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Modeling of a Mobile Manipulator with the Use of Kane's Dynamical Equations

IFAC Proceedings Volumes 1998年第3期31卷 611-617页

作者： H.G. Tanner K.J. Kyriakopoulos Control Systems and Intelligent Automation Laboratory Dept. of Mechanical Engineering Division of Machine Design and Control National Technical University of Athens Greece

A wheeled mobile manipulator system is modelled using Kane's dynamical equations of motion. Kane's dynamical equations are constructed with minimum labor, are control oriented and provide both physical insight and fast simulations. Such a system is subject to nonholonomic constraints, which were traditionally expressed on the kinematic level, on which, however, there is no guarantee that the model will still be valid when slipping or skidding phenomena occur. In this paper, nonholonomic constraints are modelled in a dynamic level. This way the constraints can be better merged with Kane's dynamic equations of motion and provide the control designer with real ability to enforce them on the system.

关键词： Dynamic Models Manipulators Mobile Robots

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Modeling of Multiple Mobile Manipulators Handling a Common Deformable Object

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IFAC Proceedings Volumes 1998年第12期31卷 283-287页

作者： Herbert G. Tanner Kostas J. Kyriakopoulos Control Systems and Intelligent Automation Laboratory Dept. of Mechanical Engineering Division of Machine Design and Control National Technical University of Athens NTUA

In this work we construct a general dynamic model for a system with multiple mobile manipulators which carry a deformable object, It incorporates all dynamics and significant mechanical constraints. In the model we consider the mobile platforms and the onboard manipulators as a single system, we take into account the nonholonomic constraints imposed on the platforms and provide necessary conditions for stability of the mechanism against tipping over. Finally, the properties of the set of admissible reaction forces, defined by the constraint equations, are discussed.

关键词： Cooperation Dynamic models Manipulators Mobile robots

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Semi-Stochastic Complex Neural Networks

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IFAC Proceedings Volumes 1998年第12期31卷 47-52页

作者： Andreas E. Kanarachos Kleanthis T. Geramanis National Technical University of Athens Department of Mechanical Engineering Mechanical Design & Control Systems Division Polytechnic Campus Zografou P.O.Box 64078 15710 Greece

In this paper a new "semi-stochastic" methodology for the detennination of the weights of a neural network is proposed. The method is based on stochastic extension of the detenninistic Complex parameter optimization method and on ways of controlling the initial complex. The proposed technique is characterized by satisfactory convergence properties and ability to solve the problem of optimal neural network weights with a higher reliability than other methods do. A successful demonstration in the case of robust control of a nonlinear dynamic system with actuator's saturation, reveals a fast and reliable neural network procedure for designing direct neural network controllers.

关键词： Closed-loop control Dynamic systems Neural network models Nonlinear systems Robust control

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Fuzzy-Type Objective Functions for NNDC

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IFAC Proceedings Volumes 1998年第12期31卷 127-132页

In this paper a "fuzzy-type" objective function is proposed for the training of Neural Network Direct controllers (NNDC). The proposed method is based on cumulative evaluation of system's performance while the objective function seeks to minimize the "equivalent" system error, determined by fuzzy-set theory. The fuzzy-type objective function promises to increase convergence speed and performance of the NNDC. A successful application with respect to the robust control of a nonlinear dynamic system reveals a new approach for improved neural network capabilities extended by fuzzy logic theory.

关键词： Closed-loop control Dynamic systems Feedforward networks Fuzzification Fuzzy models Nonlinear systems Robust control

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Modeling of multiple mobile manipulators handling a common deformable object

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Journal of Field Robotics 1998年第11期15卷

作者： Herbert G. Tanner Kostas J. Kyriakopoulos N. J. Krikelis Control Systems Laboratory Department of Mechanical Engineering Division of Machine Design and Control National Technical University of Athens Athens 10682 Greece

The dynamic equations of motion for a system of multiple mobile manipulators carrying a common deformable object are developed. The derived centralized model is based on Kane's approach to dynamics. The imposed kinematic nonholonomic constraints are included and incorporated into the dynamics. It is pointed out, however, that these kinematic constraints are only necessary, and they only become sufficient to impose nonholonomic motion when accompanied by the dynamic counterparts. Sufficient conditions for avoiding tipping over by the mechanisms are also provided. The whole set of constraint equations is analyzed and useful properties for the set of admissible solutions for the ground reaction forces are obtained. The deformable object under manipulation is modeled and the simplest approximating grid structure is indicated. © 1998 John Wiley & Sons, Inc.

