T.-j. T J Tarn | Washington University in St. Louis (original) (raw)

Papers by T.-j. T J Tarn

Research paper thumbnail of A canonical dynamic extension for noninteraction with stability for affine nonlinear square systems

Systems & Control Letters, 1991

ABSTRACT The problem of noninteracting control with stability via dynamic feedback is considered ... more ABSTRACT The problem of noninteracting control with stability via dynamic feedback is considered for nonlinear systems with two inputs and two outputs. Given a system which may not be capable of decoupling via static state feedback but is capable of decoupling via dynamic feedback, a canonical dynamic extension is constructed. It is shown that every dynamic extension contains this canonical one. Hence, the Δmix dynamics as defined by K. Wagner (1989) of the canonical extension is contained in every other dynamic extension. Following Wagner's result, the stability of this Δmix dynamics is necessary for noninteraction with internal stability. The results obtained show that in the investigation of noninteraction with stability one can assume without loss of generality that the system is capable of decoupling via static state feedback

Research paper thumbnail of Colored petri nets to model gene mutation classification

Research paper thumbnail of Incoherent control of quantum systems with wavefunction-controllable subspaces via quantum reinforcement learning

Research paper thumbnail of Quantum coherent nonlinear feedback with applications to quantum optics on chip

In the control of classical mechanical systems, the feedback has been successfully applied to the... more In the control of classical mechanical systems, the feedback has been successfully applied to the production of the desired nonlinear dynamics. However, how much this can be done is still an open problem in quantum mechanical systems. This paper proposes a scheme of generating strong nonlinear quantum effects via the recently developed coherent feedback techniques, which can be shown to outperform the measurementbased quantum feedback scheme that can only generate pseudononlinear quantum effects. Such advancement is demonstrated by two application examples in quantum optics on chip. In the first example, we show that the nonlinear Kerr effect can be generated and amplified to be comparable with the linear effect in a transmission line resonator (TLR). In the second example, we show that by tuning the gains of the quantum amplifiers in a TLR coherent feedback network, non-Gaussian "light" (microwave field) can be generated and manipulated via the nonlinear effects which exhibits fully quantum sub-Poisson photoncount statistics and photon antibunching phenomenon. The scheme opens promising applications in demonstrating strong nonlinear quantum optics on chip, which is extremely weak and inflexible in traditional quantum optical devices.

Research paper thumbnail of Stability analysis of non-time referenced Internet-based telerobotic systems

Robotics and Autonomous Systems, 2000

This paper explores a new method for action synchronization and control of telerobotic systems. T... more This paper explores a new method for action synchronization and control of telerobotic systems. The significance of the method is that it can effectively deal with the random time delay existing in the communication channel, such as the Internet. In addition, the result is independent of human operator. First, a novel non-time referenced action control scheme will be introduced. Instead of using time as an action reference, a new sensor-based action reference will be developed. As a result, the communication delay will have little impact on the operations, in particular the stability of the system. Furthermore the stability of the system is not dependent on the model of the human operator in the system. All these will lead to the development of the theoretical foundation on the stability of robotic systems involving human operators. The implementations and experimental outcomes presented herein will verify the theoretical results.

Research paper thumbnail of Integration of task scheduling, action planning, and control in robotic manufacturing systems

Proceedings of the IEEE, 2000

This paper presents a novel approach for solving a challenging problem in the intelligent control... more This paper presents a novel approach for solving a challenging problem in the intelligent control of robotic manufacturing systems, i.e., the integration of low-level system sensing and control with high-level system behavior and perception. First, a newly developed event-based planning and control method will be introduced. It will then be extended to a robotic manufacturing system via a hybrid system approach. The tasks of a robotic manufacturing system usually consist of multiple segments of robotic actions, which involve both continuous and discrete types of actions. The max-plus algebra model has been proposed to model such a system. Combined with the event-based planning and control methods, both discrete and continuous actions can be planned and controlled based on the max-plus algebra model. More important, the interactions between discrete and continuous actions can be formulated analytically. A typical parts-sorting task in a robotic manufacturing system is used to illustrate the proposed approach. The experimental results clearly demonstrate the advantages of this method.

