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IEEE International Conference on systems, Man and Cybernetics

作者： T. Kitamura Department of Mechanical System Engineering College of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan

The purpose of this paper is to investigate what task and to what extent a robot loading CBA (Consciousness-based Architecture) can achieve without learning algorithm. CBA is developed by the author's group, a five-layered hierarchical architecture of the relationship between consciousness and behavior: the hierarchy has the evolutionary arrangement of behaviors from reactive behaviors to symbolic ones. But no leaning algorithm is explicitly embedded in CBA. Behavioral outputs with CBA simulating fish, rat and ape, were compared with the two typical psychological experiments, discrimination learning, stochastic learning, by Bitterman. Results of the simulation show that CBA up to lower mammal level is successful in equivalents to the learnings. CBA also explains that it can accept conditioning by reinforcement stimuli. CBA, however, needs rule-based knowledge/learning algorithm for stochastic learning at ape level.

关键词： Marine animals Psychology Intelligent robots systems engineering and theory Stochastic processes Robot control Artificial intelligence Humans mechanical systems Educational institutions

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Adaptive joint control design for a flexible two-link system

Adaptive joint control design for a flexible two-link system

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American Control Conference (ACC)

作者： Wenwei Xu Hongliu Du S.S. Nair Computer Controlled System Laboratory Department of Mechanical and Aerospace Engineering University of Missouri Columbia MO USA

Investigates a robust adaptive control design for a flexible two-link system considering joint angle control in the presence of system uncertainties. The system uncertainties are treated as unknown bounded continuous functions of the states. A Gaussian network is used to map the uncertainties in the MIMO system. A convergent stable learning algorithm is developed for the control design. Simulations show the effectiveness of the proposed learning control strategy.

关键词： Programmable control Adaptive control Control design Uncertainty Friction Control systems Vibrations Shape DC motors Payloads

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A stratospheric Stationary LTA platform concept and ground-to-vehicle microwave power transmission tests 37th

A stratospheric Stationary LTA platform concept and ground-t...

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37th Aerospace Sciences Meeting and Exhibit, 1999

作者： Onda, Masahiko Kaya, Nobuyuki Fujita, Masaharu Fujino, Yoshiyuki Tomita, Kazumasa Yamada, Mamoru Mechanical Engineering Laboratory A.I.S.T. M.I.T.I. Tsukuba Japan Dept. Of Computer and System Engineering Kobe University Kobe Japan Communications Research Laboratory Ministry of Posts and Telecommunications Tokyo Japan Advanced Engineering Services Corp. Tsukuba Japan

Conducted in 1995 in Kobe, a low altitude flight demonstration test of a 10% scale model of the proposed high-altitude platform represents a novel microwave powering system. An unmanned 340 m3 LTA was able to hover at an altitude of 50 m. For the duration of the test, the airship's tandem motors and on-board systems were powered solely by ground-to-air microwave transmissions. The ground transmitter was a 10 kW parabolic antenna. The rectenna, power-absorbing antenna was a lightweight composite unit, and was positioned directly on the underside of the LTA. 2.45 GHz microwaves were transmitted. Tracking of the LTA for microwave beaming was performed manually, with the aid of tracking cameras and monitors. In this configuration, the LTA successfully hovered for a few minutes, though much longer durations are expected to be easily achievable. Overall efficiency of the power transmission process was estimated at about 50%. © 1999 The American Institute of Aeronautics and Astronautics Inc. All rights reserved.

关键词： Microwaves

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A new method on judgement of static stability for the quadruped robot

A new method on judgement of static stability for the quadru...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xuedong Chen K. Watanabe K. Izumi Faculty of Computer Science and System Engineering Graduate School of Science and Engineering USA Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Science and Engineering Department of Mechanical Engineering Saga University Honjomachi Saga Japan

A new approach to analysis of robot stability is presented by defining the statically stable area for the foot placement. The proposed approach is applied not only to generate the free gait for a quadruped robot walking in difficult terrain, but also to judge the robot stability. The effectiveness of this method is demonstrated by a practical example.

