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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Nagata K. Watanabe K. Izumi 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 Graduate School of Science and Engineering Department of Mechanical Engineering Saga University Saga JAPAN

A furniture polishing robot which uses a trajectory generator based on cutter location data, is proposed. The position and orientation of the polishing tool is suitably controlled by referring to the output from the trajectory generator. The trajectory generator yields a zigzag path, whirl path or their combinational path according to the shape of each workpiece. Using the trajectory generator, the present polishing robot doesn't need the conventional complicated teaching process. The contact force acting between the polishing tool and the workpiece is controlled through a desired impedance model to follow in Cartesian space. The effectiveness and promise of the proposed polishing robot are demonstrated through some experiments concerning polishing tasks using an industrial robot JS-10 with a PC based controller.

关键词： Education Service robots industrial control Force control Robot sensing systems Electrical equipment industry Data engineering Design engineering Shape Educational robots

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Survey of reduced workload and crewing strategies for ocean patrol vessels

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NAVAL ENGINEERS JOURNAL 2001年第2期113卷 29-44页

作者： Baker, C Krull, R Snyder, G Lincoln, W Malone, TB Clifford C. Baker CIE CHFEP is a senior staff scientist at Carlow International Incorporated. He has applied most of his 24 years of experience in the application of human engineering technology to maritime systems. Mr. Baker has directed much of Carlow's efforts to reduce ship workload and to improve human performance and maritime safety through application of human factors methods and data. He is a Certified Industrial Ergonomist (CIE) as well as a Certified Human Factors Engineering Professional (CHFEP). Both certifications were granted by Oxford Research where Mr. Baker also serves as an Advisory Board member. Russell D. Krull P.E. is a senior engineer with A&T/Proteus Engineering with more than 18 years of experi-ence in marine engineering naval architecture and program management including 16 years of active duty in the U.S. Coast Guard. Recent experience includes advanced ship design studies engineering software development technical support for the USMC Advanced Amphibious Assault Vehicle propulsion systems analyses ship structural engineering and cargo handling systems engineering. Mr. Krull has an M.S.E. in naval architecture and marine engineering and an M.S.E. in industrial and operations engineering from University of Michigan and a B.S. in ocean engineering from the U.S. Coast Guard Academy. Capt. Glenn L. Snyder USCG. Regrettably since this paper was originally written Capt. Snyder has passed away. At the time of his death he was an operations specialist assigned to the Coast Guard's Deepwater Capabilities Replacement Project as Chief of Human Systems Integration. He served as commanding officer of the patrol boat Cape George (WPB-95306) the icebreaking tug Biscayne Bay (WTGB-104) and the cutter Legare (WMEC-911). A 1975 graduate of the U.S. Coast Guard Academy Capt. Snyder held an M.A. in national security and strategic studies from the U.S. Naval War College and an M.A. in international relations from Salve Regina College. In addition he was a 1998 fellow of the Foreign Service

The U.S. Coast Guard is in the concept exploration phase of its Integrated Deepwater System (IDS) acquisition project. This project will define the next generation of surface, air and command, control, communications, computers, intelligence, surveillance, and reconnaissance (C4ISR) assets used to perform the Coast Guard's missions in the IDS environment (>50 NM off the U. S. coastline). As part of early technology investigations, the needs exist to: (1) analyze the workload requirements of the IDS, (2) identify alternative means to perform ship's work, and (3) optimize ship manning consistent with ship workload, performance criteria, and the available tools and equipment aboard. To reduce shipboard work requires an understanding of the mission and support requirements placed on the vessel and crew, how these requirements are currently met, and how requirements might otherwise be met to reduce workload and crew size. This study examined currently implemented workload and manpower reducing approaches of commercial maritime fleets, U.S. and foreign navies, and foreign coastguards. These approaches were analyzed according to evaluation criteria approved by the IDS acquisition project team. From this, strategies for shipboard work reduction that may be considered for adoption by the IDS were identified and analyzed according to performance and costs factors. Ten workload-reducing strategies were identified: damage control, bridge, multiple crewing, engineering, risk acceptance, modularity, deck, enabling technologies, ship/personnel readiness, and operability and maintainability.

关键词： Naval vessels

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Sizing the navy's strategic reserve of ozone-depleting substances

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NAVAL ENGINEERS JOURNAL 2000年第6期112卷 17-25页

作者： Breslin, DA Smith, DE Toms, GS [?]1David A. Breslin P.E. is the Director of Technical Operations for the Naval Surface Warfare Center and is the Chairperson of ASNE'S Committee on Environmental Engineering. He received a master of science degree in aerospace engineering from Virginia Polytechnic Institute (VPI) a master of engineering administration degree in industrial and systems engineering from VPI and a bachelor of engineering degree in mechanical engineering from Stevens Institute of Technology. From 1993 to 1997 he was the program manager of the Naval Sea Systems Command'S CFC & Halon Elimination Program and played a critical role in establishing the Navy'S strategic reserve of ozone-depleting substances. Because of his many efforts he received a Stratospheric Ozone Protection Award in 1995 from the U.S. Environmental Protection Agency in recognition of “exceptional contributions to global environmental protection”.

