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American control Conference (ACC)

作者： A.D. Baker T.L. Johnson D.I. Kerpelman H.A. Sutherland Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Control Technology Branch General Electric Corporate Research and Development Center Schenectady NY USA

Two proposed programming standards for industrial automation, GRAFCET and SFC, are presented. The idea of what makes a `good' programming language is discussed, and the concept of a graphic programming language is introduced. The advantages and limitations of GRAFCET and SFC are presented. This paper concludes with a discussion of the need for further research for more general graphic programming languages for industrial automation.

关键词： Manufacturing automation Automatic control Programmable control computer languages Relays electrical equipment industry Industrial control Graphics Costs Logic programming

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A projection method for simplifying robot manipulator models

A projection method for simplifying robot manipulator models

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Desrochers C. Seaman Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY Process Control and Computer Technology Division Alcoa Technical Center Alcoa Center PA

The equations of motion for a robotic manipulator are a very lengthy and complicated set of nonlinear, highly coupled differential equations. A simplified model that reveals the dominant dynamics would be valuable for purposes of utilizing modern control theory. In this work, a method is presented for obtaining a reduced model for a nonlinear system. The structure of the simplified model is assembled from a library of the nonlinear basis terms that were present in the original model. This p-term structure is selected from the library in p-stages using a recently developed optimization scheme based on projection matrices and conjugate direction ideas. The algorithm is used to identify the dominant dynamics of several robot manipulator models and the results are verified on the GCA P300V robot in RPI's Robotics and Automation Laboratory.

关键词： Robots Manipulator dynamics Robotics and automation Differential equations Libraries Nonlinear equations Couplings Nonlinear dynamical systems control theory Nonlinear systems

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MPCS - THE MANUFACTURING PROCESS-control SYSTEM

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AT&T TECHNICAL JOURNAL 1986年第4期65卷 35-45页

作者： DUNIETZ, IS HSU, JLC MCEACHERN, MT STOCKING, JH SWARTZ, MA TROMBLY, RM The authors Irwin S. Dunietz John L.C. Hsu Michael T. McEachern James H. Stocking Mark A. Swartz andRodney M. Tromblyare responsible for design and development of the Manufacturing Process Control System. Mr. Dunietz joined AT&T in 1980. He is a member of the technical staff in the Manufacturing Information Automation department at AT&T Engineering Research Center Princeton New Jersey. He received an A.B. in mathematics from Cornell University and an M.S.E. in computer science from Princeton University. Mr. Hsu who joined AT&T in 1970 is a department head in the Manufacturing Information Automation department at the Engineering Research Center. He received an M.S. in electrical engineering from the University of Missouri. Mr. McEachern joined AT&T in 1962 and is a supervisor in the 5ESS™ Line Unit Manufacturing department at AT&T Technologies in Oklahoma City Oklahoma. He is responsible for the manufacturing process control center in Oklahoma City which provides computerized support for all circuit pack manufacturing. Mr. Stocking who joined AT&T in 1975 is a supervisor in the Manufacturing Information Automation department at the Engineering Research Center. He received a B.S. in chemical engineering from Rensselaer Polytechnic Institute and a Ph.D. in chemical engineering from the University of California Berkeley. Mr. Swartz joined AT&T in 1980 and is a member of the technical staff in the Manufacturing Information Automation department at the Engineering Research Center. He received an A.B. in computer science from Cornell University and an M.S. in computer science from Rutgers—The State University. Mr. Trombly who joined AT&T in 19 78 is an assistant manager at the AT&T Merrimack Valley Works in Massachusetts. Previously he was a supervisor at the Engineering Research Center. He holds a B.S. in computers and systems engineering and an M.S.E.E. from Rensselaer Polytechnic Institute.

The central challenge of all manufacturing is making products to the right standards and delivering them at the right time. AT&T is upgrading its corporate and factory resource planning systems to improve control of day-to-day manufacturing. The Manufacturing Process control System (MPCS), developed at the AT&T engineering Research center (ERC), provides this support. MPCS connects the shop floor with production scheduling, accounting, product data archive, and engineering support systems.

