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IEEE International Conference on Mechatronics and Automation

作者： Hyo-Sung Ahn K.L. Moore YangQuan Chen Center for Self-Organizing and Intelligent Systems CSOIS Department of Electrical and Computer Engineering Utah State University Logan UT USA Research and Technology Development Center Applied Physics Laboratory Johns Hopkins University Laurel MD USA Center for Self-Organizing and Intelligent Systems CSOIS Department of Electrical and Computer Engineering Utah State University Laurel UT USA

In iterative learning control, model uncertainty issue has been studied in various ways. But, in existing works, the model uncertainty has been considered as iteration invariant, that is, it does not change on the iteration axis. Furthermore, in these works, monotone convergence problem has not been properly studied. In this paper, new monotonic convergence condition of iteration varying model uncertain iterative learning control system is derived. So, the main goal of this paper is to guarantee the monotone convergence of the iteration varying model uncertainty system until the tracking error is reduced below the previously calculated base-line error boundary. Through the numerical example, the validity of the suggested method is illustrated.

关键词： Uncertainty Convergence Intelligent systems Physics computing Error correction Laboratories Control system synthesis History Testing Equations

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STABILITY ANALYSIS OF ITERATIVE LEARNING CONTROL SYSTEM WITH INTERVAL UNCERTAINTY

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IFAC Proceedings Volumes 2005年第1期38卷 282-287页

作者： Hyo-Sung Ahn Kevin L. Moore YangQuan Chen Center for Self-Organizing and Intelligent Systems Dept. of Electrical and Computer Engineering 4160 Old Main Hill Utah State University Logan UT 84322-4160 USA Research and Technology Development Center Johns Hopkins University Applied Physics Laboratory 11100 Johns Hopkins Road Laurel MD 20723-6099

This paper presents a stability analysis of the iterative learning control (ILC) problem when the plant Markov parameters are subject to interval uncertainty. Using the super-vector approach to ILC, vertex Markov matrices are employed to develop sufficient conditions for both asymptotic stability and monotonic convergence of the ILC process. It is shown that Kharitonov segments between vertex matrices are not required for checking the stability of interval super-vector ILC systems, but instead checking just the vertex Markov matrices is sufficient.

关键词： Iterative learning control monotonic convergence interval uncertainty Schur stability vertex matrices

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Journal of Information Science and Engineering: Editorial notice

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Journal of Information Science and Engineering 2005年第5期21卷 i-ii页

作者： Lee, Der-Tsai Amato, Nancy M. Chang, Shih-Fu Chen, Homer H. Chen, Tsuhan Hsu, Tsan-Sheng Hwang, Jenq-Neng Kuo, Sy-Yen Kuo, Tei-Wei Li, Chung-Sheng Tokuyama, Takeshi Wing, Jeannette Wu, Tzong-Chen Yen, John Computer Science at Texas A and M University United States Parasol Laboratory United States IEEE Transactions on Parallel and Distributed Systems Computing Research Association's Committee on the Status of Women in Computing Research CRA-W's Distributed Mentor Program United States Department of Electrical Engineering Columbia University United States Lab. United States College of Electrical Engineering and Computer Science National Taiwan University Taiwan IEEE Transactions on Circuits and Systems for Video Technology IEEE Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States ACM ACM SIGACT IEEE Computer Society IICM Austria Research and Development of the Department Multimedia Signal Processing Technical Committee IEEE Signal Processing Society United States IEEE Transactions on Circuits and systems for Video Technology College of Electrical Engineering and Computer Science National Taiwan Ocean University Keelung Taiwan Department of Electrical Engineering National Taiwan University Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan IEEE Technical Committee on Real-Time Systems Computer Science Division IBM T.J. Watson Research Center United States IBM Research Division Graduate School of Information Sciences Tohoku University Japan ACM IPSJ Mathematical Society of Japan Japan Department of Computer Science Computer Science Department Carnegie Mellon University United States National Academies of Science's Computer Science and Telecommunications Board United States Microsoft's Trustworthy Academic Advisory Board Intel Research Pittsburgh's Advisory Board United States Dartmouth's Institute for Security Technology Studies Advisory Committee Canada Sloan Research Fellowships Program Committee United States ACM Taiwan China Information Sciences and Technology Pennsylvania State University United States Laboratory for Intelligent Agents Penn State's School of Info

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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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Advanced visual modelling: beyond UML

Advanced visual modelling: beyond UML

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International Conference on Software Engineering (ICSE)

