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 ...
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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.
作者：
Kopack, DSmith, GKim, DErne, DLDavid F. Kopack:is a Program Manager in the Naval Sea Systems Command
Office of Environmenta1 Protection Occupational Safety and Health SEA 00T. Mr. Kopack received his bachelor and master of science degrees in the physical sciences and management from the University of Maryland. Mr. Kopack has 20 years of experience in ship design and engineering industrial facility operations and program management. Gordon D. Smith:is a Chemical Engineer with the Carderock Division Naval Surface Warfare Center in Bethesda
Maryland and is working in the Naval Sea Systems Command Environmental and Auxiliary Systems Group. SEA 03L. Mr. Smith received his bachelor of science degree in chemical engineering from The Ohio State University. He has over 13 years of ronmental issues. In addition to supporting the development of Uniform National Discharge Standards he has been involved in research design testing and development of pollution abatement technologies suitable for use aboard Navy Ships. Don K. Kim:is a Senior Mechanical Engineer with the naval architecture and marine engineering firm of M. Rosenblatt & Son
Inc. in Arlington Virginia. Mr. Kim received his bachelor of science and master of engineering degrees in mechanical engineering from the University of Virginia. He is a registered Professional Engineer in the Commonwealth of Virgina. Mr. Kim has ten years of experience in the design installation maintenance and repair of shipboard mechanical systems equipment and components with specific expertise in compressor pump and fan design and operation. He is a member of the American Society of Naval Engineers and the American Society of Mechanical Engineer. David L. Erne:is an Associate with Booz Allen and Hamilton
Inc. in Arlington Virginia. Mr. Erne received his bachelor of science degree in chemical engineering from the University of Idaho. He has over twelve years of experience in environmental program management and consulting. In addition to his support for the Uniform National Discharge Standards prog
In the Fiscal Year 1996 National Defense Authorization Act, Congress amended the Clean Water Act to provide the Department of Defense and the Environmental Protection Agency authority to jointly establish standards fo...
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In the Fiscal Year 1996 National Defense Authorization Act, Congress amended the Clean Water Act to provide the Department of Defense and the Environmental Protection Agency authority to jointly establish standards for incidental discharges from Armed Forces' vessels. The uniform national standards would apply to discharges from vessels of the Navy, Military Sealift Command, Army, Marine Corps, Air Force, and Coast Guard to the navigable waters and contiguous zone of the U.S. and its territories. Uniform National Discharge Standards (UNDS) will require control of discharges, by either a technology or management practice. UNDS will facilitate the Armed Forces' ability to better design and build future vessels to be environmentally sound and to maintain the operational flexibility of Armed Forces' vessels both domestically and internationally. The development of standards for Armed Forces' vessel discharges may have greater impact on naval engineering requirements for future vessels than any other single environmental issue, These standards are expected to stimulate the development of innovative vessel pollution control technologies, which on be used for both Armed Forces' vessels and commercial shipping vessels. This paper provides an overview of UNDS development, summarizes the results of UNDS Phase I, provides a summary overview of the preliminary approach for accomplishing UNDS Phase Il, and discusses implications for future naval engineering efforts.
