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International Conference on Knowledge-Based Intelligent Information Engineering systems (KES)

作者： F. Nagata K. Watanabe K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

A position based impedance control with a fuzzy compensator is proposed to improve a force control performance, in which the environment has unknown dynamics or curved surface. The main attraction of the fuzzy compensator is that it generates proper position compensation as feedforward command so that overshoots and oscillations in the direction of force control can be suppressed satisfactorily. Profiling control simulations using the dynamics of the PUMA560 manipulator are shown to demonstrate the effectiveness and promise of the fuzzy compensator under the environment having unknown dynamic characteristics.

关键词： Fuzzy control Force control Industrial control Manipulator dynamics control systems Surface impedance Service robots Electrical equipment industry Electronic mail design engineering

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Generalized fuzzy environment models learned with genetic algorithms for a robotic force control

Generalized fuzzy environment models learned with genetic al...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： F. Nagata K. Watanabe K. Sato K. Izumi Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Saga Japan Graduate School of Science and Engineering Department of Advanced Systems Control Engineering Saga University Honjomachi Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi Saga Japan

Impedance control allows the manipulator to change the mechanical impedance such as inertia, damping and stiffness, acting between the end-effector and its environment. However, to achieve stable force control under unknown stiff environments, complicated tuning of desired impedance parameters is needed. Among the parameters, the desired damping is the most significant to suppress overshoots and oscillations. In the paper generalized fuzzy environment models with anisotropy are proposed to systematically determine the desired damping against unknown environments. The models learned with genetic algorithms, can estimate each directional stiffness of the environment and yield the desired damping, considering the critical damping condition of the control system. Position and force control simulations are shown to demonstrate the effectiveness and promise of the models.

关键词： Damping Impedance Force control Manipulators Tuning Fuzzy systems Anisotropic magnetoresistance Genetic algorithms Yield estimation control system synthesis

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Position-based impedance control using fuzzy environment models

Position-based impedance control using fuzzy environment mod...

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SICE Annual Conference

作者： F. Nagata K. Watanabe K. Sato K. Izumi Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University Saga Japan

Impedance control is one of the most effective force control methods for a robot manipulator in contact with an object. It should be noted, however, that a practical study on such a method has not been successfully applied to an industrial robot with 6 degree-of-freedom. A hybrid compliance/force control (HCC) in this field was suggested to deal with the practical problem, in which a desired damping coefficient is determined by repeating many simulations. To determine a suitable compliance without trial and error, we have already presented a tuning method which produces the desired time-varying compliance, giving the critical damping in contact with an object, by using the information on the inertia and Jacobian matrices. But the tuning method needs to measure the physical information of the environment. In this paper, to overcome the problem we propose a fuzzy environment model that can estimate each directional stiffness of the environments. The fuzzy environment model is composed of several fuzzy rules which are learned with genetic algorithms. Simulation results show that the proposed method is very effective for deciding the desired compliance without any complicated tuning and is very robust to the change of environment.

关键词： Impedance Fuzzy control Force control Service robots Tuning Damping Industrial control design engineering Manipulators Jacobian matrices

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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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MPSA abstracts

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Journal of Protein Chemistry 1994年第5期13卷 515-543页

