Problem.0}dealing with coordination of autonom.us.vehicles.us.ally as.um. that the agents.s.are a univers.l orientation in their local reference fram.s. Although the s.ns.ng requirem.nts.to s.tis.y this.as.um.tion can ...
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Problem.0}dealing with coordination of autonom.us.vehicles.us.ally as.um. that the agents.s.are a univers.l orientation in their local reference fram.s. Although the s.ns.ng requirem.nts.to s.tis.y this.as.um.tion can s.m.tim.s.be low, they cannot always.be guaranteed. The bas.c problem.of fram. alingm.nt is.s.udied here, in the abs.nce of orientation s.ns.rs. by exploiting the notions.of rigidity, vis.bility and com.unication graphs. Firs. the relations.ip is.exam.ned between geom.tric rigidity of a form.tion and the agents. ability to agree on a s.ared orientation to their local fram.s. Our m.in res.lts.are then form.lated in term.0}of vis.bility and com.unication graphs.us.ng cyclic graph coverage. Cas.s.when only dis.ances.are m.as.rable are als. inves.igated, in which cas. the m.tion capabilities.of the agents.need to be exploited to res.lve am.iguity caus.d by s.m.etry.
A s.lf – tuning PID controller algorithm.has.been derived in this.paper. The proces. is.identified by the regres.ion (ARX) continuous.– tim.m.del us.ng the recurs.ve leas.s.uares.m.thod (RLs.) with applied directi...
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A s.lf – tuning PID controller algorithm.has.been derived in this.paper. The proces. is.identified by the regres.ion (ARX) continuous.– tim.m.del us.ng the recurs.ve leas.s.uares.m.thod (RLs.) with applied directional forgetting. The recurs.ve param.ter es.im.tes.of the continuous.– tim.m.del (differential equation) are us.d to s.nthes.s.the PID controller. controller s.nthes.s.is.des.gned on the bas.s.of a dynam.cs.invers.on m.thod. This.m.thod allows.the tuning of s.andard analog and digital controllers.for chos.n types.of controlled proces.es.without or with tim. delay. The algorithm.is.s.itable for the automatics.tting of analog and digital PID controllers.for determ.nis.ic proces.es.or the adaptive control of s.ochas.ic and nonlinear proces.es. The analog m.dification PID controller has.been verified by com.uter s.m.lation.
作者：
s.Im.0}N, WAm.Rs., m.UTTICH, RmWilliam A. Stimsonreceived his B.S. degree in mathematics from the University of Texas at El Paso in 1964
and his M.S. degree in engineering from the University of Santa Clara in 1971. He served in the U.S. Army Artillery during the Korean Conflict and subsequently was employed at IBM Huntsville Alabama until 1968 where he worked in the design of automatic control systems of the Saturn vehicle. From 1968 until 1971 he was employed at Ames Research Center Moffett Field in the design of nonlinear control systems for sounding rockets and pencil-shaped spacecraft. Following this Mr. Stimson worked at Hewlett Packard Sunnyvale California as a test engineer in automatic test systems. Since 1973 Mr. Stimson has been employed at the Naval Ship Weapon Systems Engineering Station Port Hueneme. He was a ship qualification trials project supervisor for many years and is now serving as master ordnance repair deputy program manager. Mr. Stimson is a member of the American Society of Naval Engineers and is program chairman of the Channel Islands Section. Cdr. Michael T. Marsh
USNreceived a B.S. in mathematics from the University of Nebraska and was commissioned via the NESEP program in 1970. He holds an M.S. in computer science from the U.S. Navy Postgraduate School and an MBA from the State University of New York. Cdr. Marsh has served in the weapons department of USSFrancis Hammond (FF-1067) and of USSJohn S. McCain (DDG-36). He was weapons officer aboard USSSampson (DDG-10). As an engineering duty officer Cdr. Marsh was the technical design officer for PMS-399 at the FFG-7 Class Combat System Test Center from 1978 to 1982. He is presently combat system officer at SupShip Jacksonville and has been active in the MOR program since its inception. Cdr. Marsh is also the vice chairman of the Jacksonville Section of ASNE. LCdr. Richard M. Uttich
USNholds B.S. and M.S. degrees in mechanical engineering from Stanford University. He enlisted in the Navy in 1965 serving as an electronics technician aboard USSNereus (A
The 600-s.ip United s.ates.Navy offers.private s.ipyards.an unprecedented opportunity for overhaul of s.rface com.atants.with com.lex com.at systems. Recognizing the new challenge as.ociated with the overhaul of high ...
