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Reliability-based load and resistance factor design (LRFd) of hull girders for surface ships - Comment

NAVAL ENGINEERS JOURNAL 2000年第5期112卷 89-90页

作者： Nappi, N [?]1Bilal M. Ayyub is a Professor of Civil Engineering at the University of Maryland (College Park). He is also the general director of the Center for Technology and Systems Management (CTSM) and a researcher and consultant in the areas of structural engineering inspection methods and practices reliability ‘ and risk analysis. He completed his B.S. degree in civil engineering in 1980 and completed both the M.S. (1981) and Ph.D. (1983) in civil engineering at the Georgia Institute of Technology He has completed several research projects that were funded by the U.S. National Science Foundation the U.S. Coast Guard the U.S. Navy the U.S. Department of Defense the U.S. Army Corps of Engineers the Maryland State Highway Administration the American Society of Mechanical Engineers and several engineering companies. Dr. Ayyub served the engineering community in various capacities through societies that include ASNE ASCE ASME SNAME IEEE and NAFIPS. He is the author and co-author of about 250 publications in journals and conference proceedings and reports. His publications include edited books textbooks and book chapters. Dr. Ayyub is the double recipient of the ASNE “Jimmie” Hamilton Award for the best papers in the Naval Engineers Journal in 1985 and 1992. Also he received the ASCE “Outstanding Research Oriented Paper” in the Journal of Water Resources Planning and Management for 1987 the NAFIPS K.S. Fu Award for Professional Service in 1995 the ASCE Edmund Friedman Award in 1989 and the ASCE Walter L Huber Civil Engineering Research Prize in 1997. He is a registered Professional Engineer (PE) with the State of Maryland. He is listed in the Marquis Who's Who in America since 1998 Who's Who in the World since 1995 and Who's Who in Science and Engineering since 1994.

The main objective of structural design is to insure the safety, functional, and performance requirements of a structural system for target reliability levels, for a specified period of time, and for a specified environment. As this must be accomplished under conditions of uncertainty, probabilistic analyses are necessary in the development of such probability-based design criteria of hull girders for surface ships. A methodology for developing load and resistance factor design (LRFd) rules for ship structures was developed in this paper, and demonstrated for surface ship hull girders.

关键词： Hulls (ship)

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Navy's CFC & Halon elimination program

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NAVAL ENGINEERS JOURNAL 2000年第1期112卷 91-112页

作者： Toms, GS Breslin, dA Brunner, GP Thill, JC Gregory S. Toms RE:is the CFC & Halon Elimination Program Manager for the Naval Sea Systems Command (NAVSEA). He received a master of science degree in mechanical engineering from the University of Maryland and a B.S. degree in mechanical engineering from West Virginia University. From 1984 to 1997 he was employed at the Naval Surface Warfare Center Carderock Division Annapolis Detachment (formerly David Taylor Research Center) where he worked on the development of advanced centrifugal compressor air conditioning plants for shipboard applications. He received the Stratospheric Ozone Protection Award in 1998 from the U.S. Environmental Protection Agency in recognition of his exceptional leadership and technical achievements in eliminating ozone-depleting substances from Navy ships. He is licensed as a registered Professional Engineer in the state of Texas. David A. Breslin P.E.:is the Director of Technical Operations for the Naval Surface Warfare Center and is the Chairperson of the ASNE Committee on Environmental Engineering. He received a master of science in aerospace engineering from Virginia Tech in 1991 a master of engineering administration in industrial & systems engineering from Virginia Tech in 1991 and a bachelor of engineering in mechanical engineering from Stevens Institute of Technology in 1985. From 1993 to 1997 he was the program manager of the Naval Sea Systems Command's CFC & Halon Elimination Program. Because of his many efforts he received a Stratospheric Ozone Protection Award in 1995 from the U.S. Environmental Protection Agency in recognition of “exceptional contributions to global environmental protection”. Gregory P. Brunner:was employed by the Carderock Division of the Naval Surface Warfare Center and Naval Sea Systems Command (NAVSEA) from 1983 until 1997. From 1993 to 1997 he served as the R&D program manager for the NAVSEA CFC & Halon Elimination Program Office. Program efforts resulted in the development of new refrigerants for backfit into existing shipboard air-conditioning

