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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： L. Preucil J. Vasek J. Martinek R. Marik R. Sara Department of Control Engineering Czech Technical University Prague Czech Republic Department of Electronic Engineering University of Surrey Guildford UK Department of System Science J. Kepler University Linz Austria

The authors bring a robust approach to the solution of robot navigation in the 3-D environment utilizing visual information. The presented approach aims to enable a robot to process the scene image, gathered by a monocular camera, in order to recognize objects of the constrained 3-D environment. When the positions of the scene objects are known, the recognition process provides the information about robot position and orientation in the scene.< >

关键词： Robot vision systems Navigation Layout Cameras Solid modeling Image recognition Noise robustness Image segmentation Calibration Shape

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ACCURACY REQUIREMENTS FOR MEASUREMENT systemS WITH UNIFORM AND NORMAL ERRORS

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NAVAL ENGINEERS JOURNAL 1993年第1期105卷 66-69页

作者： SNOW, JM STUCKMAN, BE USHER, JS Jeffrey M. Snow:received his B.S. degree in mechanical engineering from the University of Washington in 1977. He has worked at Boeing Commercial Aircraft Company and Puget Sound Naval Shipyard. Since 1985 he has been at Naval Surface Warfare Center Crane Division (NSWCC). From 1987 to 1990 he was in charge of quality assurance configuration management and reliability for Aegis (SPY-1 and Mk-99) microwave tubes. He currently is in the Radar System Branch at NSWCC. He is a member of ASQC and ASME. His areas of interest include the use of statistics in process improvement efforts and objectively rating and rewarding suppliers for better quality. Bruce E. Stuckman:holds a Ph.D. degree in systems engineering from Oakland University where he also obtained M.S. and B.S. degrees in electrical and computer engineering. In 1992 Dr. Stuckman obtained his J.D. from the University of Louisville where he graduated cum laude. He is currently an associate in the patent and computer law department of Brooks & Kushman a law firm specializing in intellectual property and technology related causes. Prior to this he was an associate professor of both electrical engineering at the University of Louisville and a member of the Research Advisory Board of the South Central Bell Telecommunications Research Center. Dr. Stuckman is the author of over 75 published works in a variety of research areas including global optimization algorithms control systems communication and telecommunication systems and instrumentation electronics. He has served as a technical consultant to such organizations as Control Data Corporation General Electric General Motors Research Laboratories Gulf & Western AT&T Bell Laboratories ARCO Research and Technical Services and the U.S. Government and has been a frequent lecturer at national and international symposia. He is a senior member of IEEE and a member of ASNE Eta Kappa Nu Tau Beta Pi Sigma Xi and Phi Kappa Phi. John S. Usher Ph.D. P.E.:is an assistant professor of industrial engineering

Accuracy requirements are usually determined as a percentage of the specification range of the measured part or process. Setting accuracy requirements in this manner results in a wide and unpredictable range of false rejection and acceptance probabilities. This causes extra costs due to either: 1) over specification of measurement systems accuracy requirements;2) time, effort, retesting, and resolution of false rejections;or 3) system degradation caused by false acceptance of out-of-specification parts. Achieving a consistent and known risk of false acceptance is only possible by considering the measured process C(pk), the process's mean in relation to the center of the specification range, and the measurement system error distribution. This paper presents a method for calculating the probabilities of false rejection and false acceptance for a normal process which is measured with, alternately, uniform and normally distributed error. It is shown that under most conditions uniform error causes 20% to 30% higher false rejection and acceptance probabilities. Thus, knowledge of measurement error distribution could provide lower total production cost.