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The 600-s.ip United s.ates.Navy offers.private s.ipyards.an unprecedented opportunity for overhaul of s.rface com.atants.with com.lex com.at systems. Recognizing the new challenge as.ociated with the overhaul of high technology com.at systems in the private s.ctor, the Navy in 1983 es.ablis.ed the m.s.er ordnance repair (m.R) program. This.program. a joint effort of the Naval s.a systems Com.and (NAVs.A) and the s.ipbuilders.Council of Am.rica (s.A), was.des.gned to identify and qualify thos. com.anies.and private s.ipyards.technically capable of m.naging com.at systems work and conducting com.at s.s.em.tes.ing. s.andard Item.009–67 des.ribes.the role of the m.R com.any in com.at s.s.em.overhaul. It defines.term.0}that are im.ortant to unders.anding the item.its.lf, and im.os.s.upon the prim. contractor an obligation to utilize the m.R s.bcontractor in a m.nagerial capacity. s.ecific tas.s.are as.igned to the m.R com.any in planning, production, and tes.ing. Finally, this.s.andard item.des.ribes.to the Navy planner how to es.im.te the s.ze of the m.R team.appropriate to the work package, a feature that will ens.re that com.at s.s.em.bids.are tailored to a s.ecific availability.
作者：
KORWEK, ELEdward L. Korwek
Ph.D. J.D. is associated with the law offices of Keller and Heckman 1150 17th St. N.W. Washington D.C. 20036.REFERENCES Committee on Recombinant DNA "Potential Biohazards of Recombinant DNA Molecules" Nature250: 175 (1974) Proc. Nat. Acad. Sci.71: 2593 (1974)Science185: 303 (1974).|Article|Fed. Regist.48: 24556 (1983).Milewski
E. Editor's Note. Recombinant DNA Tech. Bull.4: i (1981).Inside EPA 4 1 (1983). EPA has already held a meeting and published a draft report on the subject of its regulation of this area under the TSCA. EPA "Administrator's Toxic Substances Advisory Committee Meeting"
Fed. Regist.48: 8342 (1983) Regulation of Genetically Engineered Substances Under TSCA
Chemical Control Division Office of Toxic Substances Office of Pesticides and Toxic Substances Environmental Protection Agency Washington D.C. (March 1982). Congress also recently held a hearing on the subject of existing federal authority over the release of R-DNA-containing organisms into environment. M. Sun Science221: 136 (1983).Sects. 2-30 15 U.S. Code sects. 2601-2629 (1976 and Supp. V 1981). Hereinafter all references in the text to TSCA refer to the section numbers as enacted and not to the corresponding U.S. Code sections.The Administrative Procedure Act specifically states that the reviewing court shall "hold unlawful and set aside agency action findings and conclusions found to be hellip in excess of statutory jurisdiction
authority or limitations or short of statutory right. hellip " 5 U.S. Code
sect. 706(2)(C) (1976).PHS Act 42 U.S. Code sects. 217a and 241 (1976) Charter
Recombinant DNA Advisory Committee Department of Health and Human Services (1982).Korwek E. Food Drug and Cosm. L. J.35: 633 (1980) p. 636.Although DHHS has some authority under Section 361 of the PHS Act to regulate R-DNA materials that cause human disease and are communicable most types of experimentation would not fall into this category. Because of this limitation the Sub committee of the Federal
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