The domestic production of the most powerful Ozone-depleting Substances (OdSs) has permanently ceased and the abundant supplies of a number of inexpensive refrigerants, fire-fighting agents, and solvents, once taken for granted, are now a thing of the past. The Navy's original strategy of conserving OdSs, converting systems and processes where feasible, relying on strategic reserves where necessary, and developing "ozone-friendly" equip ment for new-design surface ships and submarines is succeeding. The purpose of this paper is to document the Navy's efforts to date relative to combating the threat to uninterrupted Fleet operations posed by the cessation of OdS production. Specifically, this paper addresses the Navy's shipboard conversion programs for air-conditioning and refrigeration (AC&R) systems, the development of next-generation AC&R systems, the selection of halon substitutes for new-construction fire-fighting systems, and the Navy's alternative to CFC-113 in the cleaning of critical oxygen systems.

关键词： conversion program Ozone depleting substances trichlorotrifluoroethane GRANTS fire fighting strategic reserves Solvents oxygen systems Submarine Halons

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A comparison of training algorithms for dHP adaptive critic neurocontrol

A comparison of training algorithms for DHP adaptive critic ...

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International Joint Conference on Neural Networks (IJCNN)

作者： G.G. Lendaris T.T. Shannon A. Rustan Systems Science Ph.D. Program and Electrical & Computer Engineering Department Portland State University USA

A variety of alternate training strategies for implementing the dual heuristic programming (dHP) method of approximate dynamic programming in the neurocontrol context are explored. The dHP method of controller training has been successfully demonstrated by a number of authors on a variety of control problems in recent years, but no unified view of the implementation details of the method has yet emerged. A number of options are described for sequencing the training of the controller and critic networks in dHP implementations. Results are given about their relative efficiency and the quality of the resulting controllers for two benchmark control problems.

关键词： Neural networks Shape control dynamic programming Equations design optimization Amorphous materials design methodology Feedback loop Supervised learning Process design

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Health risk assessment of hexachlorobenzene and hexachlorobutadiene residues in fish collected from a hazardous waste contaminated wetland in Louisiana, USA

ASTM Special Technical Publication

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ASTM Special Technical Publication 1999年第1333期 368-382页

作者： Tchounwou, Paul B. Abdelghani, Assaf A. Pramar, Yashoda V. Heyer, Lorenzo R. Environmental Science Ph.D. Program School of Science and Technology Jackson State University Jackson MS 39217 United States Dept. of Environ. Health Sciences Tulane Univ. Sch. Pub. Hlth. T. New Orleans LA 70112 United States Dept. of Basic Pharmaceutical Sci. College of Pharmacy Xavier University of Louisiana New Orleans LA 70125 United States

Improper disposal of hazardous materials has often led to significant adverse effects on environmental quality and human health. This investigation was undertaken to compare the concentration levels of hexachlorobenzene (HCB) and hexachlorobutadiene (HCBd) in various fish collected from a local hazardous waste contaminated wetland to those of a control site, and to assess the potential health risk that may be associated with consuming such fish. A total of 201 samples including 146 fish from the study site and 55 fish from a control site were examined. Statistical analyses revealed a highly significant difference (p less than or equal 0.01) in concentrations between the 2 sites. Mean levels of contaminants in edible tissues were 23.52 ± 53.54 ng/g (HCB) and 226.33 ± 778.40 ng/g (HCBd) in the study site, and 2.00 ± 5.62 ng/g (HCB) and 6.84 ± 10.41 ng/g (HCBd) in the control site. For the study site, a combined hazard index of 0.65 was computed for a 10-kg child eating 6.5 g of fish per day, while 70-kg adults with daily intakes of 6.5 g toxicant (general population), 30 g (sport fishermen) and 140 g (subsistence fishermen) yielded hazard indices of 0.11, 0.50 and 2.32, respectively;indicating that subsistence fishermen had a higher risk for systemic effects, with an exposure in excess of the EPA-Reference dose. Cancer risks varied from 3.52x10-6 to 75.52x10-6 for HCB, and from 1.64x10-6 to 35.33x10-6 for HCBd, indicating an exposure in excess of the widely accepted risk level of 1x10-6. For the control site, a significantly lower level of exposure was estimated for both HCB and HCBd.