关键词： PRODUCTION control

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Algebraic aspects of linear control system stability

Algebraic aspects of linear control system stability

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IEEE Conference on Decision and control

作者： Carl N. Nett Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Corporate Research & Development Center Control Technology Branch General Electric Company Limited Schenectady NY USA

In this paper the problem of linear control system stability is formulated in very general terms and then resolved by (i) establishing a necessary and sufficient condition for stability, (ii) exploring in some detail the nature of this condition, and (iii) developing a parametric characterization of all controllers which stabilize a given plant. The problem formulation developed herein is based on a ring theoretic setting for linear systems, and is distinguished by the use of a novel control system configuration. Any interconnection of two distinct systems can be represented in terms of this configuration while preserving the distinction between the two systems. Moreover, no other configuration has this property. Benefits and extensions accrued as a result of this property are thoroughly discussed, as are some promising directions for future research.

关键词： control systems Stability

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Uncertainty in Sampled Systems

Uncertainty in Sampled Systems

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American control Conference (ACC)

作者： Charles E. Rohrs Gunter Stein Karl J. Astrom Department of Electrical Engineering University of Notre Dame Notre Dame IN USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Systems and Research Center Honeywell Inc. Minneapolis MN USA Department of Automatic Control Lund Institute of Technology Lund Sweden

The recently obtained evidence of the need for a positive real element in an adaptive system leaves us with a disturbing gap in adaptive control theory. It is a fact that in some applications adaptive controllers are performing well in practice. How can these systems behave well in practical situations which must contain modeling error? This paper introduces a preliminary result which indicates that it may be possible to maintain the needed positive real system in the presence of modeling error. The result shows that if a continuous-time system with large high frequency uncertainty is treated appropriately with antialiasing filters and sampled slowly enough, the resulting discrete-time system may contain very little uncertainty. With small enough uncertainty in the plant, a positive real system in the adaptive loop is possible.

关键词： Uncertainty Adaptive control Adaptive systems Programmable control Filters Stability Sampling methods Frequency response Adaptive algorithm Sampled data systems

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A Practical Robustness Theorem for Adaptive control

A Practical Robustness Theorem for Adaptive Control

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American control Conference (ACC)

作者： Charles E. Rohrs Gunter Stein Karl J. Astrom TelLaboratories Research Laboratory South Bend IN and Department of Electrical Engineering University of Notre Dame Notre Dame IN USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Systems and Research Center Honeywell Inc. Minneapolis MN USA Department of Automatic Control Lund Institute of Technology Lund Sweden

In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain why adaptive controllers can perform robustly in certain practical situations, while possibly failing in other situations. In particular, if the bandwidth constraints on a control systems are lenient enough to allow the use of a sampling frequency which is smaller than the frequency at which unstructured uncertainty becomes significant, an adaptive controller can behave robustly. Many, if not all, of the applications of adaptive control which have been successful employ relatively slow sampling of the process. Thus, the results of this paper provide a theoretical explanation of how certain adaptive controllers are performing robustly in practice. In addition, the final theorem is of a form which provides insight into what a priori knowledge is required to achieve robust adaptive control and how this knowledge say be used.

关键词： Robust control Adaptive control Uncertainty Frequency Sampling methods Programmable control control systems Transfer functions Automatic control Bandwidth

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AN ADVANCED METHODOLOGY FOR PRELIMINARY HULL FORM DEVELOPMENT

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NAVAL ENGINEERS JOURNAL 1984年第4期96卷 147-161页

