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Soft computing for the intelligent robust control of a robotic unicycle with a new physical measure for mechanical controllability

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Soft Computing 1998年第2期2卷 73-88页

作者： Ulyanov, S. V. Watanabe, S. Ulyanov, V. S. Yamafuji, K. Litvintseva, L. V. Rizzotto, G. G. Department of Mechanical and Control Engineering The University of Electro-Communication 1-5-1 Chofugaoka Chofu Tokyo 182 Japan JP Corporate Advanced System SGS-THOMSON Microelectronics Via C. Olivetti 2 20041 Agrate Brianze Italy IT

The posture stability and driving control of a human-riding-type unicycle have been realized. The robot unicycle is considered as a biomechanical system using an internal world representation with a description of emotion, instinct and intuition mechanisms. We introduced intelligent control methods based on soft computing and confirmed that such an intelligent control and biological instinct as well as intuition together with a fuzzy inference is very important for emulating human behaviors or actions. Intuition and instinct mechanisms are considered as global and local search mechanisms of the optimal solution domains for an intelligent behavior and can be realized by genetic algorithms (GA) and fuzzy neural networks (FNN) accordingly. For the fitness function of the GA, a new physical measure as the minimum entropy production for a description of the intelligent behavior in a biological model is introduced. The calculation of robustness and controllability of the robot unicycle is presented. This paper provides a general measure to estimate the mechanical controllability qualitatively and quantitatively, even if any control scheme is applied. The measure can be computed using a Lyapunov function coupled with the thermodynamic entropy change. Interrelation between Lyapunov function (stability condition) and entropy production of motion (controllability condition) in an internal biomechanical model is a mathematical background for the design of soft computing algorithms for the intelligent control of the robotic unicycle. Fuzzy simulation and experimental results of a robust intelligent control motion for the robot unicycle are discussed. Robotic unicycle is a new Benchmark of non-linear mechatronics and intelligent smart control.

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Unattended Production Based on Cooperation between Offline and Online Robots

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Journal of Robotics and Mechatronics 1998年第6期10卷 538-541页

作者： Yang, Hong-Zhi Yamafuji, Kazuo Arita, Kouichiro Ohara, Naoki Department of Mechanical and Control Engineering. University of Electro-Communications 1-5-1 Chofugaoka Tokyo Chofu182-8585 Japan Production System Business Center Sony Corporation 6-7-35 Kitashinagawa Shinagawa-ku Tokyo141-0001 Japan Human Technology Department Advanced Technology Research Division Yamaha Motor Co. Ltd. 2500 Shingai Shizuoka Iwata438-8501 Japan

To cope with labor shortages due to low birth rates in the 21st century, and create friendlier production systems, we propose a robot system assisting production in flexible manufacturing environments, where offline robots replace or reduce human labor on the shop floor. Offline robots conduct aid or service tasks for online robots operating on production lines or sites. We analyze conventional automatic production systems using robots, propose a robotic production concept using two types of robots, present ways to implement the proposed concept and technical results, and discuss fault recovery using offline robots and peripheral technology. © Fuji Technology Press Ltd.

关键词： Robots

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Architectural Design for Open Intelligent Manufacturing system

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IFAC Proceedings Volumes 1997年第14期30卷 251-254页

作者： Hyoung Joong Kim Gi Taek Kim Byung-Wook Choi Department of Control and Instrumentation Engineering Kangwon National University Chunchon 200-701 Korea Advanced Manufacturing System R&D Office Korea Institute of Industrial Technology Chonan 230-820 Korea

The next generation manufacturing systems will exploit new features from distributed computing, object-oriented software engineering, and Internetworking. In this respect, the role of agents for intelligent manufacturing systems is addressed. This paper mainly surveys the state-of-the-art of the distributed object and agent technologies, which are the core of the intelligent manufacturing systems. Open architecture for interoperability is stressed. Standardization activities are also addressed.