作者：
Markle, SPGill, SEMcGraw, PSUdr. Stephen P. Markle
USN is a career Engineering Duty officer assigned to Naval Sea Systems Command Arlington Virginia where he is Deputy Directs Environmental Programs Division (SEA 03L1 B). He is responsible fm program management activities associated with all ahat environmental protection equipment design and selection of environmental protection equipment and systems fm future surface ship designs (DD 21 CVN 7Z CW LPD 17) and serves on several teams designed to promote Nay wide awarmss of environmental protection requirements and Nay programs to meet these challenges. He is a 1993 graduate of the Naval Construction and Engineering Program at the Massachusetts Institute of Technology where he received a naval engineers degree and master of science in mechanical engineering. His interest in environmental issues predates his undergraduate studies at Syracuse Universityl State University of New Ymk College of Environmental Science and Fmestry where he received a bachelm of science degree in fmest engineering from the School of Environmental and Resource Engineering. LCdx Markle has qualified as a Surface Warfare Officer and in submarines through the Engineering Duty Dolphin Program he is a member of the Acquisition Professional Community and a graduate of the Defense Systems Management College Advanced Program Managers Course. He is a professional engineer registered in the State of New York and is a member ofthe American Society of Naval Engineers National Society of Professional Engineers American Society for Testing and Materials Society of Naval Architects and Marine Engineers and Society of Automotive Engineers. Peter 5. McGraw is current the Acting Branch Head ofthe Solid Waste Management Branch (Code 634) of the Environmental Quality Dwrtment of the Naval Surfice Warfare Centel: Carderock Division. As such
he is responsible for among other things: the Shipboard Advanced Incinerator RDT&E Program the Submarine Plastic Waste RDT&E Program Solid Waste Processing Equipment Design Acquisitio
The past twenty-five years has been marked by the introduction ed marine environmental regulations that have had a profound effect on how ships are designed, built and operated. Ships being designed and built today mu...
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The past twenty-five years has been marked by the introduction ed marine environmental regulations that have had a profound effect on how ships are designed, built and operated. Ships being designed and built today must accommodate not only current regulations but anticipate those enacted over their thirty to fifty year life cycles. U.S. Chief of Naval Operations, Office of Environmental, Safety and Health (CNO N45) has articulated a vision for the Environmentally Sound Warship of the Twenty-first Century. This vision incorporates the "Sense of Congress" for a naval ship designed to operate in full compliance with environmental regulations worldwide. The task of the Navy engineering team is to translate this vision into reality;a ship capable of prevailing in time of war and able to conduct operations in all areas of the globe, unencumbered by special procedures for environmental compliance. The keys to this warship design are the early integration of environmentally sound principles, materials, and processes into the ship acquisition process;minimization of both hazardous materials and generation of post shipboard consumer waste during operation;adaptation of integrated systems to reduce the volume of wastes and enhance processing efficiency;reduced manpower requirements;and crew indoctrination in environmental protection.
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 u...
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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.
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 compens...
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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.
Bayesian forecasting models provide distributional estimates for random parameters, and relative to classical schemes, have the advantage that they can rapidly capture changes in nonstationary systems using limited hi...
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Bayesian forecasting models provide distributional estimates for random parameters, and relative to classical schemes, have the advantage that they can rapidly capture changes in nonstationary systems using limited historical data. Stochastic programs, unlike deterministic optimization models, explicitly incorporate distributions for random parameters in the model formulation, and thus have the advantage that the resulting solutions more fully hedge against future contingencies. We exploit the strengths of Bayesian prediction and stochastic programming in a rolling-horizon approach that can be applied to solve real-world problems. We illustrate the methodology on an employee scheduling problem with uncertain up-times of manufacturing equipment and uncertain production rates.
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 ap...
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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.
Through a detailed Research and Development program, the U.S. Navy has developed a suite of shipboard solid waste management equipment enabling compliance with federal and international law. Four major equipment types...