关键词： Contaminated fish Human exposure Risk estimation Toxic organics

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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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Probabilistic risk analysis of diesel power generators onboard ships

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NAVAL ENGINEERS JOURNAL 1999年第3期111卷 35-58页

作者： Ayyub, BM Karaszewski, ZJ Wade, M Bilal M. Ayyub.:is a Professor of Civil Enginnering and the Director of the Center for Technology and Systems Management at the University of Maryland (College Park). He is also a researcher and consultant in the areas of structural engineering inspection methods and practices reliability and risk analysis. He completed his B.S. degree in civil engineering in 1980 and completed both the M.S. (1981) and Ph.D. (1983) in civil engineering at the Georgia Institute of Technology. Dr. Ayyub has an extensive background in uncertainty modeling and marine structural reliability marine structures uncertainty modeling and anaylsis and mathematical medeling using the theories of probability statistics and fuzzy sets. He has completed several research projects that were funded by the NSF USCG USN the USACE ASME and several engineering companies. Dr. Ayyub served the engineering community in various capacities through societies that include ASNE ASCE ASME SNAME IEEECS and NAFIPS. He is the authour and co-author of about 250 publications in journals and conference proceedings and reports. His publications include edited books textbooks and book chapters. Dr. Ayyub is the only double recipient of the ASNE “Jimmie” Hamilton Award for the best papers in the Naval Engineers Journal in 1985 and 1992. Also he received the ASCE “Outstanding Research Oriented Paper” in the Journal of Walter L. Huber Research Prize in 1997 and the K.S. Fu Award of NAFIPS in 1995. He is a registered Professional Engineer (PE) with the State of Maryland. Zbigniew J. Karaszewski:is the Associate Director of the University of Maryland's Center for Technology and Systems Management and technical director of the Center for Maritime Leadership. He is a Systems Engineering and Management Consultant specializing in life cycle system support business systems auditing and risk management and loss prevention. Mr. Karasezewski has 30 years of experience in the field of systems performance analysis and management as a practitioner and teacher

In this paper, a methodology and guidelines for applying risk methods in design and operation of maritime systems were developed and demonstrated using a case study of marine diesel generators. The methodology consists of several modules that include system definition based on functional and performance requirements, definition of dependencies among subsystems, data collection and reduction, reliability and risk analyses, and results reduction for use in decision analysis. The methodology was used to assess and analyze typical service diesel generators found onboard ships. The analysis included the generation of cut sets for the overall reliability of the system. The most likely failure scenarios were determined by demonstration as the failure of fuel supply components. The results are consistent with previous findings of the U.S. Coast Guard.

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Removal of volatile organic compounds horn surfactant solutions by flash vacuum stripping in a packed column

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GROUNd WATER MONITORING ANd REMEdIATION 1998年第4期18卷 157-165页

