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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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Real-time implementation of a non-invasive tongue-based human-robot interface

Real-time implementation of a non-invasive tongue-based huma...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Michael Mace Khondaker Abdullah-Al-Mamun Ravi Vaidyanathan Shouyan Wang Lalit Gupta Department of Mechanical Engineering Faculty of Engineering University of Bristol UK Institute of Sound and Vibration Research (ISVR) University of Southampton UK US Naval Postgraduate School Monterrey CA USA Bristol Robotics Laboratory Department of Mechanical Engineering University of Bristol Bristol UK Department of Electrical and Computer Engineering Southem Illinois University IL USA

Real-time implementation of an assistive human-machine interface system based around tongue-movement ear pressure (TMEP) signals is presented, alongside results from a series of simulated control tasks. The implementation of this system into an online setting involves short-term energy calculation, detection, segmentation and subsequent signal classification, all of which had to be reformulated based on previous off-line testing. This has included the formulation of a new classification and feature extraction method. This scheme utilises the discrete cosine transform to extract the frequency features from the time domain information, a univariate Gaussian maximum likelihood classifier and a two phase cross-validation procedure for feature selection and extraction. The performance of this classifier is presented alongside a real-time implementation of the decision fusion classification algorithm, with each achieving 96.28% and 93.12% respectively. The system testing takes into consideration potential segmentation of false positive signals. A simulation mapping commands to a planar wheelchair demonstrates the capacity of the system for assistive robotic control. These are the first real-time results published for a tongue-based human-machine interface that does not require a transducer to be placed within the vicinity of the oral cavity.

关键词： Training Discrete cosine transforms Tongue Real time systems Feature extraction Ear Accuracy

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Parallel self-organizing maps with application in clustering distributed data

Parallel self-organizing maps with application in clustering...

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International Joint Conference on Neural Networks (IJCNN)

作者： Flavius L. Gorgonio Jose Alfredo F. Costa Electrical Engineering and Computer Science Postgraduate Program Federal University of Rio Grande do Norte Natal Rio Grande do Norte Brazil Adaptive Systems Laboratory Electrical Engineering Department Federal University of Rio Grande do Norte Natal Rio Grande do Norte Brazil

Clustering is the process of discovering groups within multidimensional data, based on similarities, with a minimal, if any, knowledge of their structure. Distributed data clustering is a recent approach to deal with geographically distributed databases, since traditional clustering methods require centering all databases in a single dataset. Moreover, current privacy requirements in distributed databases demand algorithms with the ability to process clustering securely. Among the unsupervised neural network models, the self-organizing map (SOM) plays a major role. SOM features include information compression while trying to preserve the topological and metric relationship of the primary data space. This paper presents a strategy for efficient cluster analysis in geographically distributed databases using SOM networks. Local datasets relative to database vertical partitions are applied to distinct maps in order to obtain partial views of the existing clusters. Units of each local map are chosen to represent original data and are sent to a central site, which performs a fusion of the partial results. Experimental results are presented for different datasets.

关键词： Distributed databases Artificial neural networks Joints Conferences Iris Clustering methods Clustering algorithms

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Plant/controller optimization with applications to integrated surface sizing and feedback controller design for autonomous underwater vehicles (AUVs)

Plant/controller optimization with applications to integrate...

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American Control Conference (ACC)

作者： C. Silvestre A. Pascoal I. Kaminer A. Healey Institute for Systems and Robotics and Department of Electrical Engineering Instituto Superior Technico Lisboa Portugal Department of Aeronautics and Astronautics Naval Postgraduate School Monterrey CA USA Autonomous Underwater Vehicles Laboratory and Department of Mechanical Engineering Naval Postgraduate School Monterrey CA USA

This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV)-with a fixed baseline body configuration-that is required to operate over a finite number of representative trimming conditions in the vertical plane, determine the optimal size of the bow and stern control surfaces so that a weighted average J of the power required at trimming is minimized, subject to the conditions that: (i) a given set of open loop requirements are met, and (ii) stabilizing feedback controllers can be designed to meet desired time and frequency closed loop performance requirements about each trimming point. The solution proposed is rooted in the theory of linear matrix inequalities (LMIs) and leads to efficient PCO algorithms that build on a recently released LMI Toolbox.