作者： LIN, WC DAY, WG HOUGH, JJ KEANE, RG WALDEN, DA KOH, IY Wen-Chin Lin:heads the Ship Powering Division at the David Taylor Naval Ship R&D Center (DTNSRDC). Dr. Lin received his B.S. degree in mechanical engineering from the National Taiwan University in 1957. He was awarded his M.S. degree in naval architecture and Ph.D. in engineering science from the University of California at Berkeley in 1963 and 1966 respectively. From 1966 to 1969 he was employed by ESSO Research and Engineering Company to conduct marine hydrodynamic research for oil tankers and offshore structures. Since joining DTNSRDC in 1969 he has actively conducted and directed hydrodynamic research to advance naval ship design technology and improve ship performance. Active in national and international symposia on ship hydrodynamic research he is recognized for contributions to the ship research community. For the past six years he has been a member of the Performance Committee of the ITTC and currently serves as secretary of the committee. He is a member of SNAME and the Society of Naval Architects of Japan. William G. Day Jr:. has been employed as a naval architect at the David Taylor Naval Ship R&D Center since receiving a B.E.S. degree from the Johns Hopkins University in 1966. He obtained an M.S. E. degree from George Washington University in 1971. As Head Design Evaluation Branch of the Ship Performance Department he is responsible for model experiments to evaluate the hydrodynamic performance of ships and propulsors. He is a member of ASNE and SNAME. In-Young Koh:received his B.S. and M.S. degrees in electrical engineering from Lowell University in 1969 and 1971 respectively and his Ph.D. in applied mechanics from Rensselaer Polytechnic Institute in 1976. Dr. Koh joined DTNSRDC as an electronic engineer specializing in the application of advanced instrumentation and computer techniques to ship research and design. He is currently engaged in research and development of active control systems for naval ship applications. Dr. Koh is a member of ASNE SNAME and IEEE. David Andrew Walden:is

A ship design methodology is presented for developing hull forms that attain improved performance in both seakeeping and resistance. Contrary to traditional practice, the methodology starts with developing a seakeeping-optimized hull form without making concessions to other performance considerations, such as resistance. The seakeeping-optimized hull is then modified to improve other performance characteristics without degrading the seakeeping. Presented is a point-design example produced by this methodology. Merits of the methodology and the point design are assessed on the basis of theoretical calculations and model experiments. This methodology is an integral part of the Hull Form Design System (HFDS) being developed for computer-supported naval ship design. The modularized character of HFDS and its application to hull form development are discussed.

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SHINPADS — A NEW SHIP INTEGRATION CONCEPT

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Naval Engineers Journal 1979年第2期91卷 155-163页

作者： CARRUTHERS, JAMES F. CANADIAN FORCES Cdr. James F. Carruthers is a native of Drumheller Alberta Canada. He joined the Royal Canadian Navy in 1961 and attended the Royal Roads Military College from 1961 to 1963 receiving his BE degree in Electrical Engineering. Following Pre-Fleet Training he was assigned to HMCS Gatineau for watchkeeping and engineering training. Work on the prototype AN/SQS-505 Sonar ASROC Missile System and the prototype ASW Data System (ASWDS) followed including shipboard installation and evaluation of the system in HMCS Terra Nova during which time he was the “guinea pig” Combat Systems Engineer. Later during the construction phase of the Canadian Navy's Combined Support Center he acted as Principal Engineer subsequently returning to graduate studies at the Nova Scotia Technical College in 1971 from which he received his Ph.D. in Electrical Engineering designing and building a computer intended for ship machinery health monitoring in the process. Posted to Headquarters in 1974 he served as Project Officer for a mini command and control system known as ADLIPS his additional interests being that of originating plasma and digital television developments. It was during this period that the SHINPADS concept was first put forward and following a year at the Canadian Forces Command and Staff College he was promoted to his present rank in 1977 and posted as Head of the Naval Command and Control Design Authority (DCMS 7). Cdr. Carruthers is a registered Professional Engineer (Ontario). and as an author has had several technical papers published on digital design machinery health monitoring and the SHINPADS concept. At the present time he is Assistant Director Maritime Combat Systems at the National Defense Headquarters in Ottawa where his current responsibilities include all aspects of C2systems. A member of ASNE since February 1978 he is also a member of IEEE U.S. Naval Institute and the IEEE Computer Society.

The Shipboard Integrated Processing And Display System (SHINPADS) is a Canadian Forces Trademark, and is not really a system. It is rather a concept of ship integration. Not combat system integration or propulsion and machinery system integration but ship integration. It encompasses the entire ship system including all combat system equipments, marine engineering systems, and extending into administrative support hardware. It is a concept based upon the idea of synergism, a property which is best explained by stating the whole is greater than the sum of its constituent parts. When the normal horizons of the subsystem designer are discarded and the entire ship is considered as an entity, the number of constituent parts available increases dramatically. But how does one “get it all together”? A distributed system approach in which former local subsystem equipments are made to function as global ship resources is the answer. Whereas until recently (where shipboard computers were concerned) “bigger was better,” a distributed approach requires more numerous small processors to be considered. Of course information must be made available to all processors, so a high speed data exchange method must be provided. Enter the SHINPADS Data Bus which not only provides this “ship central nervous system” capability but replaces tons of point‐to‐point wiring in the process. Other aspects of the concept include standardization of hardware, software, and interfacing. The SHINPADS concept is Considered to provide redundancy and system survivability at a reduced life‐cycle cost. It is suggested that such survivability cannot otherwise be achieved. © 1979 American Society of Naval Engineers

