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IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory control engineering Mechanical engineering

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Reducing CV life cycle costs through process modeling and simulation

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NAVAL ENGINEERS JOURNAL 1999年第3期111卷 359-370页

作者： Stanco, J Malesich, M Joseph J. Stanco:has over 30 years professional-level experience in research design management of DoD/Industry standards applications and products associated with system design and advanced test and evaluation. The major emphasis has been in setting the standards in testing concepts for both DoD and industry in the software and systems engineering areas. Michael A. Malesich:has 15 years experience in naval aviation applications particularly in the fields of Automated Testing Modeling and Simulation and Information Management Systems. His accomplishments include development enhancement and testing of software systems involving test equipment capability production management maintenance operations and instrument control. He also participates in the IEEE SCC20 committee in its definition of standards to support the automated test community.

An innovative methodology has been developed to achieve the objectives of carrier operation optimization programs utilizing Integrated Definition (IDEF) modeling and associated Commercial Off the Shelf (COTS) tools. The primary objectives of the programs include manpower reduction, integrated automation, and support for new operational concepts. The methodology incorporates the use of process Modeling and Simulation (M&S) to establish the requirements for developing optimized carrier operations. This approach uses new techniques in performing analyses required, and replaces costly stovepipe approaches. Process M&S illustrates the impacts on operations if manpower is reduced, the impact to manpower if processes are modified, the areas where automation is most beneficial, and the capacity of existing and proposed processes in terms of meeting operational requirements. Process M&S is also used to assist in the evaluation of carrier re-design proposals, the analysis of potential modifications to existing doctrine, and the analysis of human factors issues. The IDEF process modeling methodology, coupled with the interfacing requirements of the process, information, and product models identify opportunities for improvement. The methodology provides a basis upon which changes and specifications to the current system acquisition process as well as carrier operations can be made in a "total ship" evaluation framework.

关键词： integrated automation simulating Surgery Labor Force life cycle costs Manpower procedural model IDEF Automation

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Signal separation of background EEG and spike by using morphological filter

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IFAC Proceedings Volumes 1999年第2期32卷 4301-4306页

作者： Shigeto Nishida Masatoshi Nakamura Akio Ikeda Hiroshi Shibasaki Department of Computer and Communication Engineering Fukuoka Institute of Technology Fukuoka 811-0295 Japan Department of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan Department of Brain Pathophysiology Kyoto University Faculty of Medicine Kyoto 606-8507 Japan

A signal separation method for extracting background electroencephalogram (EEG) from EEG containing spikes was proposed. Morphological filters were designed for extracting spike waveforms, and then the background EEG was obtained by subtracting the detected spike waveforms from the EEG with spike . The proposed method was evaluated by using simulated EEG data, which consisted of a summation of EEG without spike and model waveform of typical spike. The background EEG separated by the method was processed by the automatic background EEG interpretation.

关键词： Signal separation Background EEG Spike Morphological filter Automatic EEG interpretation

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Operational systems, logistics engineering and technology insertion

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 205-220页

作者： Grubb, MJ Skolnick, A Michael J. Grubb:has perfomzed naval engineering at the Crane Division Naval Surface Warfare Center (NSWC) for more than twenty-five years. He currently the program manager for the Sustainable Hardware and Affordable Readiness Practice Program (SHARP). is a Navy-wide logistics research and development prgram aimed at the successful transiton of proved technologies inot the fleet. SHARP focuses on reducing acquisition performance capability reliability maintainability and readiness of these systems. Mr. Grubb has served as a department director for the past eleven years. His most recent assignment was as director of the Tactical Computer Resources and Test Equipment Department. This organization provided acquisition and in-service engineering support of the Navy's tectical embedded computers priphirals displays and mass memory storage devices. The organization also provided a complete range of product engineering and metrology engineerig services for SSP NevSeaSysCom and the Trident Program. Prior to this appointment Mr. Grubb was deptuy director psysical security programs department and site responsible for program management and system integration of ashore integrated security systems. Mr. Grubb holds a B.S. degree in industrial engineering from Iowa State Universtiy an M.S. degree in industrial engineering from Purdue University and has copleted the course work (Dec.'96 for a master's degree in public and environment affairs at Indiana University-Purdue Univeristy Indianapolis. Dr. Alfred Skolnick operates System Science Consultants (SSC) specilizing in strategic planning technical program definiton technology assessment and engineering analyses on selected matters of national interest. He has taught physics mathematics and management sciences at University of Virginia and Marymount University and is currently adjunct professor of mathematics at Northern Virginia Community College. Form 1985 to 1989 he was president of the American Society of Noval Engineers. Dr. Skolnick served at Applied Physic

In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t

关键词： Naval vessels

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engineering off-the-shelf solutions: A life cycle view

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NAVAL ENGINEERS JOURNAL 1996年第3期108卷 181-190页

作者： Belair, D Eagan, M [?]Doug Belair is the program manager for Advanced Programs in the Fleet Ballistic Missile/Shipboard business area at Lockheed Martin Defense Systems. He joined Defense Systems in 1979 with a Bachelor's degree in Computer Science and held a variety of positions in software and systems engineering throughout his early career. In 1985 Doug received a Master's degree in Industrial Management from the Krannert School of Management at Purdue University as part of a GE executive training program and has subsequently held increasingly complex and responsible engineering and program management positions associated with Fire Control System advanced development. Doug is currently responsible for new business opportunities and has received a number of awards including the inaugural Lockheed Martin NOVA award for technical excellence. He has been associated with the application of Off-the-Shelf products for mission critical applications since 1989 and has presented the subject often to both government and industry.

