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Stable Nonlinear Adaptive control With Growing Radial Basis Function Networks

IFAC Proceedings Volumes 1995年第13期28卷 245-250页

作者： Visakan Kadirkamanathan Simon Fabri Department of Automatic control & System Engineering University of Sheffield PO Box 600 Mappin Street Sheffield S1 4DU UK

An adaptive control technique, using dynamic structure Gaussian radial basis function neural networks, that grow in time based on the location of the system's state in space, is presented for the affine class of nonlinear systems having unknown or partially known dynamics. The method results in a network that is 'economic' in terms of network size, for cases where the state spans only a small subset of state-space, by utilizing less basis functions than would have been the case if basis functions were centred on discrete locations covering the whole, relevant region of state-space. Additionally, the system is augmented with sliding control so as to ensure global stability if and when the state moves outside the region of state-space spanned by the basis functions, and to ensure robustness to disturbances that arise due to the network inherent approximation errors.

关键词： Adaptive control Feedback linearisation Neural networks Radial Basis Function network Nonlinear control Lyapunov stability

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A transputer interface for the PUMA560 manipulator

A transputer interface for the PUMA560 manipulator

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IEE Colloquium on High Performance Computing for Advanced control

作者： Q. Wang A.M.S. Zalzala Robotics Research Group Department of Automatic Control & System Engineering University of Sheffield UK

The paper describes the design of an advanced control system for the PUMA560 industrial robotic manipulator using a high-performance parallel transputer (T805) network. The Transputer Interface Board (TIE) which establishes a transputer link to the 6503 microprocessors of the PUMA arm controller, is detailed. Much more flexibility can be achieved with this system. The interface period is now reduced to 1.75 ms (instead of the default 28 ms). controlled by this new system, PUMA moves much more smoothly.< >

关键词： Industrial control

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Intelligent Voting Startegies for Dependable Real-Time control systems

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IFAC Proceedings Volumes 1994年第16期27卷 37-42页

作者： Peter R. Croll Julian M. Bass Peter J. Fleming Department of Computer Science. The University of Sheffield UK. Department of Automatic Control and System Engineering. The University of Sheffield UK.

An intelligent and dependable voting mechanism for use in real-time control applications is presented. Strategies proposed by current safety standards advocate N-version software to minimise the effects from undetected software design faults (bugs). This requires diversity in design but presents a problem that truly diverse code produces diverse results, that is, differences in output values, timeliness and reliability. To reach a consensus requires an intelligent voter, especially when non stop operation is demanded, e.g. aerospace applications. This paper, therefore, firstly considers the applicable safety standards and the requirements for an intelligent voter service. The use of replicated voters to improve reliability is examined and a mechanism to ensure non stop operation is presented. The formal mathematical analysis used to verify the crucial behavioural properties of the voting service design is detailed. Finally the creation of N-version redundant voters are considered using Neural nets and Genetic Algorithms.

关键词： Real-Time control Safety systems Voting Fault Tolerance Formal Methods Neural Nets

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Coordination strategy for a system of manipulators coupled via a flexible object

Coordination strategy for a system of manipulators coupled v...

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International Conference on Industrial Electronics, control and Instrumentation

作者： M.M. Svinin M. Uchiyama Aeronautics and Space Engineering Department University of Tohoku Sendai Miyagi Japan Automatic Control Department System Theoryand Robotics Section Darmstadt University of Technology Darmstadt Hessen Germany

This paper presents a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are described, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and the force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and the moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling central law to ensure the tracking of the object trajectories in the position and the force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.< >

关键词： Force control control systems Force feedback Manipulator dynamics Robot kinematics Orbital robotics Equations Acceleration Trajectory Testing

