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SICE Annual Conference

作者： Z. Zhao Y. Ikegami M. Nakamura Institute of Ocean Energy Saga University Saga Japan Department of Advanced Systems Control Engineering Graduate School of Science and E.ngineering Saga University Saga Japan

ISBN: (纸本)0780383524

Based on the step test, the nonlinear separation model of working fluid dryness and pressure difference between turbine inlet and outlet for hot spring thermal energy conversion (STEC) plant has been identified. Using the nonlinear separation control method, a solution for STEC diffuser multi-objective control has been proposed. The application results have verified its feasibility and effectiveness.

关键词： Springs Turbines Energy conversion Ocean temperature Power generation Rivers Optimal control Heat pumps Pressure control Nonlinear control systems

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New finishing system for metallic molds using a hybrid motion/force control

New finishing system for metallic molds using a hybrid motio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Nagata K. Watanabe Y. Kusumoto K. Tsuda K. Yasuda K. Yokoyama N. Mori Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka JAPAN Department of Advanced Systems Control Engineering Saga University Saga JAPAN ASA SYSTEMS INC. Fukuoka JAPAN YASKAWA ELECTRIC CORP. Fukuoka JAPAN MEIHO CO. LTD. Fukuoka JAPAN

In this paper, a finishing system with a mounted abrasive tool is proposed for polishing of metallic molds. The shape of the mounted abrasive tool is a ball-end type. When a metallic mold with curved surface is polished, not only the orientation of the mounted abrasive tool is fixed but also its revolution is locked. The motion of the mounted abrasive tool is feedforward controlled based on an initial trajectory calculated in advance. The surface is polished by the polishing force which consists of a contact force, motion and viscous friction forces acting between the mold and tool. In this case, the velocities in the normal and tangent directions are delicately regulated so that the polishing force can track the desired value. The effectiveness of the proposed system is proved by experiments using an industrial robot with a PC based controller.

关键词： Finishing Force control Abrasives Shape Motion control Friction Electrical equipment industry Industrial control Service robots control systems

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High precision polishing robot using a learning-based surface following controller

High precision polishing robot using a learning-based surfac...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： F. Nagata Y. Kusumoto K. Watanabe K. Kiguchi K. Tsuda K. Yasuda K. Yokoyama M. Umetsu N. Mori M. Omoto Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka JAPAN Department of Advanced Systems Control Engineering Saga University Saga JAPAN ASA SYSTEMS INC. Kitakyushu Fukuoka JAPAN YASKAWA ELECTRIC CORP. Kitakyushu Fukuoka JAPAN Tobataku Nakabmshinmachi Asa Systems Inc. Fukuoka Japan MEIHO CO. LTD. Fukuoka JAPAN

In this paper, a high precision polishing robot with a learning-based surface following controller is proposed for polishing PET (poly ethylene terephthalate) bottle molds with curve surface. The shape of a mounted abrasive tool, attached to the tip of the robot arm, is a ball-end type. When a PET bottle mold with a large curvature is polished, not only the orientation of the mounted abrasive tool is fixed but also its revolution is locked. The motion of the mounted abrasive tool is feedforwardly controlled based on initial trajectory calculated in advance. The trajectory is generated by cutter location data constituted from a CAM system. The trajectory is modified through the process of actual polishing. The surface is polished by a polishing force acting between the mold and the abrasive tool. The polishing force is assumed to be considered as a composite force of the contact and kinematic friction forces, in which the friction consists of Coulomb and viscous frictions. Velocities in the normal and tangent directions are delicately controlled so that the proposed system is effective for obtaining a polishing surface as achieved by skilled workers.

关键词： Robots Abrasives Friction Positron emission tomography Shape Motion control Computer aided manufacturing CADCAM Kinematics Velocity control

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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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Influence of geometrical initial imperfection on dynamic axial compressive deformation of aluminum square tubes

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Keikinzoku/Journal of Japan Institute of Light Metals 2002年第7期52卷 313-317页

作者： Miyazaki, Makoto Negishi, Hideaki Gradudate student Course in Mechanical and Control Engineering The University of Electro-Communications Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications

Aluminum square tube with a geometrical initial imperfection, i.e. a small distortion or hole on the tube wall before deformation is prepared in dynamic deformation test. Location and shape of the buckling deformation of the tube depend on the size and location of initial imperfection. Experimental results agree approximately with those of the finite element method analysis.

