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Extra info for Analysis, Design and Evaluation of Man–Machine Systems 1995. A Postprint Volume from the Sixth IFAC/IFIP/IFORS/IEA Symposium, Cambridge, Massachusetts, USA, 27–29 June 1995

Sample text

All these functions permit, a priori, the description of the mass or energy structures achieving the goals. Each basic function can be described with a set of components. This kind of functional analysis is very suitable for the INHO FMEA (see Fig. 2). Security fil G2 Fig. 3 . Table 2 for functional analysis. Design of alarms Production C3

Let us now consider the field of forces generated at t h e endpoint of t h e r e d u n d a n t a r m by t h e activation of two independent a c t u a t o r s . Each one of these fields m a y be regarded as t h e outcome of a n experiment in which a muscle is activated a n d t h e e n d - p o i n t force vector F = (Fi,F2) is measured a t a number of locations in t h e x\,X2 1 Motoneurons constitute the final output stage of the spinal cord. They are organized in clusters, or "pools", of cells which innervate the same muscle.

According to this view, each controller derives t h e forces induced by a target or by an obstacle by directly computing the gradient of the corresponding potential field. T h u s , t h e field specified by t h e planner is faithfully implemented by the controllers. The above considerations establish t h a t t h e endpoint fields of a r e d u n d a n t limb need not combine according to vectorial summation, even in the simple case in which these fields are induced by direct muscle stimulation. However, we cannot rule out vector s u m m a t i o n in particular cases nor are we able yet t o establish how non-linear the behavior öf a limb is expected t o be given t h e limb's biomechanical structure.

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