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Short‐term load forecast by plausibility checking of announced demand: An expert‐system approach

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European Transactions on Electrical Power 1993年第5期3卷 353-358页

作者： Markovié, M.L. Fraissler, W.F. Milorad L. Marković (1960) received the Dipl.-Ing. and M.Sc. degrees in electrical engineering from the University of Beognd in 1984 and 1990 respectively. From 1985 to 1991 he was at the Institute “Mihajlo Pupin” Beo-grad up to 1987 in the Operation Research group afterwards in the Power System group. In 1990/91 he spent a year at the Austrian Electricity Board (Verbundgesellschaft VG) in Vienna/Austria on a pilot project for expert-system application for operation scheduling. Since September 1991 he is a staff member of the central dispatching department of the VG. His research interests are application of the operations research methods and expert systems in power system control and operation. (Öster-reichische Elektrizitätswirtschafts-AG (Verbundgesellschaft) Hauptlastverteiler Am Hof 6a A-1010 Wien/Austria T +431/531 13 - 23 68 Fax +431/531 13 - 23 16) Walter F. Fraissler (1961) received the Dip1.-Ing. degree in 1984 and the Doctoral degree in 1988 both in Applied Mathematics from the University of Technology of Vienna/Austria. He started his professional experience 1984 as a research assistant at the Department of Economics of the University of Vienna. 1986/87 he attended the Institute for Advanced Studies in Vienna and in 1987 he joined the Austrian Electricity Board (Verbundgesellschaft) in its Electronic Data Processing department. His main interests are applications of econometric and Operations Research methods including expert system technology. (Österreichische Elektrizitätswirtschafts-AG (Verbundgesellschaft) Daten verarbeitung Am Hof 6a A-1010 Wien/Austria T +431/531 13 - 2948 Fax +431/531 13- 4191)

Short‐Term Load Forecast at Verbundgesellschaft (VG ‐ the Austrian Electricity Board) is presented. As the VG has only regional utilities and large industries as purchasers, classical forecast methods are not appropriate. Much more suitable is a plausibility check of a set of announced purchasers demands, for which an expert system has been developed for one to three days ahead forecasts. It has been realized with the help of a rule‐oriented expert system shell based on Prolog, and contains about 250 rules. Normal days as well as special days are considered. The prototype has been tested at the central dispatcher of the VG since autumn 1990. Results and acceptance by the users are promising. Copyright © 1993 John Wiley & Sons, Ltd.

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Structured expert system design 90

Structured expert system design

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International Conference on the APL Programing Language, APL 1990

作者： Smellle, D. Evans, F. Control System Centrs Department of Electrical and Electronic Engineering South Bank Polytechnic LondonSE1 OAA United Kingdom

ISBN: (纸本)089791371X

An ordered approach to expert system design is offered by a shell in which modularisation of all data and inferential structures is a feature. The system is completely menu driven, and all APL code is transparent. The user can move easily between design mode and run mode at any time, without any loss of current data. Complex systems can be systematically developed from constituent subsystems. Uncertainty is accommodated by the use of fuzzy logic. All aspects of the expert system are editable at all times.

关键词： Expert systems

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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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Author's reply

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IEEE Transactions on Automatic control 1983年第5期28卷 633-633页

作者： Y. Baram Department of Electronic Communications Control and Computer System Faculty of Engineering Tel-Aviv University Tel-Aviv Israel

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CENTML control system TRAINING THROUGH STA TIC AND DYNAMIC SIMULATION

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Naval Engineers Journal 1980年第2期92卷 196-206页

作者： HALL, EDWIN E. MOSS, DONALD G. NORRIS, CLIFFORD S. PETERSON, HAROLD D. Mr. Edwin E. Hall received his Bachelor's degree in Electronics from Oklahoma City University. He also is a certified College-Level Instructor in the state of Florida and has done graduate work in Computer Science at the University of Florida. As the Technical Publications and Training Manager Simulation and Control Systems Department. General Electric Company Daytona Beach Fla. he currently is responsible for the costing. planning performance scheduling and timely completion of the Department's Technical Manuals and Technical Training Programs. These Training and Manual contracts cover Ship Systems Programs. Simulation Programs. and Communications Programs for the Armed Services and commercial customers. Mr. Hall has over twenty-years experience as a Technical Writer and Instructor and for the past seventeen years has been at the General Electric Company's Daytona Beach Facility. His experience ranges from teaching Basic Electronics and Radar Circuitry as a civilian instructor for the U.S. Army to writing Manuals Proposals Reports Specifications and Brochures for General Electric's product lines. Mr. Donald G. MOSS is a graduate of Kansas State University from which he received both his B.S. degree in Business Administration and his M.S. degree in Electrical Engineering. He is presently a Senior Systems Engineer for Control Systems in the Simulation and Control Systems Department at the General Electric Company's Daytona Beach Facility. He has been employed by General Electric for 23 years — the first seven as an Engineer and Program Manager on the Fire Control Systems for the Fleet Ballistics Missile Program the next six managing the design of control and checkout equipment on the APOLLO Program and the last ten years working on control equipment for the machinery plants of new Navy ships. Over the span of years at General Electric he has worked on propulsion control for the DD-963 propulsion electric plant and auxiliary control for the FFG-7: propulsion boiler burner electric auxiliary and car

