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IEEE Conference on Aerospace

作者： T. Jackson J. Austin M. Fletcher M. Jessop Bojian Liang A. Pasley M. Ong X. Ren G. Allan V. Kadirkamanathan H.A. Thompson P.J. Fleming Advanced Computer Architectures Group (ACAG) Department of Computer Science University of York York UK Rolls-Royce Supported University Technology Centre in Control and Systems Engineering Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

We provide an overview of the DAME project, and a discussion of the progress made to date on the development of a distributed aeroengine diagnosis environment as a proof of concept demonstration for grid computing. We discuss the development of a demonstration diagnosis workbench system for this complex, data intensive, diagnosis application that must be operated as a distributed 'virtual organisation'. We describe the core diagnosis applications that have been implemented as grid services, and explain how these services are being deployed within the overall diagnosis process

关键词： Engines Fault diagnosis Grid computing Project management Collaborative work Data analysis computerized monitoring control systems systems engineering and theory Data systems

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Formal verification of flight critical software

Formal verification of flight critical software

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AIAA Guidance, Navigation, and control Conference 2005

作者： Miller, Steven P. Anderson, Elise A. Wagner, Lucas G. Whalen, Michael W. Heimdahl, Mats P. E. Rockwell Collins Inc. Cedar Rapids IA 52498 United States University of Minnesota Minneapolis MN 55455 United States Advanced Technology Center MS 108-206 400 Collins Road NE AIAA Commercial Systems Flight Control MS 105-191 400 Collins Road NE Dept. of Computer Science and Electrical Engineering 4192 EE/CS Bldg. 200 Union Street

ISBN: (纸本)1563477378

Recent advances in modeling languages have made it feasible to formally specify and analyze the behavior of large system components. Synchronous data flow languages, such as Lustre, SCR, and RSML-e are well suited to this task, and commercial versions of these tools such as SCADE and Simulink are growing rapidly in popularity among designers of safety critical systems, largely due to their ability to automatically generate code from the models. At the same time, advances in formal analysis tools have made it practical to formally verify important properties of these models to ensure that design defects are identified and corrected early in the lifecycle. This report describes how such formal verification tools have been applied to the FCS 5000, a new family of Flight control systems being developed by Rockwell Collins Inc. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Flight dynamics

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Telerobotic mini-golf: system design for enhanced teleoperator performance

Telerobotic mini-golf: system design for enhanced teleoperat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S.R. Munasinghe Ju-Jang Lee T. Usui M. Nakamura N. Egashira Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Advanced Systems Control Engineering Saga University Saga Japan Department of Control and Information Systems Engineering Kurume National College of Technology Fukuoka Japan

This paper discusses the safety assurance, capability features, and user-friendliness of Internet-based telerobotics, in the sense that how these features could be incorporated in order to enhance teleoperator performance. A comprehensive set of safety features are incorporated to the interface to screen and accept only the safe commands from the remote operator while discarding risky commands. A laser pointer is used to help remote operator in perceiving self-location and navigation, whereas orientation control has been completely automated and synchronized to the position commands of the teleoperator. The effectiveness of these features has been demonstrated by playing telerobotic mini-golf.

关键词： Telerobotics Teleoperators Internet Paper technology control systems Safety Supervisory control Power system modeling System testing computer science

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Effectiveness of naked-eye vision feedback for training human teleoperators

Effectiveness of naked-eye vision feedback for training huma...

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Asian control Conference

作者： S.R. Munasinghe Ju-Jang Lee T. Usui M. Nakamura N. Egashira Dept of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Dejean Korea Dept. of Advanced Systems Control Engineering Saga University Saga Japan Dept. of Control and Information Systems Engineering Kurume National College of Technology Kurume-City Fukuoka Japan

Effective training is essential for human teleoperators to deliver satisfactory performance in actual tasks. Teleoperation is naturally a very difficult task due to the absence of naked-eye vision that cripples the cognitive behavior of the remote operator. Camera vision somehow is not a satisfactory substitution. However, training with naked-eye vision feedback may help human teleoperators to learn how to deliver satisfactory performance when they actually interact with camera vision. This study was carried out to further investigate this hypothesis, and to quantitatively supplement it with experimental proofs. For this cause, the recently built telerobotic test-bed between KAIST (Korea) and Saga University(Japan) was reshaped to a telerobotic mini-golf system, which is the trial experiment in this study. The performance of the players with and without naked-eye training was compared and quantitatively evaluated. The effectiveness of training with naked-eye vision was verified as an essential part in training human teleoperators.

