplinary collaboration and hands-on experience. In their capstone project, students utilize and adapt available technologies to create devices to assist persons with...

In this paper, a built-in electrical test circuit is proposed to detect an open defect at an interconnect between a land in a printed circuit board and an IC. An inverter gate is used as an open sensor in the test circuit. An AC voltage signal is provided to a targeted interconnect and the sensor as a test input signal to detect the defect. The def...

Design of an automation line is a multi-objective optimization problem involving throughput, yield, floor space and cost constraints. The paper examines the feasibility of a computer-aided automation design for biotechnology applications using Arena™ software. A generic case study chosen for this study involves a sequence of steps in a preparation...

Background / Purpose: Towards rational vaccine design, novel B- and T- cell Ebola virus epitopes were identified using various computational algorithms. These include a 3D epitope (EAIVNAQPK...MHNQDG) that was also extracted from the PDB structure of the Ebola glycoprotein bound to human antibody KZ52. One epitope (DYHKILTAG) surprisingly contain...

The greatest roadblock in vaccine design is the lack of a complete understanding of how the immune system works. Greater understanding can be achieved via mathematical models that formalize biological ideas and their ability to extract non-intuitive information from biological experiments. Rational vaccine design (RVD) aims to maximize the producti...

Teaching a RobotTechnological ForecastsTeleoperator Control using TelepresenceTeleoperators, Design ofTeleoperators, ResearchTeleoperators, Supervisory ControlTerminologyTestingTool ChangingTraining of Robotics PersonnelTrajectoriesTrajectory PlanningTransducersTransmissionTransportation Industry, Robots in

Consistent with inherent characteristics of a complex system made of a large number of interacting units having deterministic as well as spatiotemporal attributes, a model is developed to represent the human glucose regulatory metabolism within a complex system framework. Essentially, the mass-flow relations pertinent to sugar transport (in the for...

A novel PID control autotune technique for temperature control systems operating in the cryogenic regime is described. The PID parameter tuning is based on a sequence of closed-loop step response tests utilizing the measured peak overshoot values and the time between the first peak and first dip of the step response. The performance of this techniq...

Consistent with inherent characteristics of a complex system made of a large number of interacting units having deterministic as well as spa-tiotemporal attributes, a model is developed to represent the human glu-cose regulatory metabolism within a complex system framework. Essen-tially, the mass-flow relations pertinent to sugar transport (in the...

In a laser tracking system (LTS) the control objective is for a laser beam to track a retro-reflecting moving target through adjustment of joint angles and velocities of a two-degrees-of-freedom (DOF) tracking gimbal on which tracking mirrors are mounted. This is done based on two types of feedback signals: distance reading, obtained by a laser int...

A novel PID control autotune technique, developed empirically at Scientific Instruments for temperature control systems operating in the Cryogenic regime (that is between 4-100K) is described. The PID parameters tuning is based on a sequence of closed loop step response tests utilizing the measured peak overshoot values and the time between the fir...

Laser tracking systems (LTSs) employ tracking laser interferometers for coordinate measuring of precision machine tools and robots. Such coordinate measuring machines, if properly calibrated, are potentially fast, very accurate and can cover a large workspace. LTS devices must be self-calibrated, using redundancy or constraint surfaces.A methodolog...

Laser tracking systems (LTS) are among the most accurate robot metrology systems. These laser interferometer systems combine the advantages of high resolution, large work space and contactless measurements. A target mounter on the end-effector of the robot, is automatically tracked by a laser beam targeted by the moving mirror. A prerequisite for u...

The paper is based on the author's experience gained from developing and teaching an interdisciplinary hands-on freshmen-level Introduction to Engineering course at Florida Atlantic University (FAU). Robotics experiments, projects, lectures and computer lab activities currently occupy 15-25% of the course's total curriculum. These include programmi...

Teaching of classical control can be significantly enhanced by incorporation of weekly computer lab sessions, utilizing the MATLAB^® Control Systems Toolbox, Symbolic Math Toolbox and SIMULINK^®. The paper discusses a basic control course curriculum planning, focusing on the tradeoffs that result from allocating lecture time to...