作者： Choori, UN Scamehorn, JF O'Haver, JH Harwell, JH Umesh Choori received his B. Tech. in chemical engineering at the Indian Institute of Technology at Kharagpur and his M.S. in chemical engineering at the University of Oklahoma. John Scamehorn holds the Asahi Glass Chair in Chemical Engineering and is Associate Director of the Institute for Applied Surfactant Research at the University of Oklahoma (Norman OK 73019). He received his B.S. and M.S. at the University of Nebraska and his Ph.D. at the University of Texas all in chemical engineering. Dr. Scamehorn has worked for Shell Conoco and DuPont and has been on a number of editorial boards for journals in the area of surfactants and separation science. He has edited three books and coauthored more than 120 technical papers. His research interests include surfactant properties important in consumer product formulation and surfactant-based separation processes. John O'Haver is currently an assistant professor in chemical engineering at the University of Mississippi. He received his degrees from the University of Oklahoma two in secondary education and one in chemical engineering. Dr. O'Haver taught high school for 12 years before returning for his Ph.D. His research interests are in the areas of fundamental and applied surfactant science. Jeffrey Harwell holds the Conoco/DuPont Professorship in Chemical Engineering and is Director of the School of Chemical Engineering and Materials Science at the University of Oklahoma. He received his B.A. in chemistry and M.S. in chemical engineering at Texas A&M University a M.Div. at the Western Conservative Baptist Seminary and his Ph.D. at the University of Texas in chemical engineering. Dr. Harwell is a cofounder of Surbec Environmental and is president of Surfactant Associates. He has served as a program director at NSF for one year and was the Victor K. Lamer award winner in 1984. He has edited three books and coauthored more than 80 technical papers. His research interests include surfactants in environmental remediation and in material property modification.

Volatile organic compounds (VOCs) can be removed from contaminated ground water and subsurface media by surfactant-enhanced remediation processes. For the process to be economically competitive it is necessary to recover and reuse the surfactant from this concentrated solution. The VOC can be removed from this concentrated solution by flash vacuum stripping, leaving the surfactant solution for reuse. In this study, the flash vacuum stripping of trichloroethylene (TCE) from an anionic surfactant solution in a co-current packed column was studied under rough vacuum conditions. The presence of surfactants lead to a reduction in the overall liquid phase volumetric mass transfer coefficient (MTC) of 40 to 95%, depending on flow rate and surfactant concentration at 50 degrees C and 16 kPa. At liquid loading rates of less than 13 cm(3)/cm(2)min, the MTC of TCE decreases rapidly with an increase in liquid loading rate, and at liquid loading rates above that, the MTC decreases slightly with an increase in the liquid loading rate. This trend may have been due to foaming. At surfactant concentrations above the critical micelle concentration, the effect of surfactant concentration was not significant at liquid loading rates less than 13 cm(3)/cm(2)min. However, beyond that rate, the MTC of TCE decreased drastically with an increase in surfactant concentration. The MTC of TCE increased with an increase in temperature. A large pressure drop (3 to 4 kPa/m) was observed across the packed bed due to foaming.

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Contributory presentations/posters

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Journal of Biosciences 1999年第1期24卷 33-198页