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THE AUTOMATIC DATA LINK PLOTTING SYSTEM (ADLIPS)

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Naval Engineers Journal 1979年第2期91卷 185-191页

作者： CARRUTHERS, JAMES F. CANADIAN FORCES Cdr. James F. Carruthers is a native of Drumheller Alberta Canada. He joined the Royal Canadian Navy in 1961 and attended the Royal Roads Military College from 1961 to 1963 receiving his BE degree in Electrical Engineering. Following Pre-Fleet Training he was assigned to HMCS Gatineau for watchkeeping and engineering training. Work on the prototype AN/SQS-505 Sonar. ASROC Missile System and the prototype ASW Data System (ASWDS) followed including shipboard installation and evaluation of the system in HMCS Terra Nova during which time he was the “guinea pig” Combat Systems Engineer. Later during the construction phase of the Canadian Navy's Combined Support Center he acted as Principal Engineer subsequently returning to graduate studies at the Nova Scotia Technical College in 1971 from which he received his Ph.D. in Electrical Engineering designing and building a computer intended for ship machinery health monitoring in the process. Posted to Headquarters in 1974 he served as Project Officer for a mini command and control system known as ADLIPS his additional interests being that of originating plasma and digital television developments. It was during this period that the SHINPADS concept was first put forward and following a year at the Canadian Forces Command and Staff College he was promoted to his present rank in 1977 and posted as Head of the Naval Command and Control Design Authority (DCMS 7). Cdr. Carruthers is a registered Professional Engineer (Ontario) and as an author has had several technical papers published on digital design machinery health monitoring and the SHINPADS concept. At the present time he is Assistant Director Maritime Combat Systems at the National Defense Headquarters in Ottawa where his current responsibilities include all aspects of C2systems. A member of ASNE since February 1978 he is also a member of IEEE U.S. Naval Institute and the IEEE Computer Society.

The Automatic Date Link Plotting System (ADLIPS) about to enter production in Canada might be described as a “poor man's NTDS.” It has been designed to operate actively on both Link 11 and Link 14, integrate current ship sensors, control weapon designation, and to provide synthetic and raw radar pictures to the command. Displays include three‐man, 22‐inch, horizontally mounted CRTs, remote plasmas for applications such as the Bridge and EW Office, and a hard copy plotter. One of the design objectives of ADLIPS was to avoid inventing anything. The displays, computer, bulk storage, et cetera, were all chosen from “off‐the‐shelf” equipments. The production version will incorporate standard USN equipments in the form of the AN/UYK‐20 minicomputer and AN/USH‐26 cartridge magnetic tape. The only “new” elements are some unique interface cards and the computer software. The prototype received in excess of one year's evaluation in a land based test site followed by a year's operation at sea. Over two years of failure free operation demonstrated the viability of the concept, with the result that a program is underway to outfit all Canadian Navy surface warships. Due to its modularity, capability, and low cost ADLIPS is considered to be a prime candidate for fitment in a variety of NATO and Allied Navies. © 1979 American Society of Naval Engineers

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Abstracts

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Environmental Management 1977年第1期1卷 67-96页