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Ship habitability - Preparing for the 21st century

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NAVAL ENGINEERS JOURNAL 1997年第6期109卷 21-27页

作者： Meere, EP Grieco, L Edward P. Meere:works in the Arrangements Division of the NavSea Systems Command (SEA 03H1) and has been the Navy Habitability Program Manager for the past three years. He received a Bachelor of Science in Engineering Science from Illinois Institute of Technology in 1966. He received a Masters of Business Administration from the American University in 1977. His experience to date includes: Mathematics teacher at Prince Georges Community College for 7 years 10 years as Branch Head for Carrier and Amphibious Arrangements Project Engineer for Underway Replenishment Equipment responsible for the concept and development of the One Man Control Station. Louis R. Grieco:is a Supervisory Mechanical Engineer in the Habitability Branch of the Hull and Deck Machinery Department at the Naval Surface Warfare Center Carderock Division Philadelphia where he has been employed since 1971. He received a Bachelor of Science in Mechanical Engineering degree from Drexel University in 1979. His experience to date includes trade design and combat systems assignments at Philadelphia Naval Shipyard from 1960 to 1971 In Service Engineering Section and Branch Head for cargo/ weapons elevators conveyors torpedo handling systems habitability equipment and underway replenishment equipment and Life Cycle Manager for habitability systems. He also serves as a member of the Industrial Advisory Board at Temple University Philadelphia PA.

This paper discusses the problems identified in a FY 1995 fleet habitability survey. The survey questioned the fleet on the quality of shipboard living and working conditions and identified shortfalls in berthing, sanitary spaces, and food service systems that influence crew morale, safety, and ultimately mission effectiveness. Existing habitability programs, new initiatives and responses to the survey problems, plus a few quality of life ideas for the 21st century, are outlined.

关键词： Warships

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Dynamic analysis: Sail the ship before it's built

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NAVAL ENGINEERS JOURNAL 1997年第2期109卷 83-91页

作者： Dupuis, R Neilson, J Richard Dupuis:received a bachelor of science degree in mathematics and physics from Bishop's University in 1975 and a bachelav of applied science degree in mathematics and vnechani-cal engineering from Queen's University in 1979. From 1979 to 1982 he worked jbr Pratt & Whitney Canada as a gas turbine engine dynamics analyst and was involved in full scale engine testing. He joined GasTOPS Ltd. in 1982 and has been involved in a number of projects related to control system analysis design and simulation of mechanical and electromechanical systems for aircrafl and marim propulsion systems. He has eval-uated the dynamic Performance of propulsion systems for a variety of ships including destroyers frigates icebreakers mine-hunters and submarines. He is currently the vice president of the Controls & Instrumentation Division at GasTOPS Ltd. Jeff Neilson:received a bachelor of mechanical engineering degree from Carleton University in 1986. Since graduating he has worked for GasTOPS Ltd. and has been involved in a number of projects related to control system analysis design and simulation of mechanical systemsfor aircraft and marine propul-sion systems. He has evaluated the dynamic perfom2ance of gas turbine and diesel powered propulsion systems for destroyers frigates corvettes minehunters and landing ships. He is currently the manager of simulation systems in the Controls & Instrumentation Division of GasTOPS Ltd.

A combatant ship is a complex system that involves the integration of many subsystems and components. Everyone agrees that systems integration is essential;nevertheless, the ability to deal with it is viewed as being elementary at one end of the spectrum to overly complex at the other end. Past emphasis has been on the development of the necessary tools and organizations needed to produce components that can be used to configure systems. As a consequence, when dealing with systems integration, the focus is primarily on what the system is and how its components fit, rather than what if does. Computer technology is benefiting the marine industry in many ways. Although it has been used to progressively improve the capability to deal with the component issues related to systems integration, the marine industry has yet to recognize the merits of effectively using the technology to address system functionality issues. This paper elaborates on the difficulty in dealing with system functionality and describes a way in which computer based simulation of propulsion machinery systems can be used to deal with the functionality aspects of systems integration. When procuring a ship, propulsion system simulation permits us to ''sail it before we build it.''