作者： N. Manoj V. R. Srinivas A. Surolia M. Vijayan K. Suguna R. Ravishankar R. Schwarzenbacher K. Zeth diederichs G. M. Kostner A. Gries P. Laggner R. Prassl Madhusudan Pearl Akamine Nguyen-huu Xuong Susan S. Taylor M. Bidva Sagar K. Saikrishnan S. Roy K. Purnapatre P. Handa U. Varshney B. K. Biswal N. Sukumar J. K. Mohana Rao A. Johnson Vasantha Pattabhi S. Sri Krishna Mira Sastri H. S. Savithri M. R. N. Murthy Bindu Pillai Kannan M. V. Hosur Mukesh Kumar Swati Patwardhan K. K. Kannan B. Padmanabhaa S. Sasaki-Sugio M. Nukaga T. Matsuzaki S. Karthikevan S. Sharma A. K. Sharma M. Paramasivam P. Kumar J. A. Khan S. Yadav A. Srinivasan T. P. Singh S. Gourinath Neelima Alam A. Srintvasan Vikas Chandra Punit Kaur Ch. Betzel S. Ghosh A. K. Bera S. Bhattacharya S. Chakraborty A. K. Pal B. P. Mukhopadhyay I. dey U. Haldar Asok Baneriee Jozef Sevcik Adriana Solovicova K. Sekar M. Sundaralingam N. Genov dong-cai Liang Tao Jiang Ji-ping Zhang Wen-rui Chang Wolfgang Jahnke Marcel Blommers S. C. Panchal R. V. Hosur Bindu Pillay Puniti Mathur S. Srivatsun Ratan Mani Joshi N. R. Jaganathan V. S. Chauhan H. S. Atreya S. C. Sahu K. V. R. Chary Girjesh Govil Elisabeth Adjadj Éric Quinjou Nadia Izadi-Pruneyre Yves Blouquit Joël Mispelter Bernadette Heyd Guilhem Lerat philippe Milnard Michel desmadreil Y. Lin B. d. Nageswara Rao Vidva Raghunathan Mei H. Chau Prashant Pesais Sudha Srivastava Evans Coutinho Anil Saran Leizl F. Sapico Jayson Gesme Herbert Lijima Raymond Paxton Thamarapu Srikrishnan C. R. Grace G. Nagenagowda A. M. Lynn Sudha M. Cowsik Sarata C. Sahu S. Chauhan A. Bhattacharya G. Govil Anil Kumar Maurizio Pellecchia Erik R. P. Zuiderweg Keiichi Kawano Tomoyasu Aizawa Naoki Fujitani Yoichi Hayakawa Atsushi Ohnishi Tadayasu Ohkubo Yasuhiro Kumaki Kunio Hikichi Katsutoshi Nitta V. Rani Parvathy R. M. Kini Takumi Koshiba Yoshihiro Kobashigawa Min Yao Makoto demura Astushi Nakagawa Isao Tanaka Kunihiro Kuwajima Jens Linge Seán O. donoghue Michael Nilges G. Chakshusmathi Girish S. Ratnaparkhi P. K. Madhu R. Varadarajan C. Tetreau Molecular Biophysics Unit Indian Institute of Science Bangalore India Austrian Academy of Sciences Institute of Biophysics and X-ray Structure Research Graz Austria Faculty of Biology University of Konstanz Germany Institute of Medical Biochemistry University of Graz Austria Howard Huges Medical Institute Department of Chemistry & Biochemistry University of California La Jolla USA Department of Chemistry & Biochemistry University of California San Diego La Jolla USA Molecular Biophysics Unit India Department of Microbiology &Cell Biology Indian Institute of Science Bangalore India Macromolecular Structure Laboratory NCI - Frederick Cancer Research and Development Center ABL - Basic Research Program Frederick USA Department of Crystallography and Biophysics University of Madras Chennai Biochemistry Department Indian Institute of Science Bangalore India Condensed Matter Physics Division B.A.R.C. Trombay Mumbai Condensed Matter Physics Division Bhabha Atomic Research Centre Trombay Mumbai IMCB The University of Tokyo Tokyo Japan Mitsubishi Chemical Corporation Yokohama Research Center Yokohama Japan Faculty of Pharmaceutical Sciences Chiba University Chiba Japan Department of Biophysics All India Institute of Medical Sciences New Delhi India Department of Biophysics All India Institute of Medical sciences New Delhi India Institüt Physiologische Chemie Hamburg Germany Biophysics Department Bose Institute Calcutta India Slovak Academy of Sciences Institute of Molecular Biology Bratislava Slovakia Indian Institute of Science Bioinformatics Centre Bangalore Departments of Chemistry and Biochemistry Biological Macromolecular Structure Center USA Bulgarian Academy of Sciences Institute of Organic Chemistry Sofia Bulgaria Chinese Academy of Sciences Institute of Biophysics Beijing China Novartis Pharma AG Preclinical Research Basel Switzerland Department of Chemical Sciences Tata Institute of Fundamental Research Mumbai India Solid State Physics Div

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Abstracts of presentations on plant protection issues at The Xth International Congress of Virology - August 11-16, 1996 - Binyanei haOoma, Jerusalem, Israel - Part 3 (final part)

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phYTOPARASITICA 1998年第1期26卷 67-90页

