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IEE Colloquium on Innovations in Manufacturing control Through Mechatronics

作者： A.P. Shepperson A.M.S. Zalzala University of Sheffield UK Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

A virtual environment was created which mimicked the real-world operation of the LongArm robotic system. In addition to considering an exact model of the physical system, online two-way data exchange between the actual robot and its virtual counterpart makes actual real-time interaction possible. The designed interface allows the operator to experiment in the virtual mode with any commands later executed on the real system. There is an option to view a second set of graphics showing the kinematic relationships between the joints of the robot. This prototype is intended as an initial investigation into the design of virtual environments for the real-time control of dynamic systems.

关键词： Virtual reality Telerobotics Interactive systems Real time systems Robot programming Manipulator kinematics

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control of PWM AC‐to‐DC converters using state‐space and fuzzy‐methods

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European Transactions on Electrical Power 1995年第5期5卷 301-306页

作者： Krebs, S. Oelert, K. Dr.-Ing. Stephan Krebs (1963) received his Diploma degree in 1990 and his Dr.-Ing. degree in 1994 from the Elektrotechnisches Institut Universitat Karlsruhe/Germany. His main fields of interest are the use of modern time-discrete control methods and parallel signal processing in adjusrable speed drive and power supply systems. In summer 1994. he joined the Power Group of the Department of Electrical and Computer Engineering of the University of Toronto/Canada where he is currently working on industrial controller platform for power applications. (Department of Electrical and Computer Engineering University of Toronto 10 King's College Rd. TorontoiOntario. Canada M5S 1A4 T+416/978-66 18 Fax +416/971-2325) Kai Oelert (1967) received the Electrical Engineering degree from the Elektrotechnisches Institut of the University of KarlsruhdGermany in 1993. He is currently developing software for automatic ticket-wending systems with the Company Scheidt & Bachmann Monchengladbach/Germany. (Scheidt & Bachmann GmbH Breite Str. 132 D-4 1238 Monchengladbach/Germany T+2166/266445 Fax+2166/2666 15)

Adjustable speed drive systems using AC‐machines are often fed by voltage‐source inverters. This paper presents a new strategy to control the line‐side converter. State‐space and fuzzy methods are combined to achieve a control system which includes control limits and the aspects of safety. Experiments with a drive system (30 kW) demonstrate the dynamic and steady‐state behaviour of the control. Copyright © 1995 John Wiley & Sons, Ltd.

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A new technique for tracking the features of a spatially distributed field for automatic guidance

A new technique for tracking the features of a spatially dis...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Edwards Iqbal Industrial Control Research Group Automatic Control and Systems Engineering Department University of Sheffield Sheffield UK

This paper aims to utilise a model of the surrounding field together with measured data therefrom to locate and orientate an observer. A single valued solution is developed to calculate the position of a vehicle in a continuous field environment described by a known polynomial, from a minimum number of equispaced field measurements taken at that location and known coefficients of the polynomial. Where insufficient measurements from a single scan of the field are available, a formula for utilising extra data from several scans has been produced. The robustness of these algorithm, when the observation process is corrupted by Gaussian white noise, is also addressed.< >

关键词： Tracking White noise Polynomials Mobile robot motion planning Observers

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Parallel processing for real-time adaptive robot control: theoretical issues and practical implementation

Parallel processing for real-time adaptive robot control: th...

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IEE Colloquium on High Performance Applications of Parallel Architectures

作者： S.M. Ziauddin A.M.S. Zalzala Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

The authors present a practical solution to the problem of real-time robot control including the nonlinear dynamic model of the manipulator by employing a parallel processing approach. The parallelism inherent in the adaptive controllers is exploited to obtain an efficient implementation that reduces the overall computation time to within the limit acceptable for real-time control. The distributed algorithm is implemented on a network of transputers for the six-joint PUMA 560 arm.< >

关键词： Adaptive control Nonlinear systems Parallel algorithms Real time systems Robot programming Robots

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automatic Derivation of World Update Schemes 2

Automatic Derivation of World Update Schemes

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2nd International Conference on Artificial Intelligence Planning systems, AIPS 1994

作者： Downs, Joseph Reichgelt, Han Shadbolt, Nigel Department of Automatic Control and Systems Engineering University of Sheffield SheffieldSI 4DU United Kingdom Subdepartment of Computer Science Department of Mathematics University of the West Indies Kingston 7 Mona Jamaica Artificial Intelligence Group Department of Psychology University of Nottingham NottinghamNG7 2RD United Kingdom

ISBN: (纸本)0929280563

Al planning systems must be able to update their internal model of the domain in order to determine the effects of a possible action. The most widely used update method is the STRIPS operator. STRIPS operators are extremely effìcient. However, the use of STRIPS operators requires that one specify all the consequences of an action beforehand. This becomes almost impossible for complex domains. Work by Pednault (1989) and Wilkins (1988) overcomes the problems associated with ordinary STRIPS operators by enhancing them with context-dependent effects and demons respectively. In this paper we describe a modelling procedure which can incorporate both these features. Moreover, the update method is automatically derived from an axiomatisation of the domain in temporal calculus. This allows the system designer great flexibility in choosing the trade-off point between representational expressivity against computational speed. Copyright © 1994, AAAI (***). All rights reserved.

关键词： Economic and social effects

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The Evolution of U.S. Naval Satellite systems Antenna control Technology

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Naval Engineers Journal 1994年第1期106卷

作者： LT. DAVE RILING USN The Author:is currently the EHF systems engineer at the Naval Electronic Systems Engineering Center Vallejo Ca. He is the technical head and chairperson for the Navy's EHF antenna working group. In addition to his engineering duties he is an electronics and physics instructor at Chapman University. He received a BS in geology and physics from Middle Tennessee State University in 1983 and an MS in electrical engineering from the U.S. Naval Postgraduate School Monterey Ca. in 1990. His current interests include adaptive control neural networks and fuzzy logic applications. He is a member of IEEE Automatic Control Systems and Neural Network Societies. He also holds membership in the Mathematics Association of America.