Research paper thumbnail of A Modular Telerobotic Architecture for Waste Retrieval and Remediation

The International Journal of Robotics Research, 1998

The International Journal of Robotics Research Kevin Brady, Tzyh-Jong Tarn, Ning Xi, Lonnie Love,... more The International Journal of Robotics Research Kevin Brady, Tzyh-Jong Tarn, Ning Xi, Lonnie Love, Peter Lloyd, Barry Burks and Hurley Davis A Modular Telerobotic Architecture for Waste Retrieval and Remediation ... The International Journal of Robotics Research Additional ...

Research paper thumbnail of Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment

IEEE Transactions on Control Systems Technology, 2000

This paper is devoted to the problem of controlling a robot manipulator for a class of constraine... more This paper is devoted to the problem of controlling a robot manipulator for a class of constrained motions. The task under consideration is to control the manipulator, such that the end-effector follows a path on an unknown surface, with the aid of a single camera assumed to be uncalibrated with respect to the robot coordinates. To accomplish a task of this kind, we propose a new control strategy based on multisensor fusion. We assume that three different sensors-that is, encoders mounted at each joint of the robot with six degrees of freedom, a force-torque sensor mounted at the wrist of the manipulator, and a visual sensor with a single camera fixed to the ceiling of the workcell-are available. Also, we assume that the contact point between the tool grasped by the end-effector and the surface is frictionless.

Research paper thumbnail of On the spectral controllability of delay-differential equations

IEEE Transactions on Automatic Control, 1981

ABSTRACT A computable necessary and sufficient condition is proved for the spectral controllabili... more ABSTRACT A computable necessary and sufficient condition is proved for the spectral controllability of a class of linear hereditary systems and a counterexample is given to a previously published result.

Research paper thumbnail of Controllability of discrete bilinear systems with bounded control

IEEE Transactions on Automatic Control, 1973

ABSTRACT Controllability of time-invariant discrete-time bilinear systems is discussed. Bilinear ... more ABSTRACT Controllability of time-invariant discrete-time bilinear systems is discussed. Bilinear systems are classified into two categories: homogeneous and inhomogeneous. Sufficient conditions which ensure the global controllability of discrete-time bilinear systems are obtained by localized analysis in control variables.

Research paper thumbnail of Control problems in quantum systems

Chinese Science Bulletin, 2012

ABSTRACT

Research paper thumbnail of A canonical dynamic extension for noninteraction with stability for affine nonlinear square systems

Systems & Control Letters, 1991

ABSTRACT The problem of noninteracting control with stability via dynamic feedback is considered ... more ABSTRACT The problem of noninteracting control with stability via dynamic feedback is considered for nonlinear systems with two inputs and two outputs. Given a system which may not be capable of decoupling via static state feedback but is capable of decoupling via dynamic feedback, a canonical dynamic extension is constructed. It is shown that every dynamic extension contains this canonical one. Hence, the Δmix dynamics as defined by K. Wagner (1989) of the canonical extension is contained in every other dynamic extension. Following Wagner's result, the stability of this Δmix dynamics is necessary for noninteraction with internal stability. The results obtained show that in the investigation of noninteraction with stability one can assume without loss of generality that the system is capable of decoupling via static state feedback

Research paper thumbnail of Colored petri nets to model gene mutation classification

Research paper thumbnail of Incoherent control of quantum systems with wavefunction-controllable subspaces via quantum reinforcement learning

Research paper thumbnail of Quantum coherent nonlinear feedback with applications to quantum optics on chip

In the control of classical mechanical systems, the feedback has been successfully applied to the... more In the control of classical mechanical systems, the feedback has been successfully applied to the production of the desired nonlinear dynamics. However, how much this can be done is still an open problem in quantum mechanical systems. This paper proposes a scheme of generating strong nonlinear quantum effects via the recently developed coherent feedback techniques, which can be shown to outperform the measurementbased quantum feedback scheme that can only generate pseudononlinear quantum effects. Such advancement is demonstrated by two application examples in quantum optics on chip. In the first example, we show that the nonlinear Kerr effect can be generated and amplified to be comparable with the linear effect in a transmission line resonator (TLR). In the second example, we show that by tuning the gains of the quantum amplifiers in a TLR coherent feedback network, non-Gaussian "light" (microwave field) can be generated and manipulated via the nonlinear effects which exhibits fully quantum sub-Poisson photoncount statistics and photon antibunching phenomenon. The scheme opens promising applications in demonstrating strong nonlinear quantum optics on chip, which is extremely weak and inflexible in traditional quantum optical devices.

