wolf kohn - Academia.edu (original) (raw)

Papers by wolf kohn

This paper presents a new general purpose feedback controller for driving a manipulator robot th ... more This paper presents a new general purpose feedback controller for driving a manipulator robot th rough complex tasks such as truss assembly, ORU, painting deformable surfaces, etc. The proposed controller, termed Multiplexed Declarative Hierarchical Controller is based on a theory of knowledge based controllers developed by the author [ I ] , [2], [3]. In this theory, the plant dynamics, contro l requirements, and goal dynamics are declared in an axiom base. The joint actuator commands, which are functions of the sensor and goal command signals, are generated on-line as side effects o f showing whether a theorem (Task Theorem) representing the robot task, logically follows from the equational axiom base. That is, the control ler is an on-l ine mechanical theorem prover, whose inference mechanism is based on equation solving over a variety. The Task Theorem is constructed by an online planner as a conjunction o f primitive lemmas, each of which is a carrier o f an elementary control action. The control actions are multiplexed in time so that at each instance one and only one is active.

Proceedings of SPIE, Mar 10, 1989

Based on our experience with two mobile robot control projects implemented on blackboard based co... more Based on our experience with two mobile robot control projects implemented on blackboard based computing systems, a control system design approach has been developed for declarative representation of the control problem and an algorithm decomposition which automatically creates hierarchical controllers. The target computing system architecture, blackboard or otherwise, is captured declaratively in a complexity measure. This measure is used during the decomposition of the controller to optimize the controllers performance on the target computing architecture. Our design approach is presented, and the computational complexity measure is described. A new mobile robot testbed, Ulysses, and potential force field control approach will be used to test our declarative hierarchical controller design procedure.

Proceedings of SPIE, Dec 23, 1985

This paper describes the development of an expert system for defining and dynamically updating pr... more This paper describes the development of an expert system for defining and dynamically updating procedures for an orbital rendezvous maneuver. The product of the expert system is a procedure represented by a Moore automaton. The construction is recursive and driven by a simulation of the rendezvousing bodies.

Intermetrics, Inc., May, 1994. [5] "Force XXI - A Talk With the Chief, Armv. p. 28-34, May, ... more Intermetrics, Inc., May, 1994. [5] "Force XXI - A Talk With the Chief, Armv. p. 28-34, May, 1994. [6] Institute of Land Warfare, "Army Tests Info War". AUSA News, p. 7, June, 1994. [7] Nerode A., Kohn W., " Multiple Agent Autonomous Control: A Hybrid Systems Architecture" ...

TechConnect Briefs, Oct 18, 2021

purdue.edu

We develop a rule-based optimization approach. The rules are IF-THEN statements that allow domain... more We develop a rule-based optimization approach. The rules are IF-THEN statements that allow domain experts to model their complex systems in a natural framework. We formalize the enterprise problem as minimizing multi-criteria ob-jectives with respect to a set of business rules. ...

Southcon Conference, 1984

IEEE Transactions on Smart Grid, Nov 1, 2015

Micro-grids require active control to maintain quality of service and to interface with the power... more Micro-grids require active control to maintain quality of service and to interface with the power grid in a bi-directional manner. Further, micro-grids must be justified by environmental, governmental, and economic viability. We present a programmable architecture for active, optimal distributed control of elements of the grid to achieve desired behavior. A unique aspect of this architecture is to include a distributed inductive engine for learning the local dynamics of generators and loads in the micro-grid. It generates feedback laws that are adapted to the current status of the micro-grid, and responds to anomalous events in a resilient manner. An important novelty is that control laws are extracted online for bidirectional discontinuous nonlinear loads by mean field methods from physics outside the standard design methodologies for piecewise linear quadratic controls.

TechConnect Briefs, May 13, 2018

Self-assembly of a 3-D circuit at a two to four nano-meter footprint has significant quantum effe... more Self-assembly of a 3-D circuit at a two to four nano-meter footprint has significant quantum effects. In order to develop a feedback control system for fabrication, we design a quantized Hamiltonian that is tracked during the fabrication process with the physical Hamiltonian, using actuator controls. This quantum control tracking system uses a Weyl quantization that ensures the system is bounded. This work builds on a previous paper that used a cannonical quantization scheme. An example using a scaffolding architecture is presented.