The domestic production of the most powerful Ozone-Depleting Substances (ODSs) has permanently ceased and the abundant supplies of a number of refrigerants, fire-fighting agents, and solvents, once taken for granted, are now a thing of the past. ne Navy has adopted a successful strategy for addressing the threat posed by the unavailability of ODSs. That strategy includes relying on a strategic reserve of ODSs. Considering that the strategic reserve will play a critical role in sustained fleet operations well into the next century, it is important to record the history of the reserve and to document lessons learned in order to educate future generations that may be faced with similar challenges. This is the second of three papers that will cover all aspects of the Navy's strategic reserve of ODSs. The first paper documented the history of the Navy's effort to size, establish, and monitor a reserve designed to support fleet operations until-the middle of the next century (1). This paper addresses in detail the process used to estimate the required size of the reserve, including the survey method, statistical analyses, and sizing algorithms. The third paper will discuss the development of the plan for monitoring the reserve including the control mechanisms, regression methods, and statistical-process-control techniques (2).

关键词： Survey Methodology Fleet management Refrigerants Ozone depleting substances strategic reserves

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Modeling for Tandem Cold Mill Using Model Identification

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IFAC Proceedings Volumes 2000年第22期33卷 301-305页

作者： Yu Shin Chang In Soo Kim I. Cheol Hwang Man Hyung Lee Graduate School of Mechanical and Intelligent Systems Engineering Pusan National University School of Mechanical and Industrial System Engineering Dongeui University School of Mechanical Engineering and ERC/Net Shape & Die Manufacturing Pusan National University

In this paper, a new linear model of each stand in a five-stand TCM(tandem cold mill) is constructed by using a model identification method. The model identification for each stand is achieved by considering an interstand interference, natural dynamic characteristics of the TCM. In the model identification, first input and output data for model identification are generated by a nonlinear simulator of the TCM, and then the linear model of each stand from these data is identified by using least square method and N4SID(numerical algorithms for subspace state space system identification) method. Through the comparison of the identified model with the existing Taylor linearized model of the TCM, it is shown that the identified model also has the dynamic characteristics of the TCM.

关键词： Tandem Cold Mill model identification N4SID Least Square method

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Navy's CFC & Halon elimination program

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NAVAL ENGINEERS JOURNAL 2000年第1期112卷 91-112页

作者： Toms, GS Breslin, DA Brunner, GP Thill, JC Gregory S. Toms RE:is the CFC & Halon Elimination Program Manager for the Naval Sea Systems Command (NAVSEA). He received a master of science degree in mechanical engineering from the University of Maryland and a B.S. degree in mechanical engineering from West Virginia University. From 1984 to 1997 he was employed at the Naval Surface Warfare Center Carderock Division Annapolis Detachment (formerly David Taylor Research Center) where he worked on the development of advanced centrifugal compressor air conditioning plants for shipboard applications. He received the Stratospheric Ozone Protection Award in 1998 from the U.S. Environmental Protection Agency in recognition of his exceptional leadership and technical achievements in eliminating ozone-depleting substances from Navy ships. He is licensed as a registered Professional Engineer in the state of Texas. David A. Breslin P.E.:is the Director of Technical Operations for the Naval Surface Warfare Center and is the Chairperson of the ASNE Committee on Environmental Engineering. He received a master of science in aerospace engineering from Virginia Tech in 1991 a master of engineering administration in industrial & systems engineering from Virginia Tech in 1991 and a bachelor of engineering in mechanical engineering from Stevens Institute of Technology in 1985. From 1993 to 1997 he was the program manager of the Naval Sea Systems Command's CFC & Halon Elimination Program. Because of his many efforts he received a Stratospheric Ozone Protection Award in 1995 from the U.S. Environmental Protection Agency in recognition of “exceptional contributions to global environmental protection”. Gregory P. Brunner:was employed by the Carderock Division of the Naval Surface Warfare Center and Naval Sea Systems Command (NAVSEA) from 1983 until 1997. From 1993 to 1997 he served as the R&D program manager for the NAVSEA CFC & Halon Elimination Program Office. Program efforts resulted in the development of new refrigerants for backfit into existing shipboard air-conditioning