作者： [Anonymous] Dept. of Virus Research John Innes Centre Colney UK Dept. of Field and Vegetable Crops The Hebrew University of Jerusalem Faculty of Agricultural Food and Environmental Quality Sciences Rehovot Israel Station de Recherches Grandes Cultures INRA Colmar France Inst. de Biologie Moléculaire des Plantes du CNRS Strasbourg France DLO Research Institute for Plant Protection Wageningen The Netherlands Dept. of Biological Science University of Lagos Lagos Nigeria Dept. of Virology Agricultural University Wageningen The Netherlands Dept. de Biología de Plantas Centra de Investigaciones Biológicas CSIC Madrid Spain Dept. of Plant Protection National Agriculture Research Center Tsukuba lbaraki Tohoku National Agricultural Experiment Station Morioka Iwate Kyushu National Agricultural Experiment Station Kumamoto Japan Dept. of Virology ARO The Volcani Center BetDagan Israel Institut Jacques Monod CNRS Université Paris VII Paris France Dept. of Virology ARO The Volcani Center Bet Dagan Israel Scripps Institute San Diego USA Dept. of Plant Pathology University of Kentucky Lexington USA Inst. of Molecular Plant Sciences Gorlaeus Laboratories Leiden University RA Leiden The Netherlands Inst. de Biología Molecular y Celular de Plantas Valencia Spain Scottish Crop Research Inst. Invergowrie Dundee UK Depts. of Plant Pathology Univ. of Georgia Coastal Plain Exp. Station Tifton Depts. Entomology Univ. of Georgia Coastal Plain Exp. Station Ttfton Dept. of Plant Pathology Oklahoma State University Stillwater USA Depts. of Coop. Ext. Service Univ. of Georgia Coastal Plain Exp. Station Ttfton Plant Science Dept. Univ. of British Columbia Vancouver Agriculture and Agri-Food Canada Pacific Agric. Res. Centre Vancouver Canada Deutsche Sammlung von Mikroorganismen und Zellkultur (DSMZ) Abt. Pflanzenviren and Biologische Bundesanstalt für Land- und Forstwirtschaft Inst. für Biochemie und Pflanzenvirologie Braunschweig Germany Inst. of Molecular Biology and Biotec

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More on training strategies for critic and action neural networks in dual heuristic programming method

More on training strategies for critic and action neural net...

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IEEE International Conference on Systems, Man and Cybernetics

作者： G.G. Lendaris C. Paintz T. Shannon Systems Science & Electrical Engineering Portland State University Portland OR USA Electrical Engineering Portland State University Portland OR USA Systems Science Ph.D. Program Portland State University Portland OR USA

The article describes a modification to the usual procedures for training of critic and action neural networks in the dual heuristic programming (dHP) method (d. Prokhorov and d. Wunsch, 1996; R. Santiago, 1995; P. Werbos, 1994). This modification entails updating both the critic and the action networks at each computational cycle, rather than only one at a time. The distinction lies in the introduction of a (real) second copy of the critic network whose weights are adjusted less often and the "desired value" for training the other critic is obtained from this critic copy. Previously (G. Lendaris and C. Paintz, 1997), the proposed modified training strategy was demonstrated on the pole cart controller problem: the full 6 dimensional state vector was input to the critic and action NNs, however, the utility function only involved pole angle, not distance along the track (x). For the first set of results presented here, the 3 states associated with the x variable were eliminated from the inputs to the NNs, keeping the same utility function previously defined. This resulted in improved learning and controller performance. From this point, the method is applied to two additional problems, each of increasing complexity: for the first, an x-related term is added to the utility function for the pole cart problem, and simultaneously, the x-related states were added back in to the NNs (i.e., increase number of state variables used from 3 to 6); the second relates to steering a vehicle with independent drive motors on each wheel. The problem contexts and experimental results are provided.

关键词： Neural networks Intelligent networks Equations design methodology Sliding mode control Computer networks Vehicle driving Wheels Analytical models Signal generators

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