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Through a detailed Research and Development program, the U.S. Navy has developed a suite of shipboard solid waste management equipment enabling compliance with federal and international law. Four major equipment types have been developed to outfit twenty-seven classes of naval surface ships. The major equipment types are: Plastic Waste Processor (PWP), Metal/Glass Shredder (MGS), Large Pulper (LP), and Small Pulper (SP). The Navy is aggressively procuring and installing this equipment aboard all ships of FFG 7 Class and larger. A deadline of December 31, 2000 has been set for completion. engineering analysis and held waste generation studies were conducted to select the specific equipment suite and develop alteration documentation for each ship class. Specific factors in this process were: solid waste generation rates, equipment reliability analysis, ship arrangement considerations, daily equipment operation Limits, and shipboard quality of life issues. A solid waste management study was conducted in the fall of 1997 to validate Navy equipment and ship design parameters onboard the USS John C. Stennis (CVN 74). Generation rates for shipboard solid waste were determined for plastic, metal and glass, food, paper, cardboard, fabric and wood. engineering analysis of data allowed a decrease in CVN 68 Class design waste generation rates. engineering analysis enabled a reduction in the number of PWPs and MGSs required, and fewer spaces for efficient operation. Ship arrangement studies were conducted to optimize efficiency and equipment mix of Solid Waste Processing Rooms (SWPRs) relative to waste generation sites. This paper briefly articulates the process followed by the Navy in responding to regulations governing solid waste management in the marine environment. Evidence validating the engineering procedures followed is presented.
作者：
Arntson, SLind, WTurner, JJBlaiklock, WCTedesco, MStephen G. Arntson is an independent consultant. A degree Naval Architect
he has over 38 years of experience in the design construction and maintenance of surface ships. His experience includes 28 yeus with the Naval Sea Systems Command Naval Ship Engineering Centerl Bureau of Ships specializing in the structural design of Naval surface ships and 7 years with ABS Specializing in the application of commercial ship design practices. Most recently he worked with both NASSCO and ABS MZ the Arsenal Ship Program. Steve was very active with the Ships Structure Committee in developing R&D programs for ship structure and he is a member of the ASNE Journal Committee. Steve received a BS in Mechanical Engineering (Naval Architecture Option) from Virginia Polytechnic Institute in 1964. He is a member of the ASNE TAU BETA PI PI TAU SIGMA and PHI KAPPA PHI. William 1. Lind joined ABS in 1992 after ten years with Sparkman and Stephens
Inc. He is currently ABS Amekas Manager of Engineering jm New Orleans and Cleveland. Both ofices conduct plan reviews for militavy commercial and private marine craft fm self-propelled vessels under 300 feet in length and bargus unlimited in length. As Vice-Chaimn ojthe Western Rivers Technical Committee Great Lakes Technical Committee and the Small Vessel Committee Bill participated in the writing of the 1997 ABS Guide for Building and Classing High Speed Craft and the 1997 ABS Rules for Building and Classing Steel Vessels Under 9OM. Bill received an MBA from Florida Atlantic University in 1995 a BS in Mechanical Engineering from New York Institute of Technology in 1986 and a BA in Histoy from Colgate University in 1976. He is Chaimn of SNAME HS-9 Composite Panel Testing & Fire Protection and a member of ASNE. John J. Turner is Senior Vice President of SYNTEK Technologies
Inc. in Arlington Virginia. SYNTEK specializes in activities of a highly technical nature supporting both industry and government in domestic and international markets. He is a registered Professional Engineer
The Defense Advanced Research Project Agency (DARPA), in conjunction with the U.S. Navy, initiated a research program for the design and construction of a distinctive warship for the 21st century known as the Arsenal ...
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The Defense Advanced Research Project Agency (DARPA), in conjunction with the U.S. Navy, initiated a research program for the design and construction of a distinctive warship for the 21st century known as the Arsenal Ship. By using an innovative development and acquisition approach it was hoped to streamline the procurement process and reduce costs. In an environment where budgets are being cut, both industry and Government were challenged to develop, design, and produce the innovative ship and related mission systems to meet specific performance capabilities within strict affordability constraints. A key element of this innovative acquisition approach was a new certification scheme designed to replace the traditional test and evaluation (T&E) and acceptance process. The purpose of this paper is to describe the development of the certification plan during Phase LI of the Arsenal Ship program by the American Bureau of Shipping and the contending Shipyard teams, and to discuss the potential benefits of this alternative certification approach. Although the Arsenal Ship program was canceled late in 1997, insight derived from the exploration of new certification concepts could benefit future design and building programs.
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