The domestic production of the most powerful Ozone-Depleting Substances (ODSs) has permanently ceased and the abundant supplies of a number of inexpensive refrigerants, fire-fighting agents, and solvents, once taken for granted, are now a thing of the past. The Navy's original strategy of conserving ODSs, converting systems and processes where feasible, relying on strategic reserves where necessary, and developing "ozone-friendly" equip ment for new-design surface ships and submarines is succeeding. The purpose of this paper is to document the Navy's efforts to date relative to combating the threat to uninterrupted Fleet operations posed by the cessation of ODS production. Specifically, this paper addresses the Navy's shipboard conversion programs for air-conditioning and refrigeration (AC&R) systems, the development of next-generation AC&R systems, the selection of halon substitutes for new-construction fire-fighting systems, and the Navy's alternative to CFC-113 in the cleaning of critical oxygen systems.

关键词： conversion program Ozone depleting substances trichlorotrifluoroethane GRANTS fire fighting strategic reserves Solvents oxygen systems Submarine Halons

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Parallel mechanisms with adjustable link parameters

Parallel mechanisms with adjustable link parameters

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： T. Arai K. Takayama K. Inoue Y. Mae Y. Koseki Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Mechanical Engineering Laboratory Agency of Industrial Science and Technology Tsukuba Ibaraki Japan

There has been always a workspace problem with parallel mechanisms. This paper discusses the workspace of the parallel mechanisms and its enlargement by adjusting their link parameters. The basic idea is to cover a whole required range of workspace with small pieces of one. A fixed linear type mechanism is selected to analyze and to evaluate its adjustable workspace. The analyses of simple 2 DOF plane model show that additional spaces are obtainable, which cannot be reached by the conventional mechanism due to its singularity. More detailed analyses and evaluations are discussed based on a 6 DOF spatial model.

关键词： Magnetic resonance imaging Robotics and automation Surgery Kinematics Magnetic analysis Medical robotics Humans Laboratories Interference Hydraulic actuators

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Bayesian maintenance policies during a warranty period

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Communications in Statistics. Part C: Stochastic Models 2000年第1期16卷 121-142页

作者： Chen, Ta-Mou Popova, Elmira i2 Technologies Irving TX 75039 United States Graduate Program in Operations Research and Industrial Engineering Department of Mechanical Engineering University of Texas at Austin Austin TX 78712 United States

Most of the brand new items are released on the market with a certain type of warranty. A fixed length warranty period is assumed in this paper. A set of maintenance policies which consist of minimal repair and preventive maintenance is analyzed for the case of known and unknown failure parameters of the item's lifetime distribution. For the second case, two types of Bayesian policies are considered. An extensive simulation study comparing the performance of these maintenance policies is performed. Copyright © 2000 by Marcel Dekker, Inc.

关键词： Bayesian analysis Maintenance Stochastic failures Warranty

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Analyzing transformation-based simulation metamodels

Analyzing transformation-based simulation metamodels

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Simulation Winter Conference

作者： M.A. Irizarry M.E. Kuhl E.K. Lada S. Subramanian J.R. Wilson Dept. of Ind. Eng. Puerto Rico Univ. Mayaguez Puerto Rico Department of Industrial and Manufacturing Systems Engineering Louisiana State University Baton Rouge LA USA Graduate Program in Operations Research Integrated Manufacturing Systems Engineering Institute Department of Industrial Engineering North Carolina State University Raleigh NC USA

We present a technique for analyzing a simulation metamodel that has been constructed using a variance-stabilizing transformation. To compute a valid confidence interval for the expected value of the original simulation response at a selected factor-level combination (design point), we first compute the corresponding confidence interval for the transformed response at that factor-level combination and then untransform the endpoints of the resulting confidence interval. Taking the midpoint of the untransformed confidence interval as our point estimator of the expected simulation response at the selected factor-level combination and approximating the variance of this point estimator via the delta method, we formulate an approximate two-sample student t-test for validating our metamodel-based estimator versus the results of making independent runs of the simulation at the selected factor-level combination. We illustrate this technique in a case study involving the design of a manufacturing cell, and we compare our results with those of a more conventional approach to analyzing transformed-based simulation metamodels. A Monte Carlo performance evaluation shows that significantly better confidence-interval coverage is maintained with the proposed procedure over a wide range of values for the residual variance of the transformed metamodel.

