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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

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.

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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Applying fuzzy functions and sequential coordination to optimization of machinery arrangement and pipe routing

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NAVAL ENGINEERS JOURNAL 1998年第6期110卷 43-54页

作者： Wu, BC Young, GS Schmidt, W Choppella, K Dr. Bi-Chu Wu:received a PhD in Mechanical Engineering from the University of Maryland College Park in 1991. She has worked on projects involving naval architecture design optimization solid mechanics and database development. Presently a senwr engineer with Angle Incorporated Dr Wu's research interests are in design optimization and fuzzy logic applications. Dr. Gin-Shu Young: a senior engineer with Angle Incorporated holds a PhD in Mechanical Engineering from the University of Maryland College Park. As a guest researcher with National Institute of Standards and Technologies from 1990 to 1993 he worked on vision-based navigation for autonomous vehicles. His experience also includes applications of optimization fuzzy logic neural network and genetic algorithm methods to engineering system design Mr. William Schmidt:co-founded Angle Incorporated in 1990 and has served as Vice PresidentlChiefScientist during this tame. He holds a B.Sc. in Applied Science from the Naval Acadt?my and an M.Sc. in Physics from the Naval Post Graduate School. He has cner 20 years experience in technical leadership material and personnel management. He has led the application of computer aided design (CAD) and Product Model Information Exchange to the shipbuilding industry. His experience also includes leading the amlication of model based operational analysis to support the Live Fire Test Program for DDG 51 Class Destroyers. Mr. Krishna M. Choppella:is a Sofware Engineer at Eidea Laboratories Incotporated where he works on componentbased distributed enterpvise frameworks. He has been involved in creating data analysis tools for the US Nay by integrating CAD modeis databases and graphical front ends. His work in the Masters degree program in Mechanical Engineering at the University of Texas at Austin was in di0ddase.r spectroscopy of combustion products in porous-matri burners. He received his Bachelors degree in Electrical Engineering in India. He was a Research Associate at the Centre for Laser Technology and Project Engi

Ship design is often multidisciplinary involving several design elements with various types of objectives and constraints (O/C) some easily described as mathematical formulas, others better modeled as descriptive assertions. This paper describes a method based on fuzzy functions and an integrated performance index to model O/C using descriptive assertions to be used with mathematical formulas in optimization. Another issue addressed in this paper concerns the coordination of design elements when sequentially coupled, that is, when one leads the other and the performance of the follower depends greatly on the design of the leader. Based on neuro-fuzzy techniques, the method described here coordinates and optimizes sequentially coupled elements. The two methods are applied to machinery arrangement (MA) and pipe routing (PR). Preliminary models for optimization of MA and PR are described considering convenience, producibility: engine room size, interference and location as factors in the O/C set. Some test results from MA/PR applications are presented and discussed. The methods are generic and can be extended to other elements in ship design. They are mutually independent and may be used separately Two advantages of their use are an improvement in overall performance and a reduction in the need for redesign of elements.

关键词： Optimization

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Identification of friction for control at low velocities

Identification of friction for control at low velocities

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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

A systematic model-free methodology to identify and compensate for friction is proposed and is shown to be viable for a class of dynamic systems. Design of the proposed identifier for friction uses Gaussian networks and incorporates explicit performance bound information. The identifier is then used in a particular compensation strategy that provides error bound information. The proposed identification design has been validated using a hardware example case system. The methodology for identifying friction is systematic and uses minimal knowledge of the dynamics which is particularly attractive for a large class of low dimensional dynamic systems with friction.

关键词： Friction Velocity control Aerodynamics Hardware Nonlinear dynamical systems Adaptive control Neural networks Control system synthesis Laboratories Aerospace engineering

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A neuro-sliding control approach for a class of nonlinear systems

A neuro-sliding control approach for a class of nonlinear sy...