This paper describes a market driven life cycle methodology for application of off-the-shelf products and provides anecdotal lessons for each of the life cycle phases. In order to form a framework for further discussion, a model of the off-the-shelf marketplace is introduced to define a range of products from low cost commodities to high-end niche or specialty items. Within this framework, strategies are recommended for defining product requirements both technical and programmatic, surveying the market to find products that meet those requirements and then acceptance testing those products to ensure they do in fact perform as advertised. Recommendations are provided in the area of product tailoring, if tailoring is deemed a cost effective alternative to unique design. The pitfalls of managing ''off-the-shelf'' vendors as subcontractors during the tailoring phase is also described. Product procurement is defined to include not only those steps required to procure product quantities for deploy ment but also steps to ensure that those products meet the same requirements as those accepted during the selection phase. Three product support strategies are next described. The strategies range from a traditional ''commercial'' approach with support provided within the vendor's infrastructure to a more traditional ''military'' approach in which vendors are subcontracted to provide longer term support. Selection of the appropriate strategy is based on a balance of cost, desired product life and desired level of stability within the system configuration.

关键词： Electronic ship equipment

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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FAULT-TOLERANT ASSOCIATE MEMORIES

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systems AND computerS IN JAPAN 1995年第7期26卷 1-12页

作者： FUJIWARA, E TANAKA, T Member Faculty of Engineering Tokyo Institute of Technology Tokyo Japan 152 Eui Fujiwara:received his B.S. and M.S. degrees in Electronics Engineering in 1968 and 1970 respectively and his Dr. of Eng. degree in 1981 all from Tokyo Institute of Technology. In 1970 he joined the NTT Musashino Electrical Communication Laboratories and engaged in developing PIPS-1 and PIPS-11 computer systems. In 1988 he joined the Department of Computer Science Tokyo Institute of Technology as an Associate Professor. In 1990 he became a full Professor. He was a Visiting Professor at the Center for Advanced Computer Studies the University of Southwestern Louisiana from June 1985 to July 1986. His current research interests include coding theory for computers fault-tolerant memories VLSI defect-toleranceand WSI systems. He is a co-author ofError Control Coding for Computer Systems(Prentice-Hall1989) EssentiaLF of Error-Correcting Coding Techniques (Academic Press 1990) and other books. Dr. Fujiwara received the Young Engineer Award from the I.E.I.C.E. in 1978 and the Teshima Memorial Research Award in 1991. He is a senior member of the IEEE and a member of the Information Processing Society Japan. Associate Member

Because of its capability of high-speed search, the associative memory (CAM) is expected to be used in a variety of information processing systems. In this paper, novel fault-tolerant techniques which are effective for on-line use are proposed for TLB which is an example of the application of CAM. First, fault and error models of the TLB consisting of the CAM part and the SRAM part are clarified. Then, the fault-tolerant techniques for these faults and errors, such as distance separable technique, cod-ing technique, simplified 1-out-of-n check and graceful degradation, are proposed. The distance separable technique which encodes the data stored in the CAM part is the one which masks the faulty CAM part and prevents errors from propagating to the subsequent circuits. The coding technique checks the one-to-one correspondence between the data in the CAM and those in SRAM by using the SEC-DED code with byte error detection capability, i.e., SEC-DED-SbED code, and at the same time it detects and corrects errors in the data stored in SRAM. The simplified 1-out-of-n check processes association errors. The graceful degradation gives a flag in the faulty memory section and prevents it from being used. The methods proposed in this paper are evaluated from area augmentation and error detection capability perspectives. The results show that the fault-tolerant TLB with 32 virtual address bits, 32 physical address bits and 128 entries gives single fault detection probability of nearly 99 percent with 28 percent area increase.

关键词： CAM TLB DISTANCE SEPARABLE TECHNIQUE CODING TECHNIQUE SIMPLIFIED 1-OUT-OF-N CHECK GRACEFUL DEGRADATION

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THERE ARE NO IN-SITU METHODS

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GROUND WATER MONITORING AND REMEDIATION 1994年第4期14卷 120-123页

作者： NYER, EK SCHAFER, DC Evan K. Nyer is an expert in the research and application of technology to ground water cleanup. As vice president of technical resources with Geraghty & Miller Inc. (1099–18th St. Ste. 2100 Denver CO 80202) he is responsible for maintaining and expanding Geraghty & Miller's technical expertise in geology/hydrogeology engineering modeling risk assessment bioremediation and many other areas. He also provides expertise in engineering services including the design of treatment systems for contaminated water sites throughout the United States. He has designed and installed more than 100 ground water and soil remediation systems. He is a member of the Water Pollution Control Federation the National Ground Water Association the American Institute of Chemical Engineers and the American Society of Civil Engineers. David C. Schafer is a principal scientist/associate with Geraghty & Miller Inc. He attended the University of Minnesota where he obtained a bachelor's degree in mathematics and a master's degree in computer science. Prior to joining Geraghty & Miller he worked for a major water well equipment manufacturer for 19 years. Throughout his career he has specialized in the design of monitoring and production wells and the analysis and interpretation of pumping test data. He has written numerous articles on these subjects and has designed and analyzed pumping tests from hundreds of wells throughout North America.

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