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Digital Adaptive Motion control for a Servo Mechanism

IFAC Proceedings Volumes 1997年第11期30卷 323-328页

作者： T. Suehiro F. Ohkawa T. Hokamura S. Sagara Electronics Division Mechanics & Electronics Research Institute Fukuoka Industrial Technology Center 3-6-1 Norimatsu. Yahatanishi-ku Kitakyushu-shi 807 Japan Department of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology lizuka 820 Japan Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Tobata Kitakyushu 804 Japan

This paper is concerned with an application of a digital adaptive control system to a servo mechanism. Mechanical systems in general include nonlinearities and additional uncertainties and which result from inertia and friction. So it is difficult to ensure robust performance and high accuracy for motion control. The digital adaptive control system presented here is considered to overcome the above stated problem. Experimental results from a feed drive system demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive control Servomechanism Nonlinearity Uncertainty Friction

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Hydraulically coupled power-plants commitment within short-term operation planning in mixed hydro-thermal power systems

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EUROPEAN TRANSACTIONS ON ELECTRICAL POWER 1997年第5期7卷 323-330页

作者： Rakic, MV Markovic, ZM [?]Dr. Milan V. Rakic (1938) received his electrical engineering degree in 1962 his M.S. degree in 1972 and his Ph.D. degree in 1993 from the University of Belgrade Yugoslavia. He made additional studies in operations research and system science at Stanford University Department of Operations Research Stanford/California USA and Western Reserve University System Research Center. Cleveland/Ohio USA in 1969/1970. He joined the Mihajlo Pupin Institute Department of Automatic Control Belgrade/Yugoslavia in 1962. He was engaged in large-scale system control studies and research. Since 1975 he has been working on the development of methods and software for power system operation planning. He is currently a senior research associate at the Mihajlo Pupin Institute. (Mihajlo Pupin Institute Volgina 15 POBox 15 11050 Belgrade Yugoslavia Phone: +381-11-773-503 Fax: +381-11-773-835)

A new method for short-term operation planning and power exchange scheduling of interconnected hydrothermal power systems is proposed in the paper. The criterion function is the total variable profit obtained sales of energy to customers within the system, exchange of energy with other systems, diminished by the cost of system operation. The method is based on Lagrangian relaxation, decomposition technique and successive solution of dual and primal problems. The dual and primal problems are decomposed and solved using appropriate optimization methods, while Lagrangian multipliers are corrected using subgradient method. Dual hydro subproblems are solved using linearization and network flow method. Special modification of the algorithm is made so as to enable commitment of hydro power plants, taking into account bilogical constraints on minimal flow of water downstream of the hydro power plant. The efficiency of the method is illustrated on a test problem.

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Robust Classification of "Artificial Nose" Sensor Data by Artificial Neural Networks

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IFAC Proceedings Volumes 1997年第9期30卷 347-351页

作者： Z. Boger L. Ratton T.A. Kunt T.J. Mc Avoy R.E. Cavicchi S. Semancik Consultant Intelligent Process Control Systems PO Box 15053 Be’er-Sheva 84003 Israel Institute for System Research Department of Chemical Engineering University of Maryland College Park MD 20742 Chemical Science and Technology Laboratory National Institute of Standards and Technology Gaithersburg MD 20899

Response data from a novel micro-hotplate gas sensor were used to test a robust classification technique based on an artificial neural network. Four different compounds were identified even when the sensor signal was corrupted by high levels of noise and drift. Additional verification rules in doubtful cases were provided by examining unique binary patterns of outputs of the hidden layer neurons. Similarities to proposed models of the human nose are noted.

关键词： Micro-hotplate gas sensors Artificial neural networks Classification rules Artificial nose

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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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Artificial Intelligence Embedded Object-Oriented Methodology For Model Based Decision Support

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Journal of systems engineering and Electronics 1996年第1期7卷 1-14页

作者： Feng Shan Tian Yuan Li Tong & Cai Jun (institute of system engineering, Department of Automatic control engineering Huazhong University of science and Technology, Wuhan, Hubei, 430074, P. R. China) Institute of System Engineering Department of Automatic Control Engineering Huazhong University of Science and Technology Wuhan Hubei 430074 P. R. China

The paper presents the coupling of artificial intelligence-AI and Object-oriented methodology applied for the construction of the model-based decision support system *** MBDSS is designed for support the strategic decision making lead to the achievemellt of optimal path towardsmarket economy from the central planning situation in China. To meet user's various requirements,a series of innovations in software development have been carried out, such as system formalization with OBFRAMEs in an object-oriented paradigm for problem solving automation and techniques of modules intelligent cooperation, hybrid system of reasoning, connectionist framework utilization,etc. Integration technology has been highly emphasized and discussed in this article and an outlook to future software engineering is given in the conclusion section.