作者： Frankenfeld, John W. Schulz, Wolfgang McMurty, George J. Petersen, Gary W. May, G. A. Hering, F. S. Schwartz, J. I. Heywood, J. B. Chigier, N. A. Grohse, E. W. Walker, J. D. Colwell, R. R. Petrakis, L. Pergament, H. S. Thorpe, R. D. Schoepf, Richard W. Krzyczkowski, Roman Henneman, Suzanne S. Hudson, Charles L. Putnam, Evelyn S. Thiesen, Donna J. Parks, G. A. McCarty, Perry L. Leckie, J. O. Schrumpf, Barry J. Simonson, G. H. Paine, D. P. Lawrence, R. D. Pyott, W. T. Leh, M. Elders, W. Combs, J. Caplen, T. Harrison, F. L. Wong, K. M. Heft., R. E. Charnell, Robert L. Lehmann, Edward J. Mallon, Lawrence G. Hatfield, Cecile Adams, Gerald H. Johanning, James Talvitie, Antti Noll, Kenneth E. Miller, Terry Smiarowski, Joseph F. Willis, Cleve E. Foster, John H. Schlesinger, Benjamin Daetz, Douglas Lear, Donald U. Smith, Mona F. Hundemann, Audrey S. Crockett, Pernell W. Werner, Kirk G. Carroll, Thomas E. Maase, David L. Genco, Joseph E. Ifeadi, Christopher N. Lowman, F. G. Christensen, S. W. Van Winkle, W. Mattice, J. S. Harrison, Elizabeth A. Barker, James C. Chesness, Jerry L. Smith, Ralph E. Shaheeen, Donald G. Raney, R. Keith Borton, T. Wezernak, C. T. Raney, R. K. Sherwani, Jabbor K. Moreau, David H. Eisenberg, Norman A. Lynch, Cornelius J. Breeding, Roger J. Johnson, J. D. Foster, K. E. Mouat, D. A. Clark, R. Hyden, John William Owen, Wilfred Bayfield, Neil G. Barrow, Graham C. Stolz, Stephanie B. Wienckowski, Louis A. Brown, Betram S. Keyfitz, Nathan Wilson, W. L. Newman, Peter W. G. Bammi, Deepak Bammi, Dalip Goddard, James E. Chisholm, Tony Walsh, Cliff Brennan, Geoffrey Thompson, K. S. Richardson, R. Jensen, Clayton E. Brown, Dail W. Mirabito, John A. Cowing, Thomas G. Binghamton, Suny Siehl, George H. Albrecht, O. W. Alexander, Ariel Barde, Jean -Philippe Darby, William P. McMichael, Francis Clay Dunlap, Robert W. Muckleston, Keith W. Frankenhoff, Charles A. Giulini, Lorenzo T. Wyatt, T. Black, Peter E. Keating, William Thomas Leonard, M. E. Fisher, E. L. Brunelle, M. F. Dickinson, J. E. Pethig, Rudiger Clapham Exxon Research & Engineering Co. Linden Government Research Lab Coast Guard Washington D.C. Department of Transportation Washington D.C. Office For Remote Sensing of Earth Resources. NASA Earth Resources Survey Program Pennsylvania State University Washington D.C. Department of the Navy Washington D.C. Cambridge. Dept. of Mechanical Engineering Massachusetts Inst. of Technology USA Huntsville. School of Graduate Studies and Research Alabama Univ. USA Dept. of Microbiology. Office of Naval Research Maryland Univ. Arlington Research and Development Co. Pittsburgh AeroChem Research Labs. Inc. Princeton Dept. of the Interior Office of Library Services. Bibliographic Series (Final) Washington D.C. Interplan Corp. Santa Barbara Urban Mass Transportation Adm. Washington D.C. Naval Underwater Systems Center Newport Calif. Mercury Project. National Science Found Stanford Univ Washington D.C. Div. of Advanced Environmental Research & Tech. USA Corvallis. NASA Earth Resources Survey Program Oregon State Univ. Washington D.C. Riverside. Inst. of Geophysics and Planetary Physics National Science Foundation California Univ. Washington D.C. Livermore Lawrence Livermore Lab. California Univ. USA Atlantic Oceanographic and Meteorological Labs. National Oceanic and Atmospheric Administration Miami National Technical Information Service Springfield Miami Univ. Coral Gables School of Law National Oceanic and Atmospheric Administration Rockville National Academy of Sciences Office of Sea Grant Washington D. C. School of Law National Oceanic and Atmospheric Administration Office of Sea Grant. Rockville Norman. Dept. of Civil Engineering and Environmental Science. Urban Mass Transportation Administration Oklahoma Univ. Washington D. C. Knoxville.Dept. of Civil Engineering. Federal Highway Administration Tennessee Univ. Washington D. C. Amherst.Water Resources Research Center. Office of Water Research and Technology Massachusetts Univ. Washington D. C. Calif. Dept. of Industria

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