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IEEE International Symposium on Industrial Electronics (ISIE)

作者： V. T. L. Rampinelli A. S. Brandão M. Sarcinelli-Filho F. N. Martinsy R. Carelliz Graduate Program on Electrical Engineering Federal University of Espírito Santo Vitória ES Brazil Department of Automation and Control Engineering Centro Leste College Serra ES Brazil Universidad Nacional de San Juan San Juan AR

This work proposes a way to make a group of mobile robots which are navigating as a formation to avoid obstacles in their paths. A trajectory tracking controller is proposed to guide the robots during the navigation, to which an obstacle deviation subsystem is added. Such subsystem is implemented in each robot in the formation, whereas the proposed controller is applicable to subsets of three robots. The obstacle deviation is based on virtual forces, which are considered to change the velocities of the individual robots. A proof of the stability of the control system implemented with the proposed controller, including control signal saturation to avoid the saturation of the actuators, is presented, based on the theory of Lyapunov. Simulated and experimental results are also presented, which validate the proposal.

关键词： Robot kinematics Robot sensing systems Collision avoidance Shape Navigation Trajectory

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MODELING AND control OF ELEVATORS BY STATECHARTS

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Asian Journal of control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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Nonlinear System Identification Based on B-Spline Neural Network and Modified Particle Swarm Optimization

Nonlinear System Identification Based on B-Spline Neural Net...

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International Joint Conference on Neural Networks (IJCNN)

作者： L. dos Santos Coelho R.A. Krohling Production and Systems Engineering Graduate Program Automation and Systems Laboratory PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Parana Brazil Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany

Artificial neural networks, in particular, feedforward multilayer networks and basis function networks, have gradually established themselves as a usual tool in approximating complex nonlinear systems. B-spline networks, a type of basis function neural network, are normally trained by gradient-based methods, which may fall into local minima during the learning phase. In order to overcome the drawbacks encountered by conventional learning methods, particle swarm optimization - a swarm intelligence methodology - can provide a stochastic global search of B-spline networks for nonlinear system identification. In this paper, a modified particle swarm optimization algorithm using Gaussian and Cauchy probability distributions are applied to adjust the control points of B-spline neural networks. Simulation results for the identification of Rossler systems are provided and demonstrate the effectiveness and robustness of the proposed identification scheme.

关键词： Nonlinear systems Spline Neural networks Particle swarm optimization Artificial neural networks Multi-layer neural network Learning systems Stochastic systems Probability distribution Robustness

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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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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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EDITOR'S CLIPBOARD: RELIABILITY, MAINTAINABILITY, AVAILABILITY ‐ THE REAL QUESTION

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Naval Engineers Journal 1983年第5期95卷 76-82页

作者： Richardson, James C. Berman, Paul I. Capt. James C. Richardson Jr. a surface warfare officer was graduated from the U.S. Naval Academy U.S. Naval Postgraduate School and the American University. With proven subspecialities in Material Management and Computer Systems Technology he has served as Commanding Officer USS Hepburn (FF-IOSS) Program Manager of the Mk 86 Gun Fire Control System at the Naval Sea Systems Command and is currently Commanding Officer of the Navy Regional Data Automation Center Washington D. C. Paul Berman is manager of Product Support Engineering for Lockheed Electronics Company Plain field New Jersey. His department is responsible for logistics planning and analysk supply support field engineering training and technical documentation in support of the division as products. His 30 years of experience in product support include preparation of logistics plans engineering data technical publications and training materials. He is also an adjunct instructor at Rutgers University. Mr. Berman received a BA from Queens College in 1951 and an MA from Hunter College in 1957. He attended the U.S. Army Signal Corps radar school and was a field radio and radar repairman during the Korean War. He is currently a member of the Society of Logistics Engineers and the National Management Association.