关键词： Aluminum

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Deformation and energy absorption of aluminum square tubes with dynamic axial compressive load

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Keikinzoku/Journal of Japan Institute of Light Metals 2002年第7期52卷 308-312页

Buckling, impact resistance and energy absorption of dynamic axial compressed aluminum square tube are discussed. Numerical analysis of the deformation of the square tube is made by a finite element method. The result shows that ripples of buckling are produced in the surfaces of the tube wall when the striking mass reaches a certain values. The wave pattern on the deformed tube wall of 1 mm thick is concave-convex pattern in adjoining surface, while that of 2 mm thick is convex pattern in all surfaces. Absorbed energy of the deformed tube increases in proportion to axial displacement of the tube. Experimental results agree approximately with those of the finite element method analysis.

关键词： Aluminum

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control for a rings gymnastic robot using fuzzy reasoning and genetic algorithms

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Artificial Life and Robotics 2002年第3期6卷 113-119页

作者： Yamada, Takaaki Watanabe, Keigo Kiguchi, Kazuo Izumi, Kiyotaka Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

The rings event is part of men's apparatus gymnastics. The ring exercise have free-floating characteristics of the gripping point. Here, we propose a novel “rings gymnastic robot” aimed at an application in gymnastic coaching. The purpose of this article is to develop fuzzy control rules to realize performances on the rings by considering torque minimization by genetic algorithms (GAs), because these rules should be useful in coaching. The effectiveness of the controllers obtained is illustrated by a simulation.

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Reinforcement learning with augmented states in partially expectation and action observable environment

Reinforcement learning with augmented states in partially ex...

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SICE Annual Conference

作者： S.A. Guirnaldo K. Watanabe K. Izumi K. Kiguchi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan

The problem of developing good or optimal policies for partially observable Markov decision processes (POMDP) remains one of the most alluring areas of research in artificial intelligence. Encourage by the way how we (humans) form expectations from past experiences and how our decisions and behaviour are affected with our expectations, this paper proposes a method called expectation and action augmented states (EAAS) in reinforcement learning aimed to discover good or near optimal policies in partially observable environment. The method uses the concept of expectation to give distinction between aliased states. It works by augmenting the agent's observation with its expectation of that observation. Two problems from the literature were used to test the proposed method. The results show promising characteristics of the method as compared to some methods currently being used in this domain.

关键词： Stochastic processes Learning systems Observability State estimation systems engineering and theory control engineering Artificial intelligence Humans Testing Robot sensing systems

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Nonlinear separation control with neural learning for evaporator in energy conversion plant

Nonlinear separation control with neural learning for evapor...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tao Zhang M. Nakamura Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan

Nonlinear separation control with neural learning for complex nonlinear system was proposed. This method combined a nonlinear separation method with an artificial neural network. With learning from actual data, it can not only realize nonlinear control of complex nonlinear systems, but also improve the control performance. Based on this method, outlet working fluid heat rate control of an evaporator in a spring thermal energy conversion plant, as a typical application of the proposed method, was realized. The simulation results verified the effectiveness of the proposed method.

关键词： Energy conversion Nonlinear control systems control systems Nonlinear systems Optimal control Temperature control Learning systems control theory Robust control Intelligent control

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Acquiring performance skill of backward giant circle by a rings gymnastic robot

Acquiring performance skill of backward giant circle by a ri...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Yamada K. Watanabe K. Kiguchi K. Izumi Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan

We (2001) have proposed the "rings gymnastic robot" aiming at an application to the gymnastic coaching by understanding the ring exercises through the robot. The ring exercises have the characteristics that the apparatus can move in all directions freely unlike the other gymnastic events. Fuzzy control is adopted as a control method for the rings gymnastic robot. As the joint torque in performance is useful for the coaching and gymnasts can easily understand the skill to realize performance if the control method is represented as "if-then" rules. In this paper, we derive a three-dimensional model of the robot and acquire the performance skill of a backward giant circle using the genetic algorithm. Three-dimensional graphics sequence based on simulation results shows that the obtained skill is effective.

关键词： Robots Fuzzy control Biomechanics Motion measurement control engineering Torque control Graphics Discrete event simulation Acceleration Testing

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