Dynamic Simulation is defined as the hardware and software required to present to the student operator visual and audible cues and responses that are the same as those encountered when operating the control Consoles aborad ship. This type of simulation is considered essential to the development of operator skills for critical tasks. Less critical tasks can be practiced using static simulation devices. This paper discusses the utilization of these types of training devices to train Navy crews. An overview of the Machinery control systems of the FFG 7 and AO 177 Class ships is discussed to provide an understanding of state‐of‐the‐art equipment development. The training programs for these two ship Classes are then reviewed to show how simulation devices are currently used by the Training Community, and this is followed by a brief discussion of the additional benefits that also are derived. © 1980 by the American Society of Naval Engineers, Inc.

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MK-92 FIRE-control system

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NAVAL ENGINEERS JOURNAL 1979年第4期91卷 69-76页

作者： RYAN, FN BERLIN, J Mr. Floyd N. Ryan graduated from Frostburg State College and has performed graduate studies in Technology of Management at American University and University of Southern California. He is presently Executive Director of the Surface Missile Systems Sub-Group in the Naval Sea Systems Command. He was previously Deputy Project Manager of the MK-92 FCS/MK-75 Gun Project Deputy Systems Engineering Manager in the AEGIS Project and Surface Missile Systems Branch Head in the Naval Ordnance Systems Command. His earlier experience with the Department of the Navy included the Engineering Interface Management Office in the Bureau of Ships the Foreign Ship Systems Engineering Office and Switching Systems Design Office at RCA Service Company and he served for four years in the U.S. Navy as an Electronic Technician Petty Officer. In addition to ASNE he is a member of the Association of Scientists and Engineers and is the Executive Director (NAVSEA) for the 1978-79 term. In addition to several outstanding performance awards and citations for achievement Mr. Ryan received the Navy Meritorious Civilian Service Award for exceptional contribution to the development of the AEGIS Weapon System. Mr. Jack Berlin received his Bachelor's degree in Electrical Engineering from the City College of New York and his M.S. degree in Electrical Engineering from Columbia University. He spent eight years in the Radar and Microwave Electronics Section of the Naval Material Laboratory. Subsequently. he has had extensive experience in Radar and Fire Control Systems. This has included responsibility for the design and field evaluation of the GFCS MK 87 Radar. From 1972 to 1973 he was the Sperry Program Manager for the Fire Control System (FCS) MK 92. His current assignment is Assistant Manager for New Developments of Missile and Gun Fire Control Systems for the U.S. Navy. He is a member of the Tau Beta Pi and Eta Kappa Nu Honorary Societies.

The MK 92 Fire control system (FCS) & a new, integrated, highly reliable and light-weight U.S. Navy Fire control system for missile and gun control. This system, which is in production for the FFG, PCG, PGG and PHM Ship Classes, provides the detection and automation required for modern naval warfare. Search radar data & presented at a very high rate at the operator's console, a highly integrated man-machine interface. Utilization of monopulse and “track-while-scan” techniques result in multiple target tracking capability. The system console(s) offer a self-contained command and control capability and, in addition, standard digital computer channels provide the versatile interface with the ship's command and control, integrating the complete engagement process. Error cancellation techniques are employed to obtain high performance accuracy even under severe environmental conditions. The low manning requirement for both operation and maintenance is a key system attribute for all applications. Comprehensive “at-sea” evaluations, performed by the U.S. Navy, demonstrated successful system operation in all modes of surveillance, multi-target tracking and simultaneous missile and gun engagements. The “at-sea” performance record of the FCS MK 92 was cited by the Chief of Naval Operations to have established new standards for Naval Surface Weapons systems.