关键词： Shipbuilding

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Propulsion system simulations: Making the right choice for the application

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NAVAL ENGINEERS JOURNAL 1997年第5期109卷 83-97页

作者： Neilson, JJ Tarbet, RM Jeff Neilson:received a bachelor's degree in mechanical engineering from Carleton University in 1986. Since graduating he has worked for Gas TOPS Ltd. and has been involved in a number of projects related to control system analysis design and simulation of mechanical systems for aircraft and marine propulsion systems. He has evaluated the dynamic performance of gas turbine and diesel powered propulsion systems for destroyers frigates corvettes minehunters submarines and landing ships. Jeff is currently the manager of simulation systems in the Controls and Instrumentation Division of GasTOPS Ltd. 1996 Modeling Simulation and Virtual Prototyping Conference 24–26 June 1996 Crystal City Arlington Virginia. Robin Tarbet:received his bachelor's degree in mechanical engineering from Carleton University in 1988 and received a master's degree in aeronautical engineering from the same institution in 1990. He joined GasTOPS Ltd. in 1990 where he has been involved in a number of projects primarily related to the simulation and analysis of distributed digital systems for ship machinery control. Robin is currently a senior project engineer in the Controls and Instrumentation Division of GasTOPS Ltd.

The effective use of simulation for the design and analysis of propulsion systems, and for operator training of these systems, requires a clear definition of the simulation's intended purpose and expected results. Issues such as model fidelity, computational performance and data requirements must be carefully balanced against the development effort and costs. The relative importance of each of these factors can only be determined once the purpose and expected outputs from the simulation are known. Experience with some recent marine propulsion simulation initiatives has highlighted the need for dear definitions of model requirements, especially with regard to simulation fidelity and the use of physics-based models. Marine propulsion system simulations can be used for a variety of purposes ranging from machinery performance analysis through maneuvering and seakeeping analysis to equipment health monitoring studies. This wide range of applications, with differing requirements, provides an excellent forum for examining the influence of fidelity on simulation computational performance, data requirements, and development cost. Examples from various marine propulsion machinery simulations are used to illustrate the discussion.

关键词： Ship propulsion

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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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USING VIRTUAL ENVIRONMENTS IN THE design OF SHIPS

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NAVAL ENGINEERS JOURNAL 1994年第3期106卷 91-106页

作者： JONS, OP RYAN, JC JONES, GW Otto P. Jons:received a Diplom Ing. in shipbuilding from the Technical University of Hanover W. Germany and an MS in naval architecture and marine engineering from MIT. He then joined Litton Ship Systems where he was responsible for the preliminary design of the DD-963 hull structure and then for ship system integration as manager LHA ship systems engineering department. From 1972 to 1974 he was the principal research scientist at Hydronautics. In 1974 as technical director he helped establish the Crystal City office of Designers and Planners. Mr. Jons was one of the co-founders of Advanced Marine Enterprises Inc. in 1976 where he serves as corporate vice president engineering. J. Christopher Ryan:earned his bachelors and masters degrees in naval architecture from Webb Institute and MIT respectively. He spent three years at the advanced marine technology division of Litton Industries working on the DD-963 class ship design and related computer aided design projects. He subsequently went to the Navy Department concentrating on early stage design of surface combatants for twelve years including work on the FFG-7 Sea Control Ship CSGN and CVV aircraft carrier projects. He then shifted focus and became the Technical Director for the Computer Supported Design Program in NavSea for five years. Mr. Ryan has served in several supervisory positions within the Ship Design Group in NavSea since that time. He is currently the director of the future ship concepts division. Gary W. Jones:graduated from the University of Tennessee in 1971 with a BS in mechanical engineering and followed up with graduate work at George Washington University and the University of Maryland. Mr. Jones was with the Naval Sea Systems Command from 1971 until 1988 where he was a naval architect in the submarine section of the hull form design division. In 1988 he was detailed to the Defense Advanced Research Projects Agency (DARPA) where he became the program manager for the advanced submarine technology program's hydrodynamic hydroac

A major contributor to the expense and length of time to design, build, and test new systems has been the need to build and test hardware prototypes to determine their effectiveness in meeting operational requirements. Recent and dramatic advances in computer simulation technologies hold forth the promise of revolutionizing design and acquisition strategies by providing the means to validate end users' requirements prior to hardware construction. By designing and operationally testing virtual prototypes in a virtual environment, these technologies will soon offer naval architects the ability to build and launch ships in computer-based cyberspace in lieu of the shipbuilder's ways. The authors of this paper provide the background for these developments, explore the significance and ramifications of these technologies to the current process of ship and system design, outline challenges lying ahead, and present their vision and recommendations for future development.

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