作者： J. Gil J. Howse S. Kent Software and Systems Development Laboratory Department of Computer Science Technion-Israel Institute of Technology Haifa Israel School of Computing and Mathematical Sciences University of Brighton Brighton UK The Computing Laboratory University of Canterbury UK

With the adoption of UML by the OMG and industry as the lingua-franca of visual systems modelling, one begins to ponder what will come next in this field? This tutorial brings a vision for visual modelling beyond UML. We present and consolidate radical new notations, proposed in a series of research papers and with quickly increasing adoption by industry, for the specification of complex systems in an intuitive visual, yet precise manner. The recurring theme of these notations is the upgrading of familiar diagrams into a powerful visual language. Spider diagrams considerably extend Venn diagrams to the specification of object-oriented (OO) systems. Most familiar OO concepts are translated into set-theoretical terms: classes into sets of objects, inheritance corresponding to subsets, and even statecharts are interpreted as the set of objects in that state. Constraint diagrams enhance the arrow notation to describe static system invariants which cannot be described by UML class-object diagrams. Reasoning rules are developed for the notation and strong completeness results are given. Finally, 3D diagrams show how the third dimension and VRML modelling can be used for a conceptual modelling of dynamic system behaviour. Much of the tutorial is based on a case study developed in industry, illustrating how the new notations are combined with those of UML, including OCL.

关键词： Unified modeling language Gas insulated transmission lines Laboratories Permission Software systems computer science Cities and towns computer industry Visual system computer crashes

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Definition of evaluation criteria for system development acquisition modeling and simulation

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NAVAL ENGINEERS JOURNAL 1999年第1期111卷 55-64页

作者： Leite, MJ Mensh, DR Michael J. Leite:is a Principal Engineer with PRC Inc. a division of Litton Industries. He supports combat system engineering for theater air and missile defense. His other tasks have included the command and control for the AEGIS shipbuilding program systems engineering for the 21st Century Surface Combatant combat system survivability and the development of NATO standardization agreements for naval ordnance. He was previously a Senior Engineer with San Diego Gas & Electric with responsibility for its energy application and lighting programs. Prior to joining SDG&E Mr. Leite was a commissioned officer in the U.S. Navy where he served in operations and engineering assignments. Following active duty he accepted a Naval Reserve commission and has retired with the rank of Captain. His assignments included command operational and engineering tours. Mr. Leite has also served as an expert witness in admiralty and engineering matters. He is a gradate of the University of California Berkeley with a Bachelor of Science Degree in Engineering and also holds a Masters Degree in Business Administration from National University in San Diego. Mr. Leite is a Registered Professional Engineer in the States of California and Minnesota. Mr. Leite is a member of ASNE ASCE MORS the Illuminating Engineering Society and the U.S. Naval institute. Dennis Roy Mensh:is a Senior Engineer with PRC Inc. a division of Litton Industries in Crystal City VA where he supports modeling and simulation tasking for combat systems. He received BS and MS degrees in applied Physics from Lopola College in Baltimore MD and the American University in Washington DC. He has also completed the course work towards a Ph.D. degree in computer science specializing in the fields of Operations Reseurch Anabsis Systems Analysis and Computer Modeling and Simulation. Previously he was employed at the White Oak Laboratory of the Naval Surface Warfare Carter in Silver Spring MD where he worked in the areas of naval sensor and weapon system analysis

This paper defines, develops and examines a set of generic analysis tools that can be applied to Models and Simulations at the systems Engineering level of fidelity. The tools examine the performance and effectiveness of Sensors;Weapons;and Battle Management, Command, Control, Communications, computers, and Intelligence ((BMCI)-I-4) systems and equipment. The Measures of Performance (MOPs), Measures of Effectiveness (MOEs) and Measures of Force Effectiveness (MOFEs) were extracted from the Modular Command and Control Structure Paradigm which was developed at the Naval Postgraduate School. The paradigm provides for the development of evaluation criteria (MOPs, MOEs, and MOFEs) in a framework that ensures the traceability of system performance and effectiveness to the system operational requirements as specified in the Operational Requirements Document (ORD). Also, the analysis tools provide insight and valid estimates of numerical measures of the defined system functionality threads, which represent the system's operational requirements as specified in the ORD. The tools are directly transferrable and applicable to test and evaluation exercise events which are conducted in support of the development and acquisition of systems and equipment. Once the levels of system performance have been defined, the Paradigm generates a quantitative database that becomes a useful tool in system tradeoffs and selection. Once the alternative system suites have been defined, the suites can be analyzed in terms of system functionality threads and their corresponding performance capabilities versus cost.

