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Kinematic Identification Method for Cable-Driven Rescue Robots in Unstructured Environments

Journal of Robotics and Mechatronics 2003年第5期15卷 571-578页

作者： Tadokoro, Satoshi Verhoeven, Richard Zwiers, Ulrike Hiller, Manfred Takemura, Fumiaki Department of Computer and Systems Engineering Kobe University 1-1 Rokkodai Nada Kobe657-8501 Japan International Rescue System Institute 1-5-2 Minatojima-Minami-Machi Chuo-ku Kobe650-0047 Japan Institute für Mechatronik und Systemdynamik Universität Duisburg-Essen Lotharstr. 1 MD 220-239 Duisburg47057 Germany

Cable-driven parallel robots are being developed for rescue operations in large-scale earthquake disasters. This paper proposes an identification method of kinematic parameters for the installation, such as the position of cable fixture by initializing motion on site. This problem is unique to robots in natural fields, such as disaster sites because the environment is not structured. On the basis of identification error analysis and simulation, the optimal number of measurement points and the size of an identification reference frame are obtained. © 2003, Fuji Technology Press. All rights reserved.

关键词： Kinematics

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Applied maintenance and logistics options in the warfighters 21st century operational engineering environment

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 31-55页

作者： Flynn, JE Bryant, RE RUSSELL E. BRYANT is the leader for future decoy development in the Surface Electronic Warfare Systems Program Office Program Executive Office for Theater Surface Combatants. In 2000 he was selected as “Outstanding Alumni for Organizational Contribution” Executive Potential Program Leadership Development Academy USDA Graduate School. He is a retired reserve lieutenant commander commissioned in 1976 from the Rensselaer Polytechnic Institute NROTC program with a bachelors of engineering in nuclear engineering and minor in history and political science. He graduated in 1997 from the Naval War College College of Naval Command and Staff through the Non-Resident Seminar Program. He graduated in 1999 from the USDA Graduate School Leadership Development Academy Executive Potential Program. He is a member of the Defense Leadership and Management Program (DLAMP) 2000 Cohort. He is currently completing a one year rotation in the Office of Technology Transition of the Under Secretary of Defense (Acquisition Technology and Logistics). JOHN E. FLYNN is a captain in the naval reserve and has completed his fourth command tour. He recently served as the battle force operations and engineering leader for PEO Theater Surface Combatants participation in Joint and service wargames exercises and experiments. Previously he was the first head of modeling and simulation in the AEGIS Program Office where he pioneered the use of distributed modeling and simulation. He served at NSWC White Oak as head of the system design and technical direction agent groups for the MK 116 Mod 7 ASW control system. He graduated from Villanova University and was commissioned via NROTC. He served sea duty aboard USS Forrestal (CV-59) and USS Coontz (DDG-40).He has a BS in computer science from the University of Maryland. He graduated with highest distinction from the Naval War College. He completed Old Dominion University's strategic studies graduate program. He is a Catholic University Law School graduate and member of the Maryland Bar.

As the current review of Department of Defense (DOD) structures, capabilities, and plaits are coming to completion and moving into implementation phases, a focus to maintain is the delivery of mission capabilities for the front line warfighters. The mission capabilities packages are supported by the material, and also by the materiel support process, which includes not only the hardware, but more importantly the people, training, maintenance and support, and the doctrine, concepts of operations, tactics, techniques, and procedures for the material. Following an updated discussion on operational engineering, this paper expands the authors' concept of operational engineering, to several applied logistics options and discussions in support of rapid decisive operations. It finishes with an introductory discussion of a logistics commander operational planning tool, which potentially can support and enable generation of rapid decisive operations. This tool could assist combatant commanders and their warfighters to operate inside the decision cycle of opponents on the front lines. Further, the concepts addressed align with the Quadrennial Defense Review 2001 task: to "Provide sufficient mobility, including airlift, sealift, prepositioning, basing infrastructure, alternative points of debarkation, and new logistical concepts of operations, to conduct expeditionary operations in distant theaters against adversaries armed with weapons of mass destruction and other means to deny access to U.S. forces" [emphasis added](QDR 2001).

关键词： Military equipment

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computer-aided plant enterprise safety management system (CAPE-SAFE) - Design framework

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systems engineering 2002年第2期5卷 109-122页

作者： Gabbar, Hossam A. Chung, P.W.H. Shimada, Yukiyasu Suzuki, Kazuhiko Department of Systems Engineering Okayama University 3-1-1 Tsushima-Naka Okayama 700-8530 Japan Department of Computer Science Loughborough University Leicestershire LE11 3TU United Kingdom Frontier Collaborative Research Center Tokyo Institute of Technology Japan Department of Computer Science Loughborough University Systems Engineering Department Okayama University System Analysis Laboratory Systems Engineering Department Okayama University

Recent researches in the area of safety engineering highlighted the role of automated (computer-aided) tools in managing plant enterprise safety activities. This research has been carried out as collaboration with industry to design a computer-aided plant enterprise safety management system called CAPE-SAFE. The solution has been proposed to fulfill the need for standard and integrated safety management system that covers all aspects of plant enterprise safety. The proposed solution is integrated with other systems and components within plant enterprise engineering environment (PEEE) to enable exchanging and sharing lifecycle information and knowledge. The information system structure of the proposed solution has been presented as well as the design framework of the system components and modules. Hydrodesulfurization (HDS) continuous plant is used as a case study to illustrate the mechanism of CAPE-SAFE and to describe the interaction with other components within PEEE. The proposed solution will help in reducing the overall operating cost as well as the risk associated with plant operation. © 2002 Wiley Periodicals, Inc.