关键词： Adaptive control Size control Open loop systems Underwater vehicles Optimal control Control systems Linear matrix inequalities Optimization methods Constraint optimization Robots

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Combined Plant/Controller Optimization with Applications to Autonomous Underwater Vehicles (AUVS)

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IFAC Proceedings Volumes 1998年第30期31卷 321-326页

作者： C. Silvestre A. Pascoal I. Kaminer A.J. Healey Dept. Electrical Engineering / Inst. for Systems and Robotics Instituto Superior Técnico Av. Rovisco Pais 1 1096 Lisboa Codex Portugal Autonomous Underwater Vehicles Laboratory Dept. Mechanical Engineering Naval Postgraduate School (NPS) Monterey California 93943 USA Dept. of Aeronautics and Astronautics NPS Monterey California 93943 USA

This paper describes a solution to the following plant-controller optimization (PCO) problem: given an autonomous underwater vehicle (AUV) - with a fixed baseline body configuration - that is required to operate over a finite number of representative trimming conditions in the vertical plane, determine the optimal size of the bow and stern control surfaces so that a weighted average J of the power required at trimming is minimized, subject to the conditions that: i) a given set of open loop requirements are met, and ii) stabilizing feedback controllers can be designed to meet desired time and frequency closed loop performance requirements about each trimming point. The solution proposed is rooted in the theory of Linear Matrix Inequalities (LMIs) and leads to efficient PCO algorithms that build on a recently released LMI Toolbox.

关键词： underwater vehicles plant optimization controller design linear matrix inequalities

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Affordability, logistics R&D and fleet systems

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NAVAL ENGINEERS JOURNAL 1996年第3期108卷 199-213页

作者： Schulte, DP Skolnick, A He has supported the development and operation of several naval systems including advanced component selection for Trident II fire control and navigation systems. He served as branch manager of the Surface Ship ASW Combat System Branch which acted as the acquisition engineering agent for the AN/SQQ-89 Surface Ship Anti-Submarine Warfare Weapon System. He was then selected to manage the Module Engineering Department which provided engineering support to numerous naval systems including the AN/BSY-1 Submarine Combat System and the Trident II fire control and navigation system. He then served as the deputy program manager for NAVSEA Progressive Maintenance (2M/ATE). He holds a B.S. degree in Electrical Engineering from Purdue University and currently is pursuing a Maste's degree in Public Environmental Affairs at Indiana University—Purdue University Indianapolis. He served at Applied Physics Laboratory/The Johns Hopkins University in missile development then aboard USS Boston (CAG-1) and played leading roles in several weapon system developments (Regulus Terrier Tartar Talos) inertial navigation (Polaris) deep submergence (DSRV) and advanced ship designs (SES). He later was director Combat System Integration Naval Sea Systems Command and head Combat Projects Naval Ship Engineering Center. He led the Navy's High Energy Lasers and Directed Energy Weapons development efforts. He was vice president advanced technology at Operations Research Inc. and vice president maritime engineering at Defense Group Inc. before starting SSC in 1991. Dr. Skolnick holds a B.S. degree in Mathematics and Economics Queens College an M.A. degree in Mathematics and Philosophy Columbia University an M.S. degree in Electrical/Aeronautical Engineering U.S. Naval Postgraduate School and a Ph.D. in Electrical Engineering and Applied Mathematics from Polytechnic University in New York. He is the author of many published papers on engineering design issues source selection procedures and large-scale complex technology problems

The Fleet continues to require high performance systems that can operate with dependability in the seas' unforgiving environments and under hostile action. Those demands are not new. What has changed is the urgent priority formerly assigned to national defense issues. The arguments for continued superpower military strength are now roiled in politics along with unsettled budgets and uncertain force level projections. Current expectations revolve about indefinite fiscal and operational issues (difficult funding constraints and broadband threats). In the actual event of ''doing more with less,'' a practical response is to apply the creative power available from sound engineering judgement and the crucible of experience to the immediate needs of the Fleet. The attempt to shorten the path between advanced development effort and Fleet use has been tried occasionally in the past, often, without exemplary results. The Sustainable Hardware and Affordable Readiness Practices (SHARP) program, is a generic R&D effort under OpNav sponsorship that has been working steadily on sensible solutions to product engineering problems. Armed today with fast-time, large-scale computation abilities and modern tools for technical problem solving coupled with specialized engineering knowledge, it has been refreshed and is underway satisfying existing Fleet needs. The relationship between fully responsive engineering services and current operational needs is always demanding. The connection between advanced engineering development (6.3 category funds) and immediate Fleet usage brings added complexity and challenge, both technical and organizational. Illustrative examples of affordable engineering solutions to ''retain, revise, replace or retire'' questions are presented within the context of both Fleet realities and budgetary limitations. The discussion covers legacy system support, civil/military considerations and Fleet maintenance issues. It describes the substantial and critical payoffs i

关键词： Warships

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ACQUISITION REFORM AND BEST PRODUCT PROCUREMENT - AN engineering VIEW

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NAVAL ENGINEERS JOURNAL 1994年第6期106卷 41-57页