关键词： Artificial intelligence Object-oriented methodology Knowledge-based systems Intelligently cooperative systems Neural nets Case hased reasoning Behavioral science,Advancedautomation.

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Influence of human engineering on manning levels and human performance on ships

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NAVAL ENGINEERS JOURNAL 1997年第5期109卷 67-76页

作者： Anderson, DE Oberman, FR Malone, TB Baker, CC David E. Anderson:has a bachelor of science degree in environmental engineering from Florida Technological University and a master's degree in environmental engineering from the University of Central Florida. He is a graduate of the Naval Sea Systems Command's Engineer-In-Training (EIT) Program. Mr. Anderson was instrumental in introducing the collective protection system (CPS) in the U.S. Navy developing the initial forward-fit package for the USS Gunston Hall and the engineering change proposal (ECP) for the USS Wasp. In 1990 he joined the Human Systems Integration (HSI) Division (SEA 55W5) where he was task leader for auxiliary ships. He is currently the HSI manager for the future technology variant of the SeaLift ship and the future carrier. Association of Scientists and Engineers 33rdAnnual Technical Symposium 26 April 1996. Fred R. Oberman:has B.A. and M.A. degrees from the University of Chicago and Loyola University (experimental psychology) and an M.S. degree in industrial engineering and operations research from Virginia Polytechnic Institute (VPI). He has more than 30 years experience in HSI management planning research analysis design and testing in government and private sector positions. He is currently responsible for NavSea HSI generic research and tool development efforts. He is responsible for Human Engineering Specifications and Standards (Commercial Hypertext) and is the NavSea 03D7 representative on HSI in Performance Specifications and for integration of HSI within Integrated Logistic Support (ILS). He has served as DoD HSI SubTAG chair and member of the Simulation and Modeling Test and Evaluation Display and Control Systems Human Computer Interaction Specifications and Standards and Systems Design Sub Tags as a member of the Society of Naval Architects and Marine Engineers (SNAME) Systems Safety Panel and a member of NATO RSG 14 on man-machine analysis. Thomas B. Malone: CHFEP received a Ph.D. in experimental psychology from Fordham University in 1964. He is president of Carlow

The objectives of Human engineering (HE) are generally viewed as increasing human performance, reducing human error, enhancing personnel and equipment safety, and reducing training and related personnel costs. There are other benefits that are thoroughly consistent with the direction of the Navy of the future, chief among these is reduction of required numbers of personnel to operate and maintain Navy ships. The Naval Research Advisory Committee (NRAC) report on Man-Machine Technology in the Navy estimated that one of the benefits from increased application of man-machine technology to Navy ship design is personnel reduction as well as improving system availability, effectiveness, and safety The objective of this paper is to discuss aspects of the human engineering design of ships and systems that affect manning requirements, and impact human-performance and safety The paper will also discuss how the application of human engineering leads to improved performance, and crew safety, and reduced workload, all of which influence manning levels. Finally, the paper presents a discussion of tools and case studies of good human engineering design practices which reduce manning.

关键词： Human engineering

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Motion segmentation in RGB image sequence based on stochastic modeling

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IEICE TRANSACTIONS ON INFORMATION AND systemS 1996年第12期E79D卷 1708-1715页

作者： Kurianski, A Agui, T Nagahashi, H Department of Information Processing Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Midori-ku Yokohama-shi 226 4259 Nagatsuta Japan Department of Control and System Engineering Faculty of Engineering Toin University of Yokohama Aoba-ku Yokohama-shi 225 1614 Kurogane-cho Japan

A method of motion segmentation in RGB image sequences is presented in details. The method is based on moving object modeling bq a six-variate Gaussian distribution and a hidden Markov random field (MRF) framework. It is an extended and improved version of our previous work. Based on mathematical principles the energy expression of MRF is modified. Moreover, an initialization procedure for the first frame of the sequence is introduced. Both modifications result in new interesting features. The first involves a rather simple parameter estimation which has to be performed before the use of the method. Now, the values of Maximum Likelihood (ML) estimators of the parameters can be used without any user's modifications. The last allows one to avoid finding manually the localization mask of moving object in the first frame. Experimental results showing the usefulness of the method are also included.

