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By P.J. Fleming, W.H. Kwon

This Workshop makes a speciality of such concerns as keep an eye on algorithms that are appropriate for real-time use, computing device architectures that are compatible for real-time regulate algorithms, and purposes for real-time regulate matters within the components of parallel algorithms, multiprocessor platforms, neural networks, fault-tolerance structures, real-time robotic regulate id, real-time filtering algorithms, keep watch over algorithms, fuzzy regulate, adaptive and self-tuning keep watch over, and real-time keep watch over purposes

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Extra info for Algorithms and Architectures for Real-Time Control 1992. Preprints of the IFAC Workshop, Seoul, Korea, 31 August–2 September 1992

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It should be noted that the target of our approach is to control such a large scale robotic system. If the components in the total system are not complexly interacted and compose a certain hierarchical structure, it can be implemented as a concurrent processing system. We have proposed such a hierarchical control architecture, which has three control layers: This article is written based on the research of a transputer based control system for a robotic system, which is partly supported by Nippon Steel Corporation and Nachi-Fujikoshi Corporation.

INTRODUCTION A'X' + X'B' = T Let us consider the Sylvester equation AX + XB = C C T where X'=U XV and C'=U CV. We also suppose that the conditions for existence and uniqueness of the solution of (1) are fulfilled * 0, € σ(Α), €

4: Chaining of the updates with respect to blocks of A c b 11 31 c b 12 C 21 b 32 a 31 c 31 b 32 a 31 41 J U Nl Wl 32 a 31 C 33 b 32 b b 22 c C 33 b 22 C b 11 42 b b 33 33 a b 32 44 J_JL 33 i N2 L i I Nl El i i c j j j t N2 Wl Nl El Wl E2 W2 N2 LA E2 W1:=E1 S:=E1/(N1+N2) W1:=E1-N1*W2 S:=N1-E1*N2 W1:=S E2:=W2 E2:=S Fig. 5: Size-Independent Linear Array 34 El Nl N2 Wl < — 8 H< El S:=E1-N1*N2 2E E2 2 : = N Wl:=N2 Fig. 6: Change of function of the central cell when it updates elements of C. 2 C 10 b 9 11 C 9 2 10 b b 10 b 11 9 b 5 10 3 C C 12 7 b C 10 • b a c 11 6 b ?

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