关键词： Intelligent manufacturing systems Intelligent agents Open Architecture Distributed computing Interoperability

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Physical limits and information bounds of micro control. I. Quantum filters and non-demolition measurements 8

Physical limits and information bounds of micro control. I. ...

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8th International Symposium on Micromechatronics and Human Science, MHS 1997

作者： Ulyanov, S.V. Arai, F. Yamafuji, K. Fukuda, T. Rizzotto, G.G. Kurawaki, I. Department of Mechanical and Control Engineering University of Electro-Communications 1-5-1 Chofu Tokyo182 Japan Department of Micro Systems Nagoya University Furo-cho Chikusa-ku Nagoya Japan Corporate Advanced System Architectures Groups SGS-THOMSON Microelectronics Via C. Olivetti 2 Agrate Brianza20041 Italy Human Technology Division Research and Development Department Yamaha Motor Co. Ltd 2500 Shingai Iwata Shizuoka438 Japan

ISBN: (纸本)0780341716

The possible accuracy limit of micro control of dynamic systems in which the dominating disturbances are thermal and quantum noises is considered. The optimal control with a Kalman-Bucy filter (KBF) and physical limits of micro control of a macro object are studied. For the individual control of a micro object a quantum prototype of KBF with non-demolition observation on the basis of quantum filtering equation is introduced. © 1997 IEEE.

关键词： Demolition

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Physical limits and information bounds of micro control. I. Quantum filters and non-demolition measurements

Physical limits and information bounds of micro control. I. ...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： S.V. Ulyanov F. Arai K. Yamafuji T. Fukuda G.G. Rizzotto I. Kurawaki Department of Mechanical and Control Engineering University of Electro-Communications Tokyo Japan Department of Micro Systems University of Nagoya Nagoya Japan Corporate Advanced System Architectures Groups SGS-THOMSON Microelectronics Agrate-Brianza Italy Research & Development Department YAMAHA MOTOR Company Limited Iwata Shizuoka Japan

关键词： Filters Distortion measurement Optimal control Equations Optical microscopy Motion measurement control systems Robots Atom optics Optical control

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Quantum and thermodynamic self-organization conditions for artificial life of biological mobile micro-nano-robot with AI control. (Report 2. Methodology of R&D and stochastic dynamic)

Quantum and thermodynamic self-organization conditions for a...

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International Symposium on Micro Machine and Human Science

作者： S.V. Ulyanov K. Yamafuji T. Fukuda F. Arai G.G. Rizzotto A. Pagni Department of Mechanical and Control Engineering University of Electro-Communications Chofu Tokyo Japan Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan SGS-THOMSON Microelectronics Corporate Advanced System Architectures Agrate-Brianza Italy

A new methodology of R&D of micronano-robots (MNR) based on modelling of the nonlinear master dissipative stochastic equations of MNR-motion with minimum entropy production is described. The methodology includes: hierarchical levels for the description of the dynamic behavior of MNR based on laws of microphysics, an extraction of information from coherent states of MNR using quantum non-demolition (QND) measurement processes, logic of intelligent dynamic behavior, optimal control of states, and the dynamic system theory of mechanical motion. On the basis of nonlinear dissipative equations of motion a new quantum postulate for the description of MNR as open thermodynamic and quantum dynamic systems is introduced. Physical conditions for optimal intelligent control of thermodynamic and quantum systems are introduced. The intelligent thermodynamic behaviour of MNR from the artificial life point of view is described. New nonlinear mechanics with entropy exchange are used. The thermodynamic stability conditions for MNR are developed.