作者： Aminlari, Mahmoud Asquith, Thomas Sarlo, Katherine Bailey, Jerome M. Tu, Oanh Issai, Gilbert Ha, Alice Shively, John E. Bell, Alexander W. Baur, Nicole C. Bergeron, John J. M. Ou, Wei -Jia Thomas, David Y. Cianflone, Katherine Baldo, Allain Hincke, Maxwell T. Momparler, Richard L. Laliberté, Josée Thomson, David M. P. Sutherland, M. Besada, Vladimir Gonzalez, Javier Padron, Gabriel Garay, Hilda Reyes, Osvaldo Takao, Toshifumi Shimonishi, Yasutsugu Bischoff, Rainer Roecklin, Dominique Bouchon, Bernadette Klarskov, Klaus Van Dorsselaer, Alain Brake, Patricia G. Pacitti, Anne Higgins, Terry Stevis, Panos Malinowski, John McElhiney, Sue Huang, Janes Vestal, Christine Buckel, Scott D. Stevenson, Tracy Loo, Joseph A. Caffrey, Martin Wang, Jin Wallace, Carmichael J. A. Clark-Lewis, Ian Carraway, C. A. Carothers Huang, J. Li, Y. Juang, S. -H. Gallo, A. Mayer, B. J. Carraway, K. L. Coleman, Patrick L. Sarpong, Daniel Deerfield, David W. Holland-Minkley, Amanda Hempel, John D. Nicholas, Hugh B. Denslow, Nancy D. Folmar, Leroy C. Sullivan, Craig V. Dixon, James D. Mark, Jonathan P. Elicone, Christopher P. Maleknia, Simin D. McGuinness, Brian F. Regnier, Fred E. Afeyan, Noubar B. Dolence, Julia M. Poulter, C. Dale Egorov, Tsezi Musolyamov, Alexander Popineau, Yves Andersen, Jens Roepstorff, Peter Falkenstein, Roberto J. Biscoglio de Jiménez Bonino, Mirtha J. Peña, Clara Gauggel, D. L. Asquith, T. N. Isfort, R. J. Miller, N. S. Cody, D. B. Giblin, Michael F. Wong, Tuck C. Quinn, Thomas P. Grant, Gregory A. Crankshaw, Mark W. Griffith, Scott Schroeder, Steve Quinn, Thomas Guinet, F. Petillot, Y. Chapsal, J. M. Dubayle, J. Greco, F. Barge, O. Forest, E. Valentin, C. Hahn, Frederick M Baker, Jonathan A. Haniu, Mitsuru Kenney, William C. Rohde, Michael F. Harman, James G. Lee, Eun Ju Glasgow, Joel Lew, Sew Fen Belduz, Ali O. Harris, Reed J. Molony, Michael S. Keyt, Lene H. Wu, Shiaw -Lin Hawke, David H. Tso, Jaqueline Early, Sherrell Miller, Chad G. Hayman, G. Thomas Miernyk, Jan A. Hellman, Ulf Wernstedt, Christer Góñez, Jorge H Department of Biochemistry School of Veterinary Medicine Shiraz University Shiraz Iran Corporate Professional & Regulatory Services/Human Safety Dept. The Procter & Gamble Co. Cincinnati Division of Immunology Beckman Research Institute of the City of Hope Duarte Protein Analytic Facility Sheldon Biotechnology Centre USA McGill University Montreal Department of Anatomy USA Biotechnology Research Institute NRC Canada Division of Cardiology Royal Victoria Hospital USA Department of Anatomy University of Ottawa Faculty of Health Science Ottawa Centre de Recherche Pediatrique Hôpital Ste-Justine Université de Montréal Montreal Department of Immunology Montreal General Hospital USA Center for Genetic Engineering & Biotechnology Cuba Institute for Protein Research Osaka University Osaka Japan Protein Analytical Group TRANSGENE S.A. Strasbourg Cedex France Vakgroep Biochemie Fysiologie en Microbiologie Gent Belgium Laborat. de Spectrométrie de Masse Bioorganique URA 31 CNRS Université Louis Pasteur Strasbourg Cedex France Sterling winthrop Inc. Collegeville Lexin Pharmaceutical Corporation Horsham PerSeptive Biosystems Houston Parke-Davis Pharmaceutical Research Division of Warner Lambert Company Ann Arbor Dept. of Chemistry The Ohio State University Columbus USA Dept. of Biochemistry Dalhousie University Halifax Canada Biomedical Research Center University of British Columbia Vancouver Canada Dept. of Biochem. & Molec. Biol. Univ. of Miami Sch. of Medicine Miami The Rockefeller Institute New York Dept. of Cell Biol. & Anat. Univ. of Miami Sch. of Medicine Miami Biosciences Laboratory 3M Co. St. Paul Pittsburgh Supercomputing Center Pittsburgh Department of Molecular Genetics/Biochemistry University of Pittsburgh Pittsburgh Dept. Biochem. and Mol. Biol. University of Florida Gainesville U.S. Environmental Protection Agency Gulf Breeze Dept. Zoology North Carolina State University Raleigh PerSeptive Biosystems Inc. Cambridge Department of Chemistry Univ

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Measurements of power and current components in unbalanced and distorted three‐phase systems

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European Transactions on Electrical Power 1993年第1期3卷 75-83页

作者： Andria, G. Salvatore, L. Savino, M. Trotta, A. Dr. Gregorio Andria (1956) AEI received the M. S. degree in Electrical Engineering from the State University of Bari/Italy in 1981 and the Ph. D. degree in Electrical Engineering in 1987 from the same University. From 1981 to 1983 he was working in the Electrotechnics and Electronics Department of the University of Bari as a member of the research team on electrical measurements. From 1984 to 1986 he was a Doctoral Fellow and currently he is a researcher in the same department. His research interests are in the fields of electrical and electronic measurements on components and systems including digital measurements for the analysis of electrical quantities in non-sinusoidal systems and the design of integrated optical sensors for measurement and control of non-electrical physical quantities. (Department of Electrotechnics and Electronics Faculty of Engineering polytechnic of Bovia E. Orabona 4 1-70125 Bari. Italy T +3980/242266 Fax + 3980/242410) Prof. Luigi Salvatore (1945) AEI received the degree in electrical engineering from the University of Bari/Italy in 1970. Since 1976 he has worked in the Electrotechnical and Electronic Department of the same University as a member of the research team on electrical machines. From 1983 to 1987 he was a researcher of electrical machines in the same department. Since 1987 he has been an Associate Professor of electrical machines at the University of Bari. At the present time his research interests include the control monitoring and diagnostics of AC drives and the areas of signal processing anddigital measurements on power electronics systems. (Department of Electrotechnics and Electronics Faculty of Engineering Polytechnic of Bari via E. Orabona 4 I-70125 Bari Italy T + 3980/242258 Fax + 3980/242410) Prof. Mario Savino (1947) AEI received the degree in Electrical Engineering from the University of Barif Italy in 1971. Since then he has been working in the Electrotechnical Institute of Bari until 1973 as researcher from 1973 to 1982 as Assistant Profe