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HYBRID SATELLITE AND TERRESTRIAL NETWORKS

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 313-327页

作者： CHITRE, DM SHYY, DJ EPHREMIDES, A GUPTA, S COMSAT Laboratories 22300 Comsat Drive Clarksburg MD 20871–9475 USA. Received his B.Sc. from the University of Bombay India an M.A. in mathematics from the University of Cambridge U.K. and a Ph.D. in physics from the University of Maryland. He is currently an Associate Executive Director of the Network Technology Division at COMSAT Laboratories. He has been involved in research and development activities in ISDN VSAT networks data communications and network systems and architectures. Prior to his current positions Dr. Chitre was a Principal Scientist in the Network Technology Division at COMSAT Laboratories. Dr. Chitre joined COMSAT Laboratories in 1980. He has made major contributions to the analysis and architecture of data communication ISDN and BISDN via satellite. Dr. Chitre directs and participates in the international and national standards activities in ISDN BISDN and data communication as they apply to satellite communication. He was Chairman of the Working Group on Protocols and Network Timing Function of the CCIR/CCITT Joint Ad Hoc Group on ISDN/Satellite Matters during 1990–1992. Currently he is the Chairman of the Working Group on New Technologies in the ITU Intersector Coordinating Group (ICG) on Satellite Matters. Dr. Chitre was a programme manager during 1990 and 1991 on a contract from INTELSAT on systems studies on satellite communications systems architectures for ISDN and broadband ISDN systems. Currently he is the technical manager of the DoD Contract on ATM via satellite demonstration and the programme manager for the INTELSAT contract on analysis and top-level specification of INTELSAT ISDN subnetworks and SDH compatible transport network. Received the B.S. degree in electrical engineering from national Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory Univers

The role of satellite communications in networks that provide new services, such as frame relay and multimedia, is investigated. Both passive and active (on-board switching/processing) satellite systems are considered. Novel techniques are developed for each system to demonstrate, via detailed analysis and simulation, how the communications bandwidth agility of multipoint/broadcast satellite channels, and the on-board switching/processing, makes it feasible to provide these new services via hybrid satellite and terrestrial networks in a resource-efficient manner.

关键词： HYBRID NETWORKS ON-BOARD PROCESSING FRAME RELAY

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Towards Using Neural Network for automatic Guidance of Mining Robots

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IFAC Proceedings Volumes 1993年第1期26卷 265-270页

作者： J.B. Edwards S. Yaacob Department of Automatic Control and System Engineering University of Sheffield P.O. Box 600 Mappin Street Sheffield S14DU U.K

In this paper a neural network controller is investigated u a possibility for implementing this type of controller in certain operations pertaining to the automatic guidance of mining robots. Preliminary Result obtained from die neural network controller show an improvement over the tractable analytic optimal controller (derived for a necessarily simplified system)

关键词： Mining neural networks optimal control robots automation

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Survivability in Satellite Instrument control Applications

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IFAC Proceedings Volumes 1992年第6期25卷 485-490页

作者： M.H. Jing L.J.C. Woolliscroft Department of Automatic Control and System Engineering University of Sheffield Mapping Street Sheffield S1 3JD UK

A small fault tolerant system is described which has been designed as an instrument controller for space applications. It uses three processor modules and some limited shared resources. Central to the operation of this system is the manner in which the information on the performance of both hardware and software is updated and voted using adaptive voters. The system uses triplicated TMR to construct a dual level architecture and is capable of graceful degradation to duplex and even simplex configurations. A possible extension to five processors is outlined.

关键词： Adaptive systems aerospace control data handling fault handling fault tolerance redundancy TMR adaptive voter

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MASTER ORDNANCE REPAIR APPLIED - STANDARD ITEM 009-67

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NAVAL ENGINEERS JOURNAL 1986年第3期98卷 35-42页

作者： STIMSON, WA MARSH, MT UTTICH, RM William A. Stimsonreceived his B.S. degree in mathematics from the University of Texas at El Paso in 1964 and his M.S. degree in engineering from the University of Santa Clara in 1971. He served in the U.S. Army Artillery during the Korean Conflict and subsequently was employed at IBM Huntsville Alabama until 1968 where he worked in the design of automatic control systems of the Saturn vehicle. From 1968 until 1971 he was employed at Ames Research Center Moffett Field in the design of nonlinear control systems for sounding rockets and pencil-shaped spacecraft. Following this Mr. Stimson worked at Hewlett Packard Sunnyvale California as a test engineer in automatic test systems. Since 1973 Mr. Stimson has been employed at the Naval Ship Weapon Systems Engineering Station Port Hueneme. He was a ship qualification trials project supervisor for many years and is now serving as master ordnance repair deputy program manager. Mr. Stimson is a member of the American Society of Naval Engineers and is program chairman of the Channel Islands Section. Cdr. Michael T. Marsh USNreceived a B.S. in mathematics from the University of Nebraska and was commissioned via the NESEP program in 1970. He holds an M.S. in computer science from the U.S. Navy Postgraduate School and an MBA from the State University of New York. Cdr. Marsh has served in the weapons department of USSFrancis Hammond (FF-1067) and of USSJohn S. McCain (DDG-36). He was weapons officer aboard USSSampson (DDG-10). As an engineering duty officer Cdr. Marsh was the technical design officer for PMS-399 at the FFG-7 Class Combat System Test Center from 1978 to 1982. He is presently combat system officer at SupShip Jacksonville and has been active in the MOR program since its inception. Cdr. Marsh is also the vice chairman of the Jacksonville Section of ASNE. LCdr. Richard M. Uttich USNholds B.S. and M.S. degrees in mechanical engineering from Stanford University. He enlisted in the Navy in 1965 serving as an electronics technician aboard USSNereus (A