关键词： systems engineering

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A CMOS coupled nonlinear oscillator array

A CMOS coupled nonlinear oscillator array

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： J.D. Neff B.K. Meadows E.A. Brown S.P. DeWeerth P. Hasler SPAWAR Systems Center San Diego San Diego USA SPAWAR System Center-San Diego Code D363 School of Electrical and Computer Engineering Georgia Institute of Technology USA Georgiu Instituteyysj of Technology School of Electrical and Computer Engineering

This paper details an experimental nonlinear beamforming array fabricated in a CMOS process. The unit cell oscillator is a nonlinear second order circuit, which demonstrates self-sustaining oscillation. In this paper experimental results from a test oscillator and a linearly coupled array of oscillators are reported. The circuit equations of motion are shown to be equivalent to the van der Pol oscillator, from which a weakly nonlinear phase-amplitude model is derived. This model forms a basis of understanding for the experimental nonlinear beamforming array.

关键词： Oscillators Coupling circuits Transconductance CMOS process Circuit testing Nonlinear equations Semiconductor device modeling Feedback amplifiers Shift registers Current measurement

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Design of resonant circuit for zero-current-transition techniques in 100 kW PEBB applications

Design of resonant circuit for zero-current-transition techn...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： L. Solero D. Boroyevich F.C. Lee Y. Li Department of Mechanical and Industrial Engineering University of ROMA TRE Rome Italy Center for Power Electronics Systems Virginia Polytechnic Institute Blacksburg VA USA International Rectifier System Architecture R and D El Segundo CA USA

In high power inverters and power-factor-correction rectifiers hard switching techniques produce high switching losses, high power dissipation in capacitors and severe conductive EMI. Soft-switching techniques may reduce these problems; in particular zero-current transition techniques are attractive in high power converters, where the minority-carrier devices, such as IGBTs, are the power switches. The aim of this paper is to show theoretical expressions for designing of auxiliary circuit and variable timing control scheme in applications where zero-current transition techniques are used. In order to prove the theoretical approach, extensive analysis is first achieved on the basis of simulation results and then validated on the basis of experimental tests.

关键词： RLC circuits Inverters Rectifiers Switching loss Power dissipation Power capacitors Electromagnetic interference Switching converters Insulated gate bipolar transistors Timing

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Decision-aid system for survivability of damaged conventional military submarines

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NAVAL ENGINEERS JOURNAL 2002年第4期114卷 21-30页

作者： Lee, D Lee, J Lee, KH DONGKON LEE has served as a research engineer in Korea Research Institute of Ships and Ocean Engineering(KRISO)/KORDI for 19 years. He obtained his Ph.D in naval architecture at Pusan National University Korea in 1995. His current research interests include artificial intelligence maritime safety damage survivability evacuation and computer simulation. He is a member of the American Society of Naval Engineers Society of Naval Architects of Korea Korea Information Science Society and Korea Intelligent Information System. JAEYONG LEE has served as an engineering duty officer a commander in Korea Naval Sea Systems Command for 20 years. He graduated from Korea Naval Academy in 1979 with a bachelor of science degree in electric engineering. He received a master of engineering degree in industrial engineering from Yeonse University in 1997 and a master of engineering degree in naval architecture from Chungnam National University in 2000. His current research interests include design and safety of submarine. KYUNG-HO LEE has served as a research engineer in Korea Research Institute of Ships and Ocean Engineering(KRISO)/KORDI for 11 years. He obtained his Ph.D in naval architecture at Seoul National University in 1998. His current research interests include artificial intelligence maritime safety and concurrent engineering. He is a member of the Society of Naval Architects of Korea

AEven small leakage in submarines can lead to serious consecutive damage, since they operate under high water pressure. Such leakage including damage to piping and the bull eventually result in human casualties and loss of expensive equipment as well as the loss of combat capabilities. In such cases, a decision-making system is necessary to respond immediately to the damage in order to maintain the safety or the survival of the submarine. So it is necessary to have an automatic system that can generate responses and give advice to the operator on bow to make decisions to maintain the survivability of the damaged vessel. In this paper a knowledge-based decision support system for submarine safety is developed. The domain knowledge is acquired from submarine design documents, design expertise, and interviews with operators. The knowledge consists of responses regarding damage of the pressure bull and piping systems. Expert elements are deduced to obtain the decision from the knowledge base, and the system makes recommendations on bow to cope with damage to the bull and piping and whether the submarine should stay in the sea or to surface. It is demonstrated that the developed system is well simulated to the real situation through sample applications.