关键词： Leg Robot kinematics Legged locomotion Foot Stability analysis systems engineering and theory Control engineering mechanical engineering

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Acquisition of the enhanced Maritime Prepositioning Force, MPF(E), Ship

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NAVAL ENGINEERS JOURNAL 1999年第1期111卷 15-26页

作者： Mazumdar, T Sandison, J DuFlocq, R Thpan Mazurndar:is a Deputy Ship Design Manager from Naval Surface Warfare Center Carderock Division. He was the Design Manager for the Engineering and Design Phase ofthe Enhanced Maritime Prepositioning Fme Ship (MPF(E)). Cuwently Mt: M2.zumdar is Deputy Ship Design Manager in NAVSEA 030 for the LHD and LSD classes of ships. Mr. Mazumdar was awarded a BSE in Naval Architecture and Marine Engineering from the University of Michigan in 1981 and an MS in Computer Science fiom Virginia Tech in 1988. He also possesses an International ChiejEngineer License (Motot unlimited). Mr. Mancmdar has been an Associate Member of WAME since 1981. James C. Sandison:is a Senior Ship Design Manager (SDM) for surface ships in the Nawl Sea Systems Command (NAVSEA03D3C). He has a long tem practical background in design construction and testing of surface ships. Starting in NAVSEC as a diving and salvage systems engineer for the Bathyscaph TRIESTE he has been involved with most ofthe Nays Mine Warfare and Auxiliary ships from naval architect to the present Senior Ship Design Manager for the Strategic Sealift Program. Mr: Sandison entered the U.S. Navy in 1956 in the (diesel) Submarine Service. Afterward he “went to sea in sailing ships and completed an apprenticeship as a wooden shipbuildex. In 1971 he graduated from the University of Michigan with a BSE in Naval Architecture and Marine Engineering and was employed by NAVSEC. His latest additional duties have been as engineering coordinator on board the USS CONSTITUTION for her 200th anniversary sail. Mr. Sandison is a member of SNAME ASNE and the U.S. Naval Institute. Rick DuFlocq has over 24 years of combined project management mechanical system and general awangmmt design and design documentation experience the last 14 years urith Advance Marine Enterprises (AME). He has fmjmned this wurk on a wide variety of ships and auxiliary crafl including submarines primarily for the U.S. Navy and the Military Sealift Command (MSC). He has worked for both shiprards and marine eng

The paper will describe the streamlined acquisition process involved in the procurement, and conversion, of the first two of three Enhanced Maritime Prepositioning Force (MPF(E)) ships. This program was one of the first programs undertaken within the Government's new policy of Acquisition Reform, which resulted in the development of "performance based" requirements for these ships. This program is notable in that one prime contractor is responsible for the accomplishment of all phases, and that the contractors participating were not shipyards as is usually the fashion for Government ship acquisition programs. Also of note, was that after the conversion contracts were awarded, responsibility for the conduct of detail design, conversion, and operation and maintenance of the ship was transferred from the NAVSEA Sealift Program Office (PMS 385) to the Military Sealift Command (MSC). The first part of the paper will describe the basic mission of the MPF(E) ships, and a description of the origin of the program requirements. The second part of the paper will chronicle in detail the portions of the engineering design and specification development process, which will include descriptions of the unique digital data recording and tracking systems developed by the Government MPF(E) Design Support Team to support the acquisition phases of the procurement. The third and final part of the paper will elaborate on the conversion contract awards and the transition of the program from PMS 385 to MSC.

关键词： Naval vessels

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Identification of friction at low velocities using wavelet basis function network

Identification of friction at low velocities using wavelet b...

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1998 American Control Conference, ACC 1998

作者： Du, Hongliu Nair, Satish S. Computer Controlled System Laboratory Department of Mechanical and Aerospace Engineering University of Missouri Columbia MO 65201 United States

ISBN: (纸本)0780345304

Modeling friction at low velocities can be viewed as a problem of characterizing the local behavior of a complex nonlinear function. Wavelet theory provides a very powerful framework for localized mapping and learning. Based on space-frequency localization, a model-free methodology to identify and compensate for friction at low velocities using a wavelet basis function network (WBFN) based design is proposed and validated using a hardware example case. The methodology is systematic and uses minimal knowledge of the dynamics which is particularly attractive for a large class of dynamic systems with friction. © 1998 AACC.