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International Conference on Knowledge-Based Intelligent Electronic systems (KES)

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

This paper proposes a learning method for the compensation of uncertainties, for a class of nonlinear systems. A sliding model control strategy is used for the robust control design after a prior stable learning phase. Gaussian networks are used to identify the uncertainties during this learning phase. Learning and control bounds are guaranteed by properly constructing the training structure. The proposed technique has been validated using a hardware example case of an electromechanical system. Experiments have shown that the inclusion of the proposed learning technique in the robust control design results in improved system performance.

关键词： Nonlinear control systems Control systems Nonlinear systems Sliding mode control Uncertainty Robust control Learning systems Hardware Electromechanical systems system performance

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Animal-like behavior design of small robots by consciousness-based architecture

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Advanced Robotics 1997年第3期12卷 289-307页

作者： Kitamura, Tadashi Department of Mechanical System Engineering College of Computer Science and System Engineering Kyushu Institute of Technology lizuka-city Fukuoka 820 680 Kawatsu Japan

This paper proposes an aproach to designing animal-like behavior of autonomous robots with use of a five-layered hierarchical model of the relation between consciousness and behavior. The hierarchy of behavior includes reflex motion, detour, and a limited use of temporal and spatialinformation of environments. The corresponding consciousness has an emotion-valued coordinate system, stably lasting emotion that enables an animal to detour an obstacle for a prey, and symbolic information on time and space. The basic idea of the software architecture realizing the abovemodel of consciousness and behavior is that a level in the hierarchy of consciousness is activated when an action on the immediately lower level is obstructed and that the activated level of consciousness selects and drives a higher behavior. With this software architecture, all the five levelsof behavior were successfully shown by experiment with the use of two small mobile robots. Their instantaneous consciousness is visualized on the screen of a host computer controling robot motion and the screen image of the robot's consciousness works to design behaviors as a bilateral humaninterface. © VSP and Robotics Society of Japan 1998.

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Meeting the 21st century with SMART mission flexibility

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 341-346页

作者： Alexander, RK Olmstead, L Ronald K. Alexander P.E.:received his B.S. degree in mechnaical engineering from Purdue University and his M.S. degree in mechanical engineering from the Naval Postgraduate School. He is currently manager quality programs at RGE Engineering Service Company where he provides technical support to the ATC Program in the area of combat system modularity design. lhe is a member of ASNE and the Surface Navy Association. Larry Olmstead:received his B.L.S. degree in mathematics and computer scienc from Mary Washington College in 1982 and his M.S. degree in system management from the University of Southern California in 1986. He chaired the C'I Modular Implementation Wroking Group (MIWG) from its inception in September 1993 to December 1996 as a combat system engineer in the PEO CLA Engineering management Office (Code PMS307). He is currently employed at Science Application International Corporation.

A revolution is underway in the design, production and installation of the Navy/Marine Corps team's command, control, communications, computers and intelligence ((CI)-I-4) vision and strategies, which is significantly reducing costs, and dramatically improving the battle readiness of tomorrow's forward deployers. A strong emphasis on research and development has enabled the design, development and installation of the Shipboard Modular Arrangement Reconfiguration Technology (SMART) systems in ships. SMART is a methodology for installing equipment in shipboard spaces that will provide the fleet with enhanced mission flexibility. The heart of this technology is a track rail system, similar to that used by the aircraft industry, which enables equipment to be bolted to the deck, bulkheads or overhead, and meets all shipboard shock and vibration requirements. The fleet can reconfigure designated spaces to receive new systems, install equipment upgrades, position cross-decked systems, or rearrange work areas with minimal industrial work (welding, grinding, lagging, painting, etc.), and maximum cost savings. Key (CI)-I-4 spaces such as Tactical Flag Command Center (TFCC), Joint Operations Center (JOC), Communication Centers, etc., can be reconfigured as required. Thereby, new technology insertion can enable rapid deployment of state-of-the-art technologies much faster than the standard method of welding foundations in place to support various equipment installations. The SMART system includes a foundation track system, modular-connectorized power and lighting, and modular workstations.

关键词： Naval vessels

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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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