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Intelligent control for vibration reduction and falling-forward prevention of forklift

JSME International Journal, Series C: Mechanical systems, Machine Elements and Manufacturing 2000年第3期43卷 664-670页

作者： Yoshida, Kazuo Usuda, Takayuki Dept. of System Design Engineering Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan

In this paper we present an intelligent control method that uses a cubic neural network (CNN) to improve the stability of a forklift while it is being driven. Since the forklift, a kind of human-machine system, has a high center of mass, the human driving safety to prevent it from falling forward is an important problem. Two kinds of controllers for reducing vibration and preventing the forklift from falling forward are designed by the CNN intelligent control method and evaluated by evaluators that can interpret and evaluate human operation in each level of CNN. Finally, these controllers are integrated by an integrator. From numerical simulations and experiments it is shown that the proposed integrated intelligent control method using CNN can reduce vibration and at the same time prevent a forklift from falling forward.

关键词： Man machine systems

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ANN (artificial neural network) drive controller of space vector modulation increasing the performance of the induction motor and ensuring harmonic reduction

ANN (artificial neural network) drive controller of space ve...

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SICE Annual Conference

作者： K. Gulez H. Watanabe F. Harashima K. Ohnishi