关键词： Friction

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A CONTROL DESIGN for A FLEXIBLE TWO-LINK system

A CONTROL DESIGN for A FLEXIBLE TWO-LINK SYSTEM

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ASME 1998 International mechanical engineering Congress and Exposition, IMECE 1998

作者： Multi, James Du, Hongliu Nair, Satish S. Computer Controlled System Laboratory Department of Mechanical and Aerospace Engineering University of Missouri ColumbiaMO65201 United States

ISBN: (纸本)9780791815861

This paper investigates a particular control strategy for a flexible two-link system. The objective is to control the tip position of the flexible link to track a desired trajectory in the presence of system uncertainties. A nominal ARX model is developed for an experimental two-link setup. A neural network is used to model some of the uncertainties, and the network is then used in a particular control configuration. Preliminary results from the study are presented. © 1998 American Society of mechanical Engineers (ASME). All rights reserved.

关键词： Aircraft engines

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Identification of friction at low velocities using wavelet basis function network

Identification of friction at low velocities using wavelet b...

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American Control Conference (ACC)

作者： Hongliu Du S.S. Nair Computer Controlled System Laboratory Department of Mechanical and AeroSpace Engineering University of Missouri Columbia MO USA

关键词： Friction Aerodynamics Control system synthesis Velocity control Power system modeling Hardware Neural networks Power engineering computing Nonlinear control systems Laboratories

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Manipulative hand gesture recognition using task knowledge for human computer interaction

Manipulative hand gesture recognition using task knowledge f...

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International Conference on Automatic Face and Gesture Recognition

作者： Kang-Hyun Jo Y. Kuno Y. Shirai System Engineering Research Institute Taejon South Korea Department of Computer Comtrolled Mechanical Systems Osaka University Japan

The paper presents a system recognizing manipulative hand gestures like grasping, moving, holding an object with both hands, and extending or shortening of the object in the virtual world using task knowledge. The authors use two kinds of task knowledge. One is represented by a state transition diagram, each state of which indicates possible gestures at the next moment. Image features obtained from extracted hand regions are used to judge state transition. When one uses a gesture recognition system, one sometimes moves the hands unintentionally. To solve this problem, the system has a rest state in the state transition diagram. All unintentional actions are considered as taking a rest and ignored. In addition, the system can recognize collaborative gestures with both hands. They are expressed in a single state so that the complexity in combination of gestures of each hand can be avoided. The second type of knowledge is the situational knowledge to help a user to relieve his/her burden of specifying details about the selection of a target object and the positional relationships of the objects. The vision system can give only limited spatial resolution. Thus, indicating exact position by hand gestures alone is sometimes difficult. This knowledge assists the user in such cases. They have realized an experimental human interface system. Operational experiments show promising results.

关键词： Human computer interaction

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Advanced manipulation for deep underwater sampling: the AMADEUS research project

Advanced manipulation for deep underwater sampling: the AMAD...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： D.M. Lane G. Bartolini G. Cannata G. Casalino J.B.C. Davies G. Veruggio M. Canals C. Smith Institute of Marine Biology of Creete (IMBC) Crete Greece Department of Mechanical and Chemical Engineering (MCE) Heriot-Watt University Edinburgh UK Department of Computer Communications and System Science (DIST) Università di Genova Genoa Italy Institute for Naval Automation (IAN) CNR Genoa Italy Department of Computing and Electrical Engineering (CEE) Heriot-Watt University Edinburgh UK Department of Geology Geophysics and Paleontology University Autònoma de Barcelona Barcelona Spain

This paper describes the design, development and future activities for the ongoing EU MAST II and III programmes AMADEUS I and II. The AMADEUS is a project focusing on improving the dexterity and sensory abilities of underwater systems for grasping and manipulation of delicate and other objects. Phase I of the project was completed in May 1996, and has developed a prototype dextrous three fingered underwater dextrous gripper. Phase II is now underway to deploy the hand from an underwater robot arm and carry out wet trials with end users. This paper summarizes the major achievements obtained within the programme.

关键词： Sampling methods Fingers Grippers Grasping Sliding mode control Force sensors Prototypes Supervisory control Vibration control computer architecture

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