关键词： Submarines

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Patrol Craft Requirements and Technology Predictions through 2020

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NAVAL ENGINEERS JOURNAL 2002年第3期114卷 117-141页

作者： Overman, JP Cohen, SH Hoggard, MM Guilfoyle, J McKesson, CB Oakes, MC Scott, RJ JACK P. OVERMAN is currently working for CDI Government Services CDI Marine Group as a senior engineer in the Planning Department. He has over 40 years research design construction and engineering experience in the maritime industry. He earned his BS in metallurgical engineering N.C. State University 1962. Mr. Overman is an active member of SNAME and ASNE recently serving as chairman of the Small Craft Committee for SNAME. He is a registered professional engineer in Virginia. STEVEN H. COHEN has worked for the U. S. Coast Guard for 21 years. He recently became deputy program manager for the Coast Guard Integrated Deepwater Project. He formerly served as deputy project manager for the Coast Guard's Buoy Tender Replacement Projects. In prior assignments he was responsible for numerous Coast Guard cutter design and construction projects. He is a graduate of the State University of New York Maritime College (BE 1973) and the Massachusetts Institute of Technology (MS 1975). MARK M. HOGGARD is head of the Combatant Craft Department Total Ship Systems Directorate NSWC Carderock Division. He is the Navy's chief naval architect and marine engineer for boats and craft with design authority and in-service engineering authority. Mr. Hoggard graduated from Old Dominion University in civil engineering and the University of Michigan in naval architecture and marine engineering. He has made significant personal contributions to the measurement and prediction of planing craft motions and added drag in a seaway. JACK GUILFOYLE has over forty years experience in marine engineering starting with operational service on steam ships in the U.S. Navy and merchant marine that formed a firm basis for entering the marine engineering design discipline. He is a graduate of the New York State Maritime College in marine engineering in 1954. After graduation he spent about five years at sea in the Navy and mer-chant marine. His design activity has included all phases of plant design from concept through detail. His prime achievement

In 1992 a paper was presented entitled "Patrol Craft Requirements and Technology for the Next Century". This paper updates that information to 2001. Patrol craft have been and will continue to be a part of world wide naval and coast guard inventories for decades. Their unique capabilities and the budget constraints of many navies including the U.S. Navy highlight the need for small surface combatants in future naval activity. This paper surveys patrol craft from 100 to 2,000-tons displacement with speeds over 20 knots and presents the patrol craft technology in terms of platform configuration, combat systems, and hullmechanical-electrical systems. Evolving platform types and supporting technologies for the future are presented. The initial portion of the paper discusses patrol craft missions and markets based upon data for craft delivered since 1980. The trends for future patrol craft capabilities, design, construction, and operation are presented. The concluding portion of the paper discusses future opportunities for patrol craft design, construction, and for technology advancement of craft subsystems.

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Tuning buffer size in the multimedia router (MMR) 15

Tuning buffer size in the multimedia router (MMR)

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15th International Parallel and Distributed Processing Symposium, IPDPS 2001

作者： Caminero, B. Carrión, C. Quiles, F.J. Duato, F.J. Yalamanchili, S. Dept. of Computer Science Escuela Politecnica Superior Univ. de Castilla-La Mancha Albacete02071 Spain Dept. of Information Systems and Computer Architecture Univ. Politecnica de Valencia Valencia46071 Spain School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332-0250 United States

ISBN: (纸本)0769509908

The primary objective of the Multimedia Router (MMR) project is the design and implementation of a compact router optimized or multimedia applications. The router is targeted for use in cluster and LAN interconnection networks, which offer different constraints and therefore differing router solutions than WANs. One of the key design parameters is the amount of buffer space, which is closely related to the silicon area required to implement the router. In this paper, the MMR performance obtained when varying the size of the input buffers is explored. Preliminary results show that buffers as small as one flit large suffice to guarantee QoS to both CBR and VBR traffic, thanks to the use of flow control and short links. © 2001 IEEE.

关键词： Interconnection networks (circuit switching)

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Abnormal failure mechanism of the asymmetrical emitter turn-off thyristor in high-frequency converters

Abnormal failure mechanism of the asymmetrical emitter turn-...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Z. Xu K. Motto A.Q. Huang Center for Power Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA Power/Control Systems Northrop Grumman Corporation Sykesville MD USA

The emitter turn-off thyristor (ETO) is a new MOS-controlled thyristor that is suitable for use in high-power converters due to its improved switching performance and easy control. This paper analyzes the abnormal failures related to the parasitic diode of the ETO in high-frequency converters for the first time. To prevent this failure, several solutions are proposed and improved ETOs are developed. Experimental results show that the proposed solutions can properly solve this problem.

关键词： Failure analysis Thyristors Anodes P-i-n diodes Switches Control systems MOSFETs Tail Switching loss Cathodes

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