关键词： Thermodynamics Nonlinear dynamical systems Nonlinear equations Entropy Stochastic processes Production Data mining Quantum mechanics Mechanical variables measurement Motion measurement

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Affordability, logistics R&D and fleet systems

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NAVAL ENGINEERS JOURNAL 1996年第3期108卷 199-213页

作者： Schulte, DP Skolnick, A He has supported the development and operation of several naval systems including advanced component selection for Trident II fire control and navigation systems. He served as branch manager of the Surface Ship ASW Combat System Branch which acted as the acquisition engineering agent for the AN/SQQ-89 Surface Ship Anti-Submarine Warfare Weapon System. He was then selected to manage the Module Engineering Department which provided engineering support to numerous naval systems including the AN/BSY-1 Submarine Combat System and the Trident II fire control and navigation system. He then served as the deputy program manager for NAVSEA Progressive Maintenance (2M/ATE). He holds a B.S. degree in Electrical Engineering from Purdue University and currently is pursuing a Maste's degree in Public Environmental Affairs at Indiana University—Purdue University Indianapolis. He served at Applied Physics Laboratory/The Johns Hopkins University in missile development then aboard USS Boston (CAG-1) and played leading roles in several weapon system developments (Regulus Terrier Tartar Talos) 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. He led the Navy's High Energy Lasers and Directed Energy Weapons development efforts. He was vice president advanced technology at Operations Research Inc. and vice president maritime engineering at Defense Group Inc. before starting SSC in 1991. Dr. Skolnick holds a B.S. degree in Mathematics and Economics Queens College an M.A. degree in Mathematics and Philosophy Columbia University an M.S. degree in Electrical/Aeronautical Engineering U.S. Naval Postgraduate School and a Ph.D. in Electrical Engineering and Applied Mathematics from Polytechnic University in New York. He is the author of many published papers on engineering design issues source selection procedures and large-scale complex technology problems

The Fleet continues to require high performance systems that can operate with dependability in the seas' unforgiving environments and under hostile action. Those demands are not new. What has changed is the urgent priority formerly assigned to national defense issues. The arguments for continued superpower military strength are now roiled in politics along with unsettled budgets and uncertain force level projections. Current expectations revolve about indefinite fiscal and operational issues (difficult funding constraints and broadband threats). In the actual event of ''doing more with less,'' a practical response is to apply the creative power available from sound engineering judgement and the crucible of experience to the immediate needs of the Fleet. The attempt to shorten the path between advanced development effort and Fleet use has been tried occasionally in the past, often, without exemplary results. The Sustainable Hardware and Affordable Readiness Practices (SHARP) program, is a generic R&D effort under OpNav sponsorship that has been working steadily on sensible solutions to product engineering problems. Armed today with fast-time, large-scale computation abilities and modern tools for technical problem solving coupled with specialized engineering knowledge, it has been refreshed and is underway satisfying existing Fleet needs. The relationship between fully responsive engineering services and current operational needs is always demanding. The connection between advanced engineering development (6.3 category funds) and immediate Fleet usage brings added complexity and challenge, both technical and organizational. Illustrative examples of affordable engineering solutions to ''retain, revise, replace or retire'' questions are presented within the context of both Fleet realities and budgetary limitations. The discussion covers legacy system support, civil/military considerations and Fleet maintenance issues. It describes the substantial and critical payoffs i

关键词： Warships

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Intelligent fuzzy controller design on WARP for mechanical systems with complex dynamic behaviors

Intelligent fuzzy controller design on WARP for mechanical s...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： S.V. Ulyanov T. Yamafuji V.G. Gradetsky A. Pagni Department of Mechanical and Control Engineering University of Electro-Communications Chofu Tokyo Japan Institute for Problems in Mechanics Russian Academy of Science Russia SGS-THOMSON Microelectronics Corporate Advanced System Architectures Italy

The methodology of intelligent fuzzy controller design is introduced. The basis of the methodology is simulation of computer dynamics for mechanical systems with the help of qualitative physics and the search of possible solutions with genetic algorithm (GA). On artificial neural networks optimal solutions are defined and knowledge base of fuzzy controller on the Weight Associative Rule Processor (WARP) is formed. Applications of this methodology on examples including a mobile robot for service use, a wall climbing robot (WCR) for decontamination of nuclear-power plant, a DC/DC converter and an apparatus for artificial ventilation of lungs, are examined.< >