In this paper, a methodology for self-calibrating a multi-beam laser tracking measurement system with planar constraints is proposed. A model for the multiple-beam laser tracking system is derived. Through error analysis it is shown that using even rough angular measurement of the gimbal joint positions may improve the overall system calibration re...

Investigates robot calibration with planar constraints, and in particular the conditions for the parameters of the robot kinematic model to be observable. Mainly multiple-plane constraints for robot calibration are considered. It is first shown that a single-plane constraint is normally not sufficient to calibrate a robot. It is also proven that by...

This paper presents some experimental results obtained by applying an approach of Lenz and Tsai (1989) to SCARA arm calibration. A new camera calibration technique, which is singular-free for this type of system, is employed. Several practical recommendations are given for robot users in general and SCARA arm users in particular

A single-stage linear method is devised in this paper to simultaneously fit rotation and translation (pose) parameters given two sets of 3-D point measurements. The necessary and sufficient conditions for the unique solution of the pose determination problem are stated. The computational complexity of the new algorithm is similar to the existing li...

The solution method presented previously by us ( ibid. vol.9, no.2, p.174-85, 1993) employs the complete and parametrically continuous (CPC) model. In the first step of this approach, all CPC orientation parameters related to revolute joints, are sequentially determined. In the second step, CPC translation parameters, together with orientation para...

A popular configuration widely used in a variety of robotic applications is to mount a camera on the robot manipulator hand. Before performing a measurement task using such a system, both the camera and the robot need to be calibrated. In this paper, a procedure is developed for simultaneous calibration of a robot and a monocular camera. Unlike con...

The calibration of robots and machine tools normally requires external pose measuring devices to provide precision cal ibration measurement data. Among the various coordinate measuring techniques, laser tracking systems based on in terferometry offer the potential for continuously producing noninvasive and highly accurate measurements over a large...

This tutorial, which is on the subject of using hand-mounted cameras for robot calibration, compares the basic principles of “single-stage” methods, that calibrate simultaneously the robot and the cameras, and those of “two-stage” methods, that first calibrate the cameras and then calibrate the robot. Distinction is made between stereo and monocula...

The paper presents a linear solution that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot flange coordinate frames. The flange frame is defined on the mounting surface of the end-effector. It is assumed that the robot geometry, i.e., the transformation from the robot base frame to...

This tutorial, which is on the subject of using hand-mounted cameras for robot calibration, focuses on the basic principles of "one-stage" methods that calibrate simultaneously the robot and the cameras and "two stage" methods that first calibrating the cameras and then calibrating the robot. Distinction is made between stereo and monocular camera...

Measuring robot positions and orientations is a crucial step in a robot calibration process. Off-line optimal selection of measurement configurations can significantly improve the accuracy of kinematic identification. Since the dimension of the parameter space is very large and the cost function is highly nonlinear, this selection process could be...

A measurement technique for kinematic calibration of robot manipulators, which uses a stereo hand-eye system with moving camera coordinates, is presented in this article. The calibration system consists of a pair of cameras rigidly mounted on the robot end-effector, a camera calibration board, and a robot calibration fixture. The stereo cameras are...

The problem of optimal design of robot accuracy compensators is addressed. Robot accuracy compensation requires that actual kinematic parameters of a robot be previously identified. Additive corrections of joint commands, including those at singular configurations, can be computed without solving the inverse kinematics problem for the actual robot....

One of the possible methods for accurate, fast, low-cost and automated robot calibration is to employ a single camera rigidly mounted to the robot end-effector together with a single camera calibration board. The end-effector pose is measured by calibration of the camera at every robot measurement configuration. This paper contends that, with sever...

Selection of a proper robot kinematic model is a critical step in error-model-based robot calibration. The Denavit-Hartenberg (DH) model exhibits singularities in calibration of robots having consecutive parallel joint axes. The complete and parametrically continuous (CPC) modeling technique is one of the more versatile alternative modeling convent...