作者： FISHER, DA SKOLNICK, A He has been involved with several weapon system developments. Among these were the Trident II fire control and navigation systems the BSY-I Anti-Submarine Warfare System and the Navy standard computers (UYK44 and EMSP). He served as manager of the Digital Circuits Engineering Branch and was then appointed as manager of the Automatic Test Equipment (ATE) Technology Division. As manager of the ATE Technology Division he was responsible for the SP-23 Fire Control System Support Project the SP-24 Navigation Project and the Fleet Progressive Maintenance Program (2M/ATE). This Division was responsible for selection and application of electronic product technology and for developing fleet test and repair techniques. He holds a B.S. in Electrical Engineering from the University of Evansville and is currently pursuing a Masters of Public Administration at Indiana University-Purdue University Indianapolis. Dr. Alfred Skolnick:retired from the Navy in 1983 with the rank of captain. He is president of System Science Consultants (SSC) specializing in strategic planning technical program definition technology assessment and engineering analyses on selected matters of national interest. Dr. Skolnick taught mathematics and management sciences at University of Virginia and Marymount University. He is adjunct faculty at Northern Virginia Community College. From 1985 to 1989 he was president of the American Society of Naval Engineers. In the Navy he served at Applied Physics Laboratory/The Johns Hopkins University then aboard USSBoston(CAG-1) and played leading roles in several weapon system developments inertial navigation (Polaris) deep submergence (DSRV) and advanced ship designs (SES). He later was director Combat System Integration Naval Sea Systems Command and head Combat Projects Naval Ship Engineering Center. In 1975 he became a major project manager and led the Navy's High Energy Lasers Program in 1981 he was assigned all Navy Directed Energy Weapons development efforts. He was vice president advanced tech

The military services are being moved in the direction of performance-based specifications and standards. They are being steered against dictating ''how to'' produce an item since such action forecloses on the ability to gain access to components or technology that may have a commercial equivalent. Why should the engineering community embrace the new approach? Aside from the obvious weight of it being approved policy, therefore currently mandated, it warrants examination because it is the correct approach at this time when applied to appropriate products. Military specifications and standards are to be displaced then, by acceptable alternative contractor design solutions. Industry bidders will be allowed to propose the particular design details, permitting procurement flexibility by contractually citing only system level or interface requirements, both physical and functional. Hopefully, this can broaden the industrial base and increase competition with reduced costs to follow. Conceptually, the approach appears both performance-sensible and cost-attractive (there are, of course, consequent risks) but how does implementation proceed? Is it possible to pursue the goals envisioned along paths that are not in themselves experimental? Can the American postulate, minimal loss of life and limb to U.S. military people, continue to be honored? Experience and track record elsewhere imply encouraging possibilities in select situations-useful prospects are identified and discussed in practical terms.

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FFG 7 CLASS FIN STABILIZER SYSTEM

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NAVAL ENGINEERS JOURNAL 1984年第3期96卷 62-68页

作者： DONAHUE, JC MCMAHON, EJ NELSON, LW Commander John C. Donahue USN:is the Deputy Technical Director for NAVSEA PMS 399 the FFG 7 class Acquisition Project Office. In addition he is the FFG 7 class Fin Stabilizer System Program Manager. Cdr. Donahue is an Engineering Duty Officer and Surface Warfare Officer who holds a BS in marine engineering from the California Maritime Academy a BS in business administration and an MS in material management from the Naval Postgraduate School. He is a designated Weapons Systems Acquisition Manager. Cdr. Donahue's sea service includes three tours culminating as chief engineer in USSFarragut (DLG-6) during that ship's complex overhaul as the DLG pilot ship for the 1200 PSI improvement program. Significant shore duty includes the Philadelphia Naval Shipyard where he served as theBelknapproject officer during that ship's repair restoration and modernization following its collision with USSJohn F. Kennedy (CV-67) Assistant Sixth Fleet Maintenance Officer and the Naval Research Laboratory. Cdr. Donahue was the charter president of the ASNE Section at the Naval Postgraduate School. Edward J. McMahon:is founder and President Reliability Sciences Incorporated (RSI) and has been supporting NAVSEA on the FFG 7 Class fin stabilizer system procurement since 1977. Mr. McMahon has a BSME from New Jersey Institute of Technology and has done graduate work in electrical engineering operations research and engineering administration at New Jersey Institute of Technology Seton Hall University University of Alabama and George Washington University. He has authored and presented various papers on reliability and electrostatic discharge control and coauthored a book Electrostatic Discharge Control — Successful Methods for Microelectronics Design and Manufacturingpublished by Hayden Publishing Company 1983. Mr. McMahon is a registered Professional Engineer and listed in Who's Who 1977 1978 1982 and 1983. Louis W. Nelson:is an electrical engineer with the NAVSEA Surface Ship Control and Hydraulic System Branch where he ha

This paper discusses the new fin stabilizer system developed for the FFG 7 class ships. The paper includes: a brief history of fin stabilizers, the advantages of fin stabilizers on Navy combatants, brief theory of system operation, the approaches used in system development, and an up to date program status. This paper furthers Nelson and McCallum's paper [1] which addresses the infancy of the FFG 7 fin stabilizer system development program.

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