关键词： hidden MRF modeling RGB space multivariate Gaussian distribution motion segmentation

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A control structure for robotic dynamic manipulation

A control structure for robotic dynamic manipulation

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IEEE International Conference on systems, Man and Cybernetics

作者： Xin-Zhi Zheng K. On M. Yamakita M. Katayama K. Ito Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Japan Department of Control and System Engineering Tokyo Institute of Technology Tokyo Japan Department of Information and Computer Sciences Toyohashi University of Technology Toyohashi Japan

A control framework for robot systems to perform dynamic manipulation tasks, such as robotic batting, is presented. A properly preplanned trajectory for manipulators is recognized to be important to enlarge the probability of success. A nominal path for manipulator to travel in swing motion is computed while optimizing the stochastic dynamic manipulability measure to cope with the unpredictable deviation of the ball. A nominal trajectory along the path is then planned in a minimum-time approach for the benefit of catching as accurately as possible the ball behavior which is observed visually and estimated online. A control structure, which consists interpolatively of a path velocity controller to follow the nominal trajectory and a resolved-acceleration-natured ball deviation compensating controller, is proposed. The effectiveness of the proposed approach is examined using computer simulations.

关键词： Robot control Manipulator dynamics Velocity control control systems Humans Predictive models systems engineering and theory Stochastic processes Computer simulation Application software

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Intelligent control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms

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Journal of Robotics and Mechatronics 1996年第6期8卷 538-554页

作者： Tanaka, Takayuki Ohwi, Junji Litvintseva, Ludmila V. Yamafuji, Kazuo Ulyanov, Sergei V. Department of Mechanical and Control Engineering The University of Electro-Communications Chofu Tokyo182 Japan Artificial Intelligence Research Centre of Program System Institute Russian Academy of Science Botik Pereslavl-Zallesky 152140 Russia

The arrangement principles and design methodology on soft computing for complex control framework of AI control system are introduced. The basis of this methodology is computer simulation of dynamics for mechanical robotic system with the help of qualitative physics and search for possible solutions by genetic algorithms (GA). On fuzzy neural network (FNN) optimal solutions for navigation with avoidance of obstacles and technological operations as opening of door with a manipulator are obtained and knowledge base (KB) for fuzzy controller is formed. Fuzzy qualitative simulation, GA and hierarchical node map (HN), and FNN have demonstrated their effectiveness for path planning of a mobile robot for service use. New approach for direct human-robot communication with natural language and cognitive graphics is introduced. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented. © Fuji Technology Press Ltd.

关键词： Mobile robots

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Mathematical foundations of the instantaneous power concepts: A geometrical approach - Mathematical foundations of the instantaneous power concepts: An algebraic approach - Reply

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EUROPEAN TRANSACTIONS ON ELECTRICAL POWER 1996年第5期6卷 314-314页

作者： Willems, JL Cristaldi, L Ferrero, A [?]From the Massachusetts Institute of Technology Cambridge and the Ph. D. degree in applied science from the University of Gent in 1963 1964 and 1967 respectively. In 1964 he joined the Engineering Faculty of the University of Gent where he is presently Professor of Electrical Engineering. In 1970 he was on leave at the Division of Engineering and Applied Physics of Harvard University Cambridge Mass./USA. In 1982 he was a Visiting Professor at the Universiti Nationale du Rwanda (Central Africa). His teaching and research interests include power system analysis and control system stability theory. From 1988 to 1992 he was Dean of the Engineering Faculty of the University of Gent. Since October 1993 he has been Rectorofthe University. (University of Gent Technologiepark-Zwijnaarde 9 B-9052 Gent (Zwijnaarde)/ Belgium T + 329/2645653 Fax + ***)

In this paper a mathematical formalism, based on a geometrical approach, is proposed for defining the concepts of instantaneous active and instantaneous reactive power. Use is made of the dot product and the cross product for three-dimensional vectors. The relationship with the analysis proposed by Akagi et al. and by Ferrero and co-authors is discussed in detail. In particular it is shown that the proposed formalism is well suited to deal with three-phase currents and voltages with zero-sequence components.

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