关键词： Naval vessels

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System to support minimally invasive surgery

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Hitachi Review 1998年第1期47卷 35-38页

作者： Kan, Kazutoshi Oikawa, Michio Yamamoto, Etsuji Takeuchi, Hiroshi Hitachi Ltd. Japan Hum.-Care Syst. Development Project Mech. Eng. Research Laboratory Japan Soc. Instrum. and Contr. Engineers Robotics Society of Japan Japan Soc. of Computer Aided Surgery Japan First Department Systems Development Laboratory Japan Image Elec. Eng. Soc. for Japan Med. Japan Soc. of Computer Aided Surgery Japan Medical Systems Research Department Central Research Laboratory Japan Inst. Electronics Info. Commun. E. Japan Japan Soc. Med. Electronics Biol. E. Japan Japan. Assoc. Magnetic Reson. Med. Japan Image Elec. Eng. Soc. of Japan Med. Japan Japan Soc. of Computer Aided Surgery Japan Marketing Department Medical Systems Division Japan Japan Society of Applied Physics Japan Physical Society of Japan. Japan

In the field of surgical treatment, minimally invasive surgery, which implements surgical operation with small incisions, reduces the strain on patients. Moreover, with this surgery it is also possible to suppress medical expenses through reductions in the time that patients must spend in hospital. We are currently developing a system to support minimally invasive surgery. We will introduce this system and describe two technologies, an image processing system and a surgical operation support system, which support it.

关键词： Biomedical equipment

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Optimal robot decomposition for fast path planning

Optimal robot decomposition for fast path planning

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International Conference on Advanced Robotics (ICAR)

作者： A. Hourtash M. Tarokh Applied Mechanics and Engg. Sci. University of California La Jolla CA USA Robotics and Intelligent Systems Laboratory Department of Mathematical & Computer Sciences San Diego State University San Diego CA USA

The paper presents a method for path planning by decomposition and parallel search. The manipulator is decomposed into chains of consecutive links and joints. A set of postures is defined to represent the motions of each chain. A collision table combines these sets and identifies collisions of the robot. A two phase online planning method constructs a path for each chain independently, and then synthesizes them into a collision free robot path. A backtracking scheme is introduced to improve the success rate, and a prescription is given for optimal decomposition of a robot for reduced planning time and improved success rate. An example of a 7-DOF robot is given to demonstrate the method, and to show its short online planning time.

关键词： Path planning Orbital robotics Motion planning Search methods Space technology Intelligent robots Concurrent computing Postal services Manipulator dynamics Parallel robots

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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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Operational systems, logistics engineering and technology insertion

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 205-220页

作者： Grubb, MJ Skolnick, A Michael J. Grubb:has perfomzed naval engineering at the Crane Division Naval Surface Warfare Center (NSWC) for more than twenty-five years. He currently the program manager for the Sustainable Hardware and Affordable Readiness Practice Program (SHARP). is a Navy-wide logistics research and development prgram aimed at the successful transiton of proved technologies inot the fleet. SHARP focuses on reducing acquisition performance capability reliability maintainability and readiness of these systems. Mr. Grubb has served as a department director for the past eleven years. His most recent assignment was as director of the Tactical Computer Resources and Test Equipment Department. This organization provided acquisition and in-service engineering support of the Navy's tectical embedded computers priphirals displays and mass memory storage devices. The organization also provided a complete range of product engineering and metrology engineerig services for SSP NevSeaSysCom and the Trident Program. Prior to this appointment Mr. Grubb was deptuy director psysical security programs department and site responsible for program management and system integration of ashore integrated security systems. Mr. Grubb holds a B.S. degree in industrial engineering from Iowa State Universtiy an M.S. degree in industrial engineering from Purdue University and has copleted the course work (Dec.'96 for a master's degree in public and environment affairs at Indiana University-Purdue Univeristy Indianapolis. Dr. Alfred Skolnick operates System Science Consultants (SSC) specilizing in strategic planning technical program definiton technology assessment and engineering analyses on selected matters of national interest. He has taught physics mathematics and management sciences at University of Virginia and Marymount University and is currently adjunct professor of mathematics at Northern Virginia Community College. Form 1985 to 1989 he was president of the American Society of Noval Engineers. Dr. Skolnick served at Applied Physic

In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t

关键词： Naval vessels

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