关键词： Feedback Humans Teleoperators Telerobotics Cameras Testing Internet Graphics computer science control engineering

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Distributed, master-less control of modular DC-DC converters

Distributed, master-less control of modular DC-DC converters

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Collection of Technical Papers - 2nd International Energy Conversion engineering Conference

作者： Gray, Michael S. Gao, Zhiqiang Button, Robert M. Cleveland State University Cleveland OH 44115 United States NASA Glenn Research Center Cleveland OH United States Department of Electrical and Computer Engineering United States Center for Advanced Control Technologies United States Electrical Systems Research Branch M.S 333-2 21000 Brookpark Rd. United States

ISBN: (纸本)1563477157

A distributed control system (DCS) is developed and hardware verified for a class of digitally controlled modular DC-DC converters. The converters are each independently controlled by its own FPGA-based digital controller. A control Area Network (CAN) is first set up for the converters to communicate in a master-less peer-to-peer manner. An algorithm is developed to make the converters share the load (current) dynamically in a predetermined manner. More importantly, it makes it possible to for all converters to automatically time-shift their PWM gating signals to minimize the current ripple, which is known as interleaving. An algorithm is developed for this distributed master-less control of power converter system so that the load sharing and interleaving are adjusted autonomously, in real time, as the number of converters changes without prior knowledge. Copyright © 2004 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： DC motors

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Reuse of information as a base for development and verification of control programs for flexible manufacturing cells

Reuse of information as a base for development and verificat...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Richardsson M. Fabian Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation Goteborg Sweden Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

Shortened product life-cycles decreases the output rate of manufacturing systems as the introduction of new products into the manufacturing system becomes more frequent. Improvements of the development process of manufacturing systems are needed to increase the output. Information handling and development of control programs based on information reuse are two of the most important improvement areas. These areas, among other things, can be a support for offline verification, which promises to directly increase the output rate due to shortening product introduction times. This paper deals with two problems of the many connected to enabling offline verification. First, a general control program structure, adapted to information reuse, is needed and secondly, the information necessary to generate the control programs needs to be defined. A method is proposed where information from the mechanical design of a cell, from the product, and from manual simulation are reused and automatically converted into control programs that schedule the work in a collision-free, deadlock-free and time-optimized way. The correctness of the generated programs is guaranteed by use of formal methods, simulation and an uncorrupted conversion of specifications into control programs.

关键词： Flexible manufacturing systems control systems Manufacturing systems computer aided manufacturing Automatic generation control Automatic control Manufacturing automation Production computer bugs systems engineering and theory

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Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm

Forcefree control with independent compensation for inertia ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： S. Goto N. Nakamura N. Kyura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Electcal and Computer Engineering Kinki University in Kyushu Iizuka Japan

Forcefree control can realize the flexible motion of industrial articulated robot arms without any change of the built-in controller. In this paper, the forcefree control was extended to realize flexible motion emulating operational circumstance free of inertia, friction and gravity through the independent compensation of inertia, friction and gravity. The property of the forcefree control with independent compensation was also investigated by experimental study of an actual industrial articulated robot arm, where the external force was measured with a force sensor which was attached to the tip of the robot arm.

关键词： Force control Friction Gravity Industrial control Service robots Motion control Defense industry Robot sensing systems Force measurement Force sensors

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Fuzzy-neuro predictive control, tuned by genetic algorithms, applied to a fermentation process

Fuzzy-neuro predictive control, tuned by genetic algorithms,...

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IEEE International Symposium on Intelligent control (ISIC)

作者： J.A. Fabro L.V.R. Arruda Automation and Advanced Control Systems Labratory-LASCA Graduate Program on Electrical Engineering and Applied Computer Science-CPGEI Federal Centre of Technological Education of Paraná Curitiba Parana Brazil

This paper proposes the development of a fuzzy predictive control. Genetic algorithms (GA's) are used to automatically tune the controller. A recurrent neural network is used to identify the process, and then provides predictions about the process behavior, based on control actions applied to the system. These predictions are used by the fuzzy controller, in order to accomplish a better control of an alcoholic fermentation process from chemical industry. This problem has been chosen due to its non-linearity and large accommodation time, that make it hard to control by standard controllers. Comparison of performance is made with non-predictive approaches(PID and Fuzzy-PD), and also with another predictive approach, GPC(Generalized Predictive control).

关键词： Predictive control Genetic algorithms control systems Fuzzy control Alcoholism Recurrent neural networks Nonlinear control systems Artificial intelligence Biomass control system synthesis

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Implementation of virtual factory using MMS companion standard 4

Implementation of virtual factory using MMS companion standa...

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4th IEEE International Workshop on Factory Communication systems, WFCS 2002

作者： Myoung, Kwan-Joo Kim, Dong-Sung Kwon, Wook Hyun Engineering Research Center for Advanced Control Instrument Control Information Systems Lab. School of Electrical Engineering and Computer Science Seoul National University Seoul151-742 Korea Republic of

ISBN: (纸本)0780375866

In this paper, a virtual factory using the manufacturing message specification (MMS) companion standard is implemented. The MMS companion standard (9506-3 ∼ 9506-7) and virtual machines are designed and implemented for robot, numerical controller (NC), programmable logic controller (PLC), and process control (PC). Finally, the MMS Internet monitoring system (MIMS) is developed for the testing system. © 2002 IEEE.

关键词： MMS companion standard On-line monitoring Virtual factory

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