The 600-ship United States Navy offers private shipyards an unprecedented opportunity for overhaul of surface combatants with complex combat systems. Recognizing the new challenge associated with the overhaul of high technology combat systems in the private sector, the Navy in 1983 established the master ordnance repair (MOR) program. This program, a joint effort of the Naval Sea systems Command (NAVSEA) and the Shipbuilders Council of America (SCA), was designed to identify and qualify those companies and private shipyards technically capable of managing combat systems work and conducting combat system testing. Standard Item 009–67 describes the role of the MOR company in combat system overhaul. It defines terms that are important to understanding the item itself, and imposes upon the prime contractor an obligation to utilize the MOR subcontractor in a managerial capacity. Specific tasks are assigned to the MOR company in planning, production, and testing. Finally, this standard item describes to the Navy planner how to estimate the size of the MOR team appropriate to the work package, a feature that will ensure that combat system bids are tailored to a specific availability.

关键词： WARSHIPS

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COMMERCIAL APPLICATIONS OF ADVANCED MARINE VEHICLES FOR EXPRESS SHIPPING

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NAVAL ENGINEERS JOURNAL 1983年第3期95卷 283-300页

作者： LUEDEKE, G FARNHAM, RB JR. George Luedeke Jr.: received his BS degree in Mechanical Engineering from Massachusetts Institute of Technology and his MS degree in Product Design from Illinois Institute of Technology. Early in his career Mr. Luedeke joined General Motors Corporation as a designer responsible for development of people mover and rail rapid transit systems. From 1964 to 1974 he was with Hughes Aircraft Company. At Hughes he performed analyses and developed designs for a wide variety of program and proposal efforts such as: High Speed Ground Transportation (DOT) Task Force Command Center (NAVY) Panama Canal Marine Traffic Control Center (Panama Canal Co.) Royal Iranian Navy Command Center (Iran) Tactical Information Processing and Interpretation Center (Air Force) and WALLEYE CONDOR and PHOENIX Missile Systems (NAVY). He also had marketing development responsibilities related to the diversification of Hughes resources in civil business areas such as: Automatic train control (WMATA BARTD SCRTD) water/sewage treatment plant automation (Santa Clara County) Aqueduct Control (SWR) Hydrometeorological data collection (BPA WMO) and Salton Sea basin systems analysis (Dept. of the Interior). He was responsible for combat system integration for the Hughes 2000T Surface Effect Ship (SES) proposal. He also conducted detailed studies concerning ship flexure for the Improved Point Defense Target Acquisition System Program and for the definition of operational High Energy Laser weapon installations on a series of conventional monohulls (DLG DD and CVN). Since 1974 Mr. Luedeke has been employed at RMI Inc. (formerly Rohr Marine Inc.). During this time he has held several positions. His responsibilities have included directing a number of studies on advanced SES concepts managing activities defining mission/cost effectiveness of military and commercial SES's including defining the operational benefits and enhanced survivability characteristics of cargo SES's for high speed military sealiftfor NA TO and Southeast Asia

This paper will present the results of a marketing, engineering, and economic analysis of advanced marine vehicles done by IMA Resources, Inc. and RMI, Inc., in support of a Maritime Administration project to study “Multimode Express Shipping”. The study was conducted in 1981 and examined the economic benefits of using advanced marine vehicles as express cargo vessels in domestic and international service. Commodity characteristics, desirable express carrier rates, and potential high payoff service and route alternatives were identified. Advanced marine vehicles were surveyed and sized to meet desirable deadweight and block speed objectives. The costs of operating these craft on a variety of trade routes were calculated using an advanced marine vehicle economic analysis program. Revenues, expenses, break-even, profit and loss, cash flow requirements, tax summary and economic indicators (i.e., cost/ton – mile, etc.) were projected over the expected life of the vehicles as was return on investment. Traffic density and market penetration considerations narrowed the field of choice to smaller sized advanced marine vehicle carriers (i.e., 50 and 250 ton deadweight) and to three international and five domestic routes.

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Exploring Services Science 1

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丛书名： Lecture Notes in Business Information Processing

1000年

作者： Stefano Za Monica Drăgoicea Maurizio Cavallari

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