As advances in digital signal processing continue and new algorithms materialize for correctional coding, the requirement for robust and accurate satellite antenna control systems continues to be downplayed. This paper develops the requirement for advanced control concepts based upon an analysis of U.S. Navy SATCOM systems from the earliest UHF system to the most recent member, EHF. Link and gain equations are used to show the effect of pointing error on the various SATCOM systems. Various problems and errors associated with accurate positioning of satellite communication antennas are presented. Methods currently used to minimize pointing error in Navy SATCOM systems are described. Also discussed are advanced control system techniques to negate pointing error in very narrow beamwidth communication systems.

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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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ACQUISITION REFORM AND BEST PRODUCT PROCUREMENT - AN engineering VIEW

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NAVAL ENGINEERS JOURNAL 1994年第6期106卷 41-57页

作者： FISHER, DA SKOLNICK, A He has been involved with several weapon system developments. Among these were the Trident II fire control and navigation systems the BSY-I Anti-Submarine Warfare System and the Navy standard computers (UYK44 and EMSP). He served as manager of the Digital Circuits Engineering Branch and was then appointed as manager of the Automatic Test Equipment (ATE) Technology Division. As manager of the ATE Technology Division he was responsible for the SP-23 Fire Control System Support Project the SP-24 Navigation Project and the Fleet Progressive Maintenance Program (2M/ATE). This Division was responsible for selection and application of electronic product technology and for developing fleet test and repair techniques. He holds a B.S. in Electrical Engineering from the University of Evansville and is currently pursuing a Masters of Public Administration at Indiana University-Purdue University Indianapolis. Dr. Alfred Skolnick:retired from the Navy in 1983 with the rank of captain. He is president of System Science Consultants (SSC) specializing in strategic planning technical program definition technology assessment and engineering analyses on selected matters of national interest. Dr. Skolnick taught mathematics and management sciences at University of Virginia and Marymount University. He is adjunct faculty at Northern Virginia Community College. From 1985 to 1989 he was president of the American Society of Naval Engineers. In the Navy he served at Applied Physics Laboratory/The Johns Hopkins University then aboard USSBoston(CAG-1) and played leading roles in several weapon system developments inertial navigation (Polaris) deep submergence (DSRV) and advanced ship designs (SES). He later was director Combat System Integration Naval Sea Systems Command and head Combat Projects Naval Ship Engineering Center. In 1975 he became a major project manager and led the Navy's High Energy Lasers Program in 1981 he was assigned all Navy Directed Energy Weapons development efforts. He was vice president advanced tech

The military services are being moved in the direction of performance-based specifications and standards. They are being steered against dictating ''how to'' produce an item since such action forecloses on the ability to gain access to components or technology that may have a commercial equivalent. Why should the engineering community embrace the new approach? Aside from the obvious weight of it being approved policy, therefore currently mandated, it warrants examination because it is the correct approach at this time when applied to appropriate products. Military specifications and standards are to be displaced then, by acceptable alternative contractor design solutions. Industry bidders will be allowed to propose the particular design details, permitting procurement flexibility by contractually citing only system level or interface requirements, both physical and functional. Hopefully, this can broaden the industrial base and increase competition with reduced costs to follow. Conceptually, the approach appears both performance-sensible and cost-attractive (there are, of course, consequent risks) but how does implementation proceed? Is it possible to pursue the goals envisioned along paths that are not in themselves experimental? Can the American postulate, minimal loss of life and limb to U.S. military people, continue to be honored? Experience and track record elsewhere imply encouraging possibilities in select situations-useful prospects are identified and discussed in practical terms.

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Genetic-based minimum-time trajectory planning of articulated manipulators with torque constraints

Genetic-based minimum-time trajectory planning of articulate...

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IEE Colloquium on Genetic Algorithms for control systems engineering

作者： K.K. Chan A.M.S. Zalzala Dept. of Automatic Control & Syst. Eng. Sheffield Univ. UK Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

This paper is concerned with introducing a genetic-based algorithm for the minimum-time trajectory planning of articulated robotic manipulators. The planning procedure is performed in the configuration space and respects all physical constraints imposed on the manipulator design, including the limits on the torque values applied to the motor of each joint of the arm; consequently, the complete nonlinear dynamic robot model is incorporated in the formulation.< >

关键词： Genetic algorithms Nonlinear systems Motion-planning Robots

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A Requirements Analysis of Future Environments for Computer-Aided control engineering

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IFAC Proceedings Volumes 1993年第2期26卷 1201-1204页

作者： H.A. Barker C.P. Jobling O. Ravn M. Szymkat Control and Computer-aided Engineering Research Group University of Wales Singleton Park Swansea SA2 8PP UK Institute of Automatic Control Systems Technical University of Denmark DK-2800 Lyngby Denmark Institute of Automatics Academy of Mining and Metallurgy al. Mickiewicza 30 Cracow Poland

A functional requirements analysis of the services to be provided by a framework reference model for computer-aided engineering is presented. Some indications of the technologies available for the implementation of a framework for computer-aided control engineering are given and the issues to be addressed are discussed. It is concluded that a wider discussion of both the framework reference model itself and the functional requirements, particularly from the user's perspective is needed

关键词： Computer-aided control engineering software engineering object-oriented methods user interfaces

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