A linear method for identifying the unknown kinematic parameters of a manipulator directly from the forward kinematic model is presented. The method requires the use of neither a nominal model nor a linearized error model of the robot. Such a solution is made possible by the use of a special robot kinematic modeling convention known as the complete...

A Stewart platform is a six degrees of freedom parallel manipulator composed of six variable-length legs connecting a fixed base to a movable plate. Like all parallel manipulators, Stewart platforms offer high force/torque capability and high structural rigidity in exchange for small workspace and reduced dexterity. Because the solution for paralle...

A method is presented for simultaneous calibration of a robot and a hand-mounted monocular camera. An algorithm solves for the kinematic parameters of the robot and camera in one stage, thus eliminating error propagation and improving noise sensitivities. Only two extra parameters are added to a robot calibration model to represent the camera geome...

New methods for the self-calibration of a laser tracking coordinate measuring machine are reported in this paper. Proper calibration of a laser tracking system is essential prior to using such a device for coordinate measuring. The task is nontrivial in the absence of other measurement systems of comparable accuracy. One has to rely on a self-calib...

Many computer vision, sensor fusion, and robotic applications require the estimation of a 3 × 3 rotation matrix from a set of measured or computed 3 × 3 noisy rotation matrices. This article classifies solution methods into three categories: nonlinear least squares, linear optimal, and linear suboptimal algorithms. Their performance is compared thr...

In the above-named work (ibid., vol.7, p.877-8, (Dec. 1991)), H. Zhuang and Z. S. Roth point out that a particular solution can be simplified by using quaternions to represent rotations. While it is true that this approach gives rise to an algorithm more efficient than the one considered, the commenter argues that it is incorrect to claim that a un...

A kinematic modeling convention for robot manipulators is proposed. The kinematic model is named for its completeness and parametric continuity (CPC) properties. Parametric continuity of the CPC model is achieved by adopting a singularity-free line representation consisting of four line parameters. Completeness is achieved through adding two link p...

First Page of the Article

The complete and parametrically continuous (CPC) robot kinematic modeling convention has no model singularities and allows the modeling of the robot base and tool in the same manner by which the internal links are modeled. These two properties can be utilized to construct robot kinematic error models employing the minimum number of kinematic error...

This technical brief presents, through a well-known generic form of linearized kinematic error models, direct answers to the following questions: (a) Which kinematic parameter errors become unobservable if calibration measurements include no information on the end-effector orientation? (b) Which kinematic parameter errors become unobservable if the...

The commenters point out that the derivation of the closed-form solution to the homogeneous transform equation AX=XB by Y.C. Shiu and S. Ahmad (see ibid., vol.5, no.1, p.16-27, Feb.1989), although containing many useful ideas, is somewhat lengthy. It can be presented much more compactly using quaternion algebra. Direct benefits of such an approach...

A closed form solution for the unknown kinematic parameters of a robot manipulator obtained directly from the forward kinematic model is described. The method requires the use of neither a nominal model nor a linearized error model of the robot. Such a solution is possible because of (1) the use of a special robot kinematic modeling convention, nam...

The paper proposes a noniterative algorithm for the determination of a 3�?3 rotation matrix from a set of measured or computed 3�?3 rotation matrices.

This paper addresses some observability issues in the kinematic error parameter identification of manipulators through derivation and analysis of a generic error model that is independent of any particular choice of robot kinematic modeling convention. It is pointed out that a consistent differential transformation formalism needs to be taken to co...

A kinematic modeling convention for robot manipulators is proposed. The kinematic model has complete and parametrically continuous (CPC) properties. The parametric continuity of the CPC model is achieved by adopting a singularity-free line representation. Completeness is achieved through adding two link parameters which allow arbitrary placement of...

The design of a kinematic accuracy compensator for a robot manipulator by using linear optimal control theory is discussed. The method is based on the assumption that either the actual kinematic parameters of the robot have been previously identified or that the pose errors of the manipulator can be measured online. A general mathematical framework...