The paper deals with the instantaneous power theory in three‐phase circuits by using the instantaneous time phasors of voltage and current. Particularly it is shown that the instantaneous components of the current time‐phasor in a rotating reference frame p‐q, oriented in such a way that the instantaneous voltage time‐phasor points to the p‐axis direction, represent the active and reactive currents. These components give rise to instantaneous real and imaginary powers, respectively. The spectral analysis of the above‐mentioned time‐phasors gives the harmonic symmetrical components of positive and negative sequence of voltage and current three‐phase systems. The line‐by‐line product of the voltage sequence spectrum by the complex conjugate of the current sequence spectrum gives the DC components of the instantaneous real and imaginary powers. The paper shows also that the instantaneous active and reactive currents are different from those defined on grounds of the Fryze's theory, which can be determined from the voltage and current sequence spectra. Copyright © 1993 John Wiley & Sons, Ltd.

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A CONDITION AND PERFORMANCE MONITORING-SYSTEM WITH APPLICATION TO UNITED-STATES NAVY SHIP OPERATIONS

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NAVAL ENGINEERS JOURNAL 1985年第7期97卷 29-38页

作者： REID, RE was born in Glasgow Scotland. He received the BS degree with honors in 1964 from the University of Glasgow and the ME and Ph.D. degrees from the University of Virginia in 1977 and 1979 all in mechanical engineering. From 1964 to 1970 he worked for Ferranti Ltd. Edinburgh Scotland as research engineer in the design of inertial navigation systems. From 1970 to 1972 he was systems engineer with Litton Ship Systems responsible for the navigation system for the Spruance class destroyer. He was research section head with Sperry Marine Systems Charlottesville Virginia from 1972 to 1978 responsible for the design and development of navigation and steering control systems. He is currently president of Erskine Systems Control Inc. and also holds an appointment as associate professor of mechanical engineering at the University of Illinois at Urbana-Champaign the faculty of which he joined in 1979. His present primary research interests are in the application of control and estimation theory to ship control and operations with particular emphasis on energy efficiency and management. Dr. Reid is chairman of the technical panel on optimal control in the Dynamic Systems and Control Division of the American Society of Mechanical Engineers and is a member of the Institute of Electrical and Electronic Engineers the Society of Naval Architects and Marine Engineers Tau Beta Pi and Sigma Xi. He is registered as a Chartered Engineer in the United Kingdom.

The paper describes a microprocessor based onboard automatic ship condition/performance monitoring system. The capabilities of the system for achievement of improved maintenance management and increased operational standard are presented. By the design principles employed, and the system implementation as a distributed digital processing system, it is shown that the technology described is compatible with current U.S. Navy goals both for onboard control and surveillance systems and for reduction in the maintenance costs necessary to achieve high availability and performance of its ship.

关键词： NAVAL VESSELS

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A DYNAMIC ANALYSIS OF A COGAS PROPULSION PLANT

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Naval Engineers Journal 1977年第6期89卷 19-34页

作者： ABBOTT, JACK W. McINTIRE, JOHN G. RUBIS, C. JOSEPH Mr. Jack W. Abbott:is Head of the Systems Engineering and Analysis Branch Ship Design Division Naval Ship Engineering Center. He received his BSME degree from Stanford University in 1960 and his ME A degree from The George Washington University in 1975. He is a Lieutenant Commander USNR (Ret.) having served during his active duty period as Engineering Officer aboard a U. S. destroyer for 3 years and also a registered Professional Engineer in the State of California. In addition to holding several U.S. Patents he annually instructs courses in the Design of Naval Surface Ships at the Massachusetts Institute of Technology including the concept of total energy systems. He is a member of SNAME and has been a member of ASNE and a frequent contributor to the Journal since 1966 most recently having been a co—recipient of the “Jimmie Hamilton” Award for the best paper published in 1976. Mr. John G. Mclntire:received his BS and MS degrees from the University of California at Berkeley where he did his graduate studies in the field of Automatic Control Systems Design. He was employed by the Naval Ship Engineering Center in 1971 as a Mechanical Engineer and is currently serving as Acting Head of the Machinery Control Systems Section Machinery Systems Division. He is a member of the NA VAIR/NA VSEA Association of Scientists and Engineers the American Society of Mechanical Engineers and the National Society of Professional Engineers. Mr. C. Joseph Rubls:isPresident of Propulsion Dynamics Inc. Annapolis Md. where he is engaged in simulation and analytical studies of ship propulsion and automation systems. Previous to his present position he was a Scientific Consultant and Head of the Control Systems Branch David W. Taylor Naval Ship Research & Development Center Annapolis Laboratory where he was employed over a 10–year period. His other employment experience includes the Martin—Marietta Company as Senior Systems Engineer for Guidance Radar and for Communications Systems the U.S. Naval Academy American Universi

The paper provides a dynamic analysis of a COGAS Propulsion Plant, including mathematical modeling and simulation, and concludes with the results of a COGAS simulation which indicates encouraging conclusions regarding...

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