Proceedings of SPIE, Mar 21, 1989

The Rational Tree Machine (RTM) is a type of graph reduction architecture, for the processing of ... more The Rational Tree Machine (RTM) is a type of graph reduction architecture, for the processing of logic programs, currently under development at Boeing's High Technology Center. The architecture is composed of three types of functional modules: tree memory, automata constructor, and automata simulation modules. A previous paper described the overall architecture and its functionality. This paper will concentrate on a detailed description of the automata constructor.

TechConnect Briefs, May 14, 2017

A feedback process control realizes 3-D circuits with a four nanometer footprint using a self-ass... more A feedback process control realizes 3-D circuits with a four nanometer footprint using a self-assembly nanomanufacturing facility including actuator controls. At this footprint level, quantum effects are significant. Our technology for quantizing the design of a digital circuit into a 3-D implementation using master equation models is based on a quantized Hamiltonian that is tracked by the physical Hamiltonian to deploy the circuit design. This quantum hybrid controller enables transformation of a desired circuit (expressed in logic and continuous rules) into manufacturing processes at quantum levels that includes interdependent multi-stage processes. It achieves performance criteria, such as maximize yield, maximize signal-to-noise ratio, and minimize entropy.

A suite of heterogeneous sensors and their controlling agents which are measuring the dynamics of... more A suite of heterogeneous sensors and their controlling agents which are measuring the dynamics of a plant are considered. The sensor agents interact in real time via a communications network. The problem is to find an unbiased estimate of the plant state given that the data available is dynamic, noisy, and given in a multiplicity of representations. The approach proposed

Journal of Guidance Control and Dynamics, 1990

The author discusses an architecture for the design and implementation of a class of feedback kno... more The author discusses an architecture for the design and implementation of a class of feedback knowledge-based autonomous control systems in which the central operational element, the inferencer, is all online mechanical theorem prover whose function is to determine whether an existentially qualified theorem, representing the desired system behavior, logically follows from the theory stored in the knowledge base, and if

Communications of The ACM, Aug 1, 1991

... The experience reported by Prieto-Dfaz discusses the implementation of a classificationscheme... more ... The experience reported by Prieto-Dfaz discusses the implementation of a classificationscheme for reuseua topic of strong current interest. The method he describes is a reuse program based on a library of reusable software assets. ...

Iie Transactions, Feb 23, 2005

This paper provides a framework for implementing real-time enterprise planning, scheduling and co... more This paper provides a framework for implementing real-time enterprise planning, scheduling and control processes based on information provided by RFID sensing systems. The proposed framework is based on optimal control algorithms, and interfaces with existing ERP infrastructure. The objective is to respond autonomously to changes in the enterprise using a feedback con…guration that minimizes disruptions. RFID sensing systems have the potential to provide the real time data needed to implement enterprise feedback functionality. The central concept presented in the paper is a real time repair schema implemented in a distributed architecture, that utilizes dynamical models described by di¤erential equations with piece-wise continuous solutions.

The Kluwer international series in engineering and computer science, 2000

Heterogeneous Sensors. Suppose the dynamics of a plant (such as the evolution of state trajectory... more Heterogeneous Sensors. Suppose the dynamics of a plant (such as the evolution of state trajectory of a car airplane, battlefield, factory, or business) is being observed by a family of heterogeneous sensors.

Simulation, Oct 1, 1984

The rigid and flexible dynamic behavior of many systems in aerospace structures can be modeled by... more The rigid and flexible dynamic behavior of many systems in aerospace structures can be modeled by a set of coupled non linear second-order differential equations. In these systems, the mass matrix function of the system, which contains the masses of the different modules in the structure, its moment of inertia tensors, and its bending moment coefficients (finite number of modes), exhibits eigenvalue dispersion between four and nine orders of magnitude. In addition, due to small gravity gradient and aerodynamic forces and moments, these systems are acted on by small or negligible damping forces and moments. The two characteristics alluded to above imply that the differential equa tions representing these systems have poor numerical stability properties. This study is concerned with the development of a similarity transformation on the variables of integration which results in an equivalent system with higher damping and conse quently better numerical stability than the original one.

arXiv (Cornell University), Mar 19, 2017

Many applications require solving non-linear control problems that are classically not well behav... more Many applications require solving non-linear control problems that are classically not well behaved. This paper develops a simple and efficient chattering algorithm that learns near optimal decision policies through an open-loop feedback strategy. The optimal control problem reduces to a series of linear optimization programs that can be easily solved to recover a relaxed optimal trajectory. This algorithm is implemented on a real-time enterprise scheduling and control process.