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COMMERCIAL APPLICATIONS OF ADVANCED MARINE VEHICLES FOR EXPRESS SHIPPING

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NAVAL ENGINEERS JOURNAL 1983年第3期95卷 283-300页

作者： LUEDEKE, G FARNHAM, RB JR. George Luedeke Jr.: received his BS degree in Mechanical Engineering from Massachusetts Institute of Technology and his MS degree in Product Design from Illinois Institute of Technology. Early in his career Mr. Luedeke joined General Motors Corporation as a designer responsible for development of people mover and rail rapid transit systems. From 1964 to 1974 he was with Hughes Aircraft Company. At Hughes he performed analyses and developed designs for a wide variety of program and proposal efforts such as: High Speed Ground Transportation (DOT) Task Force Command Center (NAVY) Panama Canal Marine Traffic Control Center (Panama Canal Co.) Royal Iranian Navy Command Center (Iran) Tactical Information Processing and Interpretation Center (Air Force) and WALLEYE CONDOR and PHOENIX Missile Systems (NAVY). He also had marketing development responsibilities related to the diversification of Hughes resources in civil business areas such as: Automatic train control (WMATA BARTD SCRTD) water/sewage treatment plant automation (Santa Clara County) Aqueduct Control (SWR) Hydrometeorological data collection (BPA WMO) and Salton Sea basin systems analysis (Dept. of the Interior). He was responsible for combat system integration for the Hughes 2000T Surface Effect Ship (SES) proposal. He also conducted detailed studies concerning ship flexure for the Improved Point Defense Target Acquisition System Program and for the definition of operational High Energy Laser weapon installations on a series of conventional monohulls (DLG DD and CVN). Since 1974 Mr. Luedeke has been employed at RMI Inc. (formerly Rohr Marine Inc.). During this time he has held several positions. His responsibilities have included directing a number of studies on advanced SES concepts managing activities defining mission/cost effectiveness of military and commercial SES's including defining the operational benefits and enhanced survivability characteristics of cargo SES's for high speed military sealiftfor NA TO and Southeast Asia

This paper will present the results of a marketing, engineering, and economic analysis of advanced marine vehicles done by IMA Resources, Inc. and RMI, Inc., in support of a Maritime Administration project to study “Multimode Express Shipping”. The study was conducted in 1981 and examined the economic benefits of using advanced marine vehicles as express cargo vessels in domestic and international service. Commodity characteristics, desirable express carrier rates, and potential high payoff service and route alternatives were identified. Advanced marine vehicles were surveyed and sized to meet desirable deadweight and block speed objectives. The costs of operating these craft on a variety of trade routes were calculated using an advanced marine vehicle economic analysis program. Revenues, expenses, break-even, profit and loss, cash flow requirements, tax summary and economic indicators (i.e., cost/ton – mile, etc.) were projected over the expected life of the vehicles as was return on investment. Traffic density and market penetration considerations narrowed the field of choice to smaller sized advanced marine vehicle carriers (i.e., 50 and 250 ton deadweight) and to three international and five domestic routes.

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SHIPBOARD MAIN BOILER AND FEED PUMP control-SYSTEM ONLINE ALIGNMENT VERIFICATION

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NAVAL ENGINEERS JOURNAL 1982年第6期94卷 39-46页

作者： BANHAM, JW ADAM, DJ James W. Banham:holds positions both as Director of the Machinery Automation Systems Department of the Naval Ship Systems Engineering Station and as Assistant Chairman of the Mechanical and Industrial Engineering Department of Drexel University's Evening College where he holds the rank of Adjunct Associate Professor. He is the author of a text on Numerical Methods Applications in Engineering. In addition to numerous technical papers he is also the author of the ISA film on Boiler Feedwater Control Systems. A registered professional engineer in the state of Pennsylvania Mr. Banham is co-author of a forthcoming handbook on preparing for the Professional Engineering Examination in mechanical engineering. Mr. Banham holds a bachelor of science degree in mechanical engineering from the Pennsylvania State University his graduate studies were taken at the University of Pennsylvania. He is currently a member of the American Society for Engineering Education and the Instrument Society of America. He served as a member of the ISA Education Committee from 1964 through 1973 and as a member of the ISA Power Plant Dynamics Committee since 1969. His service on the latter committee includes terms as Executive Secretary Vice-Chairman and Chairman. Among other honors Mr. Banham was the winner of the Naval Ship Engineering Center's first Technical Achievement Award (1963) Technical Publication Award (1974) and Equal Employment Opportunity Award (1978). He was also the recipient of Drexel University's Laura S. Campbell Award for Excellence in Teaching (1978). He has taught undergraduate courses in classical control theory numerical methods computer programming systems design and analysis and instrumentation. He also teaches systems theory and computer science in an EIT Review and heat transfer in a PE Review conducted by the Drexel University Department of Continuing Professional Education. Mr. David J. Adam:is a Project Engineer in the Naval Sea Systems Command (PMS301) Steam Propulsion Plant Improvement Program where he i