关键词： Fuzzy control Fuzzy systems control systems Mechanical systems Artificial intelligence Computational modeling Computer simulation Physics computing Genetic algorithms Artificial neural networks

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USING VIRTUAL ENVIRONMENTS IN THE DESIGN OF SHIPS

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NAVAL ENGINEERS JOURNAL 1994年第3期106卷 91-106页

作者： JONS, OP RYAN, JC JONES, GW Otto P. Jons:received a Diplom Ing. in shipbuilding from the Technical University of Hanover W. Germany and an MS in naval architecture and marine engineering from MIT. He then joined Litton Ship Systems where he was responsible for the preliminary design of the DD-963 hull structure and then for ship system integration as manager LHA ship systems engineering department. From 1972 to 1974 he was the principal research scientist at Hydronautics. In 1974 as technical director he helped establish the Crystal City office of Designers and Planners. Mr. Jons was one of the co-founders of Advanced Marine Enterprises Inc. in 1976 where he serves as corporate vice president engineering. J. Christopher Ryan:earned his bachelors and masters degrees in naval architecture from Webb Institute and MIT respectively. He spent three years at the advanced marine technology division of Litton Industries working on the DD-963 class ship design and related computer aided design projects. He subsequently went to the Navy Department concentrating on early stage design of surface combatants for twelve years including work on the FFG-7 Sea Control Ship CSGN and CVV aircraft carrier projects. He then shifted focus and became the Technical Director for the Computer Supported Design Program in NavSea for five years. Mr. Ryan has served in several supervisory positions within the Ship Design Group in NavSea since that time. He is currently the director of the future ship concepts division. Gary W. Jones:graduated from the University of Tennessee in 1971 with a BS in mechanical engineering and followed up with graduate work at George Washington University and the University of Maryland. Mr. Jones was with the Naval Sea Systems Command from 1971 until 1988 where he was a naval architect in the submarine section of the hull form design division. In 1988 he was detailed to the Defense Advanced Research Projects Agency (DARPA) where he became the program manager for the advanced submarine technology program's hydrodynamic hydroac

A major contributor to the expense and length of time to design, build, and test new systems has been the need to build and test hardware prototypes to determine their effectiveness in meeting operational requirements. Recent and dramatic advances in computer simulation technologies hold forth the promise of revolutionizing design and acquisition strategies by providing the means to validate end users' requirements prior to hardware construction. By designing and operationally testing virtual prototypes in a virtual environment, these technologies will soon offer naval architects the ability to build and launch ships in computer-based cyberspace in lieu of the shipbuilder's ways. The authors of this paper provide the background for these developments, explore the significance and ramifications of these technologies to the current process of ship and system design, outline challenges lying ahead, and present their vision and recommendations for future development.

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ASYNCHRONOUS TRANSFER MODE (ATM) OPERATION VIA SATELLITE - ISSUES, CHALLENGES AND RESOLUTIONS

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 211-222页

作者： CHITRE, DM GOKHALE, DS HENDERSON, T LUNSFORD, JL MATHEWS, N COMSAT Laboratories 22300 Comsat Drive Clarksburg MD 20871 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. Department manager for ISDN/Data Communications in the Network Technology Division of COMSAT Laboratories. His responsibilities include managing the implementation of next generation telecommunication systems for fixed and mobile satellite systems. Current projects include the development of a high data rate gateway switch that provides for the

Key issues regarding the operation of the broadband integrated services digital network (BISDN) via satellite are presented herein. The specific issues, challenges, and their resolutions are detailed. In particular, the impact of error characteristics and propagation delay on the operation of BISDN via satellite is discussed. Solutions are presented for removing adverse effects and providing high-quality service to users of BISDN via satellite.

关键词： ATM BISDN

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