关键词： Analytical models Computational modeling Virtual manufacturing industrial engineering systems engineering and theory Design optimization Printed circuits Cost function Preventive maintenance Manufacturing industries

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Advances in aircraft carrier life cycle cost analysis for acquisition and ownership decision-making

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NAVAL ENGINEERS JOURNAL 2000年第3期112卷 97-110页

作者： Chewning, IM Moretto, SJ Irvin M. Chewning:is currently the Director of the Aircraft Carrier Cost Estimating and Industrial Analysis Group of the Naval Sea Systems Command. Over the past four years Mr. Chewning has guided the cost analysis effort for the new CVNX class aircraft carrier through a three-part analysis of alternatives and is currently steering it towards Milestone I in June of 2000. In 1999 the CVNX cost analysis team was presented the NAVSEA Association of Scientists and Engineers “outstanding team achievement” award for its work on the CVNX analysis of alternatives. Mr. Chewning's professional career includes over 16 years as an employee of Newport News Shipbuilding as a Pipe Fitter Piping Systems Designer Piping Systems Engineer and Cost Engineer. He has worked at the Naval Sea Systems Command since 1980 as a Senior Cost Analyst Branch Head and Deputy Division Director of the Cost Estimating and Analysis Division. He has preformed cost analysis work for virtually all USN combatant programs including submarines cruisers destroyers frigates and aircraft carriers. He also performed the cost analysis work for the OSD evaluation of the Israeli Naval Modernization Program in the 1980's. Mr. Chewning is also Chairman of the NATO Specialist Team on Ship Costing a subgroup of the NATO Naval Group Six on Ship Design. Under his leadership two Allied Naval Engineering Publications have been completed in the 1990's: ANEP-41 on Ship Costing and ANEP-49 on Ways to Reduce Costs of Ships. In 1999 the NATO Specialist Team on Ship Costing completed a paper titled “Manpower Reduction and the Use of Commercial Standards and Practices to Reduce Costs of Ships.” The result of this work will be incorporated in a future revision of the aforementioned ANEFs. Mr. Chewning is a graduate of North Carolina State University with a Bachelor of Science in Mechanical Engineering. Mr. Chewning has also completed courses at the University of Virginia and Christopher Newport University Mr. Chewning is a graduate of the Program Management College

The U.S. Navy recently conducted an analysis of alternatives (AOA) to set the stage for determining the characteristics and acquisition strategy for its next generation aircraft carrier. The platform design selected is expected to be in service throughout the 21st century. The parameters under consideration for change in the new carrier design lie in the areas of propulsion and electric power generation, aviation, survivability, service life, and total ownership cost (TOC) reduction. The issue of affordability is paramount This paper focuses on the need for the program management office and its supporting cost analysis staff to understand the life cycle cost (LCC) of the existing and proposed future aircraft carriers and to then translate these LCC's into meaningful information for cost-conscious decision making. The challenge is to relate the LCC in terms the key decision-makers and the engineering team can use to satisfy their respective roles. Thus, it is necessary to translate the results of the given ship design alternative LCC's into the paradigms of the respective stakeholders: Fleet User (operators of aircraft carriers) Ship Designers (translators of the fleet operator requirements) program Sponsors (providers of the funding resources) program Management Office, Ship builder and Supporting Industry (executors of the acquisition and construction of the ship) Navy and OSD decision-makers (overseers of program execution) The paper describes the aircraft carrier LCC breakdown structure that has resulted, in part, from a recent navy/shipbuilder integrated product team effort to capture total ownership costs. The structure has been used in the AOA as a tool to identify cost drivers and to add the time element to the cast equation in order to perform return on investment and program affordability analysis. The expanded ship work breakdown structure (ESWBS) has emerged as the central backbone of the cost work breakdown for AOA work. The ESWBS structure is a natural

关键词： Aircraft carriers

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An easily implemented approach to fuzzy system identification

An easily implemented approach to fuzzy system identificatio...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Ta-Wei Hung Shu-Cherng Fang H.L.W. Nuttle Department of Industrial Engineering Graduate Program in Operations Research Raleigh NC USA

An easily implemented approach to fuzzy system identification is proposed. The proposed approach consists of two phases. The first phase involves a baseline design to effectively identify a prototype fuzzy system for a target system from a collection of input-output data pairs. This is implemented by incorporating the subtractive clustering method to determine the number of clusters and the fuzzy c-means (FCM) clustering algorithm to build the actual clusters. If the resulting prototype fuzzy system cannot describe the target system appropriately with respect to the input-output data pairs, the second-phase fine-tuning process to adjust the parameters identified in the baseline design is necessary. This process can be realized by using the steepest descent and recursive least-squares estimation methods. The proposed approach is validated by applying it to a function approximation type of problem: the truck backer-upper problem with an obstacle in the center of the field. For further confirmation, the learning behaviour of the proposed approach for this problem is studied.

关键词： Fuzzy systems Prototypes System identification Genetics Clustering methods Clustering algorithms Operations research industrial engineering Predictive models Textiles

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