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A popular nonlinear filter for failure detection in dynamic systems is the well-known Identification Filter. The filter consists of parallel Kalman filters, each tuned to a different system mode of operation, whose estimates parametrize a finite-dimensional system of equations for the conditional probabilities of being at each mode. The filter gene...

An optimal control approach to the problem of neighboring inverse kinematics is proposed for improving the accuracy of a manipulator. Two cases are studied. The first involves correction after kinematic parameter identification, assuming that the kinematic parameter errors are provided as the result of robot calibration. The other involves correcti...

An overview is given of the existing work on robot calibration, and some of the basic issues are identified in calibration and improvement of robot precision. Modeling, measurement, identification, and correction issues in robot calibration are discussed, and some of the unresolved questions are identified.

This note studies the nonlinear filtering problem for a linear system with random structure governed by a finite state Markov process. A characterization of the optimal mean-square filter is derived and some suboptimal filter approximations are presented.

The application of a model-based nonlinear filtering algorithm to the problem of instrument failure detection in a pressurized water reactor is considered. Detailed simulation results are presented to illustrate the performance and robustness properties of the detection algorithms developed.

Matrix estimation algebras are Lie algebras that arise naturally in the nonlinear filtering problem for systems with random structure. These are systems that have finitely many modes of operation, where transitions from one mode to another are governed by a finite-state Markov process. Necessary conditions for finite dimensionality of matrix estima...

Fault detection and diagnosis is modelled as the nonlinear filtering problem of a linear systems with jumping parameters. Assuming that faults occur according to a stationary finite state Markov process, the optimal filter is represented in terms of a vector Zakai equation. This equation can be solved explicitly in a manner that reveals both the re...

A close relationship between the dimension of the estimation algebra and the existence of a finite-dimensional filter of a particular type has been established by several researchers. However, a general procedure for constructing the filter realization has not been developed. In this paper a realization is presented for a special class of nonlinear...

The problem of combined state and structure estimation is addressed within the framework of nonlinear filtering theory. Several types of interesting suboptimal nonlinear filters are derived for an example problem. The problem of the existence of a finite dimensional recursive nonlinear filter is investigated for the example problem.

The design and implementation of a fuzzy logic controller for the laser tracking system is discussed and presented in this chapter. The effectiveness of the FLC in suppression of noises and disturbances is assessed with both simulation and experimental studies, and the comparison between the PID control and FLC for both transient and steady state p...

The paper discusses the philosophy, design and implementation of a graduate-level course entitled "Bio-Systems Modeling and Control", taught for the first time at FAU in Spring 2004. The course, unlike similar courses in some Biomedical Engineering programs, is aimed at engineering students who may have no prior Controls or Biology background. The...

From the Publisher:Robot calibration is the process of enhancing the accuracy of arobot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including k...

The paper is designed to serve as a resource for faculty involved in the instruction of a freshmen level "Introduction to Engineering" course. It contains specific suggestions and course material for day-to-day lecture, hands-on and computer lab activities, along with the ideas behind curriculum topics selection and order. The course is particularl...

Design of an automation line is a multi-objective optimization problem involving throughput, yield, floor space and cost constraints. This paper examines the feasibility of computer-aided automation design for biotechnology applications using Arena™ software. A generic case study chosen for this paper involves a sequence of steps in a preparation p...

The Scientific Instruments, Inc. (SI) feedback control PID tuning is based on a sequence of P control closed loop step response tests utilizing the measured peak overshoot values and the time between the first peak and first dip of the step response. This autotuning technique, developed empirically at Scientific Instruments, Inc. for temperature co...

This paper examines automation design issues related to a simple Biotechnology protocol case study. The example chosen is the preparation of RNA from tissue-cultured cells. The starting point in automation design is to first set the process as a manual labor production line and identify processes that can be automated. The paper explores the vast r...

The Scientific Instruments, Inc. (SI) feedback control PID tuning is based on a sequence of P control closed loop step response tests utilizing the measured peak overshoot values and the time between the first peak and first dip of the step response. This autotuning technique, developed empirically at Scientific Instruments, Inc. for temperature co...