One of the most serious problems encountered in Naval steam plants following World War II was the unreliable performance of boiler and main feedpump pneumatic control systems. In addition to control component and system design deficiencies, these control systems suffered from inadequate methods to measure and adjust system alignment. This paper describes the development of a set of procedures for on-line alignment verification (OLV) of pneumatic main boiler and feedpump control systems. The procedures are designed for use by N avy control system technicians and, in addition to on-line alignment verification, provide guidance for troubleshooting and for performing system alignment. Procedure static checks measure steady state steaming performance and OLV procedure dynamic checks measure the ability of the boiler and control systems to respond to load changes. The paper describes typical control system characteristics that influence OLV procedure content and the supporting analysis that was used to establish alignment criteria ranges that satisfy both steady state and transient performance requirements. Also described is the alignment criteria tolerance analysis along with the steps involved in a typical OLV check procedure development. Descriptions of the various OLV checks, troubleshooting procedures and alignment procedures are provided. Typical shipboard implementation requirements are described and experience to date with the procedures is provided along with a status report on OLV procedure implementations.

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THE SHIPBOARD FACILITIES MAINTENANCE DEMONSTRATION STUDY

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Naval Engineers Journal 1978年第2期90卷 91-102页

作者： SCHWARTZ, MELVIN A. CORDER, JAMES L. Mr. Meivin A. Schwartzgraduated from Hunter College in 1959 and received his MS degree in Psychology in 1962 from the City College of New York. He has been a Behavioral Scientist in industry and government since 1960 working on command and control systems and simulations for the Strategic Air Command Job Corps Information Management System Permissive Action Link System Helicopter Attack System Riverine Warfare Systems Manpower Simulation Modeling and Facility Maintenance and Manpower Utilization. He has been employed at the Navy Personnel Research and Development Center formerly the Navy Personnel Research Laboratory since 1967 and has presented papers and participated in numerous international and national symposia. At the present time Mr. Schwartz is the principal investigator of the Facilities Maintenance Demonstration Study being conducted at David W. Taylor Naval Ship Research and Development Center. Mr. James L. Cordergraduated from the U. S. Naval Academy in 1958 and received his MS degree in Engineering Science in 1964 from The George Washington University. He served aboard a Destroyer and instructed in the Engineering Department U. S. Naval Academy until 1964. Since then he has been employed at the David W. Taylor Naval Ship Research and Development Center where he was the Program Manager for the Shipboard Manning and Automation Program until September 1977 and currently is assigned to DTNSRDC Annapolis Md. Mr. Corder who received a Letter of Commendation from the Assistant Secretary of the Navy (R&D) for his work performed while assigned on temporary additional duty at the Navy Research and Development Unit Vietnam in 1968 has been a member of ASNE since February 1965.

Facilities Maintenance (FM), as currently performed by shipboard personnel, requires a considerable expenditure of man—hours and material resources and is not performed efficiently nor effectively. Potential solutions to underlying problems were studied on portions of an operational ship of the FF 1052 Class. The study indicated that: 1) a significant reduction in man—hour expenditure and cost to the Navy is feasible through a systematic innovation program, 2) skill and knowledge of FM Team personnel is improved, and 3) shipboard spaces are cleaner and better maintained with FM innovations. The next phase of the project includes the total ship, and it is planned to commence in July 1978 aboard FF 1052, FFG 7, and LST 1179 Class ships. © 1978 American Society of Naval Engineers

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