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BANQUET ADDRESS - BUILT-IN COMBAT READINESS - APPROACH TO FUTURE SHIP DESIGN

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NAVAL ENGINEERS JOURNAL 1976年第3期88卷 40-43页

作者： MARCY, HT The Honorable H. Tyler (“Ty”) Marcy:was born in 1918 in Rochester New York but moved to Baltimore Maryland at an early age where he attended public schools. He is a graduate of the Massachusetts Institute of Technology from which he received both his BS and MS degrees in Electrical Engineering. Subsequent to receiving the latter degree in 1941 he designed and developed gun control systems in the MIT Servomechanism Laboratory until 1946 when he became Associate Director Special Projects Department M. W. Kellogg Company and worked on rocket engine development missile controls and analog air defense systems. In 1951 Mr. Marcy left Kellogg Company to join the IBM Corporation where he remained until 1972 and was employed in various engineering and managerial positions. At IBM his first assignment concerned the bomb/navigational system for the B-52 aircraft. He then moved into commercial development of data processing machines and peripheral devices subsequently being placed in a series of technical management positions which included Assistant Manager of Product Development Corporate Headquarters New York (1956) Manager Poughkeepsie N.Y. Laboratory (1957) Vice-President General Products Division (1962) Vice-President Systems Development Division (1965) and Director of Technology Corporate Headquarters Armonk N. Y. (1968). His last position was held until 1972 when he left IBM to do private consulting work in engineering management technology and program review. In October 1974 he was appointed by the President to his present office as Assistant Secretary of the Navy for Research and Development. Mr. Marcy has been a member of the Instrument Society of America since 1963 serving as its President from 1971 until 1974. In 1967 he became a Fellow of the Institute of Electrical and Electronic Engineers (IEEE) for his leadership in feedback control and for his significant contribution to the management of technical enterprise. In addition to these professional organizations he is also a member of the

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Enabling Cost-effective Wireless Data Collection by Piggybacking on Delivery Drones in Agriculture

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ACM Transactions on Sensor Networks 1000年

作者： Chaocan Xiang Wenhui Cheng Xiao Zheng Tao Wu Xiaochen Fan Yingjie Wang Yanlin Zhou Fu Xiao College of Computer Science Chongqing University China 1) Anhui University of Technology China 2) Institute of Artificial Intelligence Hefei Comprehensive National Science Center China National University of Defense Technology China 1) Institute for Electronics and Information Technology in Tianjin Tsinghua University China 2) Department of Electronic Engineering Tsinghua University China 3) Consulting Center for Strategic Assessment Academy of Military Science China School of Computer and Control Engineering Yantai University China School of Computer Nanjing University of Posts and Telecommunications China

Drones have drawn considerable attention as the agents in wireless data collection for agricultural applications, by virtue of their three-dimensional mobility and dominant line-of-sight communication channels. Existing works mainly exploit dedicated drones via deployment and maintenance, which is insufficient regarding resource and cost-efficiency. In contrast, leveraging existing delivery drones for the data collection on their way of delivery, called delivery drones’ piggybacking, is a promising solution. For achieving such cost-efficiency, drone scheduling inevitably stands in front, but the delivery missions involved have escalated it to a wholly different and unexplored problem. As an attempt, we first survey 514 delivery workers and conduct field experiments; noticeably, the collection cost, which mostly comes from the energy consumption of drones’ piggybacking, is determined by the decisions on package-route scheduling and data collection time distribution. Based on such findings, we build a new model that jointly optimizes these two decisions to maximize data collection amount, subject to the collection budget and delivery constraints. Further model analysis finds it a Mixed Integer Non-Linear Programming problem, which is NP-hard. The major challenge stems from interdependence entangling the two decisions. For this point, we propose Delta, a \(\frac{1}{9+\delta }\)-approximation delivery drone scheduling algorithm. The key idea is to devise an approximate collection time distribution scheme leveraging energy slicing, which transforms the complex problem with two interdependent variables into a submodular function maximization problem only with one variable. The theoretical proofs and extensive evaluations verify the effectiveness and the near-optimal performance of Delta.

关键词： Wireless Data Collection Drone’s Piggybacking Energy Consumption

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