Research paper thumbnail of Stability analysis of non-time referenced Internet-based telerobotic systems

Robotics and Autonomous Systems, 2000

This paper explores a new method for action synchronization and control of telerobotic systems. T... more This paper explores a new method for action synchronization and control of telerobotic systems. The significance of the method is that it can effectively deal with the random time delay existing in the communication channel, such as the Internet. In addition, the result is independent of human operator. First, a novel non-time referenced action control scheme will be introduced. Instead of using time as an action reference, a new sensor-based action reference will be developed. As a result, the communication delay will have little impact on the operations, in particular the stability of the system. Furthermore the stability of the system is not dependent on the model of the human operator in the system. All these will lead to the development of the theoretical foundation on the stability of robotic systems involving human operators. The implementations and experimental outcomes presented herein will verify the theoretical results.

Research paper thumbnail of Integration of task scheduling, action planning, and control in robotic manufacturing systems

Proceedings of the IEEE, 2000

This paper presents a novel approach for solving a challenging problem in the intelligent control... more This paper presents a novel approach for solving a challenging problem in the intelligent control of robotic manufacturing systems, i.e., the integration of low-level system sensing and control with high-level system behavior and perception. First, a newly developed event-based planning and control method will be introduced. It will then be extended to a robotic manufacturing system via a hybrid system approach. The tasks of a robotic manufacturing system usually consist of multiple segments of robotic actions, which involve both continuous and discrete types of actions. The max-plus algebra model has been proposed to model such a system. Combined with the event-based planning and control methods, both discrete and continuous actions can be planned and controlled based on the max-plus algebra model. More important, the interactions between discrete and continuous actions can be formulated analytically. A typical parts-sorting task in a robotic manufacturing system is used to illustrate the proposed approach. The experimental results clearly demonstrate the advantages of this method.

Research paper thumbnail of A Modular Telerobotic Architecture for Waste Retrieval and Remediation

The International Journal of Robotics Research, 1998

The International Journal of Robotics Research Kevin Brady, Tzyh-Jong Tarn, Ning Xi, Lonnie Love,... more The International Journal of Robotics Research Kevin Brady, Tzyh-Jong Tarn, Ning Xi, Lonnie Love, Peter Lloyd, Barry Burks and Hurley Davis A Modular Telerobotic Architecture for Waste Retrieval and Remediation ... The International Journal of Robotics Research Additional ...

Research paper thumbnail of Sensor-based hybrid position/force control of a robot manipulator in an uncalibrated environment

IEEE Transactions on Control Systems Technology, 2000

This paper is devoted to the problem of controlling a robot manipulator for a class of constraine... more This paper is devoted to the problem of controlling a robot manipulator for a class of constrained motions. The task under consideration is to control the manipulator, such that the end-effector follows a path on an unknown surface, with the aid of a single camera assumed to be uncalibrated with respect to the robot coordinates. To accomplish a task of this kind, we propose a new control strategy based on multisensor fusion. We assume that three different sensors-that is, encoders mounted at each joint of the robot with six degrees of freedom, a force-torque sensor mounted at the wrist of the manipulator, and a visual sensor with a single camera fixed to the ceiling of the workcell-are available. Also, we assume that the contact point between the tool grasped by the end-effector and the surface is frictionless.

Research paper thumbnail of On the spectral controllability of delay-differential equations

IEEE Transactions on Automatic Control, 1981

ABSTRACT A computable necessary and sufficient condition is proved for the spectral controllabili... more ABSTRACT A computable necessary and sufficient condition is proved for the spectral controllability of a class of linear hereditary systems and a counterexample is given to a previously published result.

Research paper thumbnail of Controllability of discrete bilinear systems with bounded control

IEEE Transactions on Automatic Control, 1973

ABSTRACT Controllability of time-invariant discrete-time bilinear systems is discussed. Bilinear ... more ABSTRACT Controllability of time-invariant discrete-time bilinear systems is discussed. Bilinear systems are classified into two categories: homogeneous and inhomogeneous. Sufficient conditions which ensure the global controllability of discrete-time bilinear systems are obtained by localized analysis in control variables.

Research paper thumbnail of Control problems in quantum systems

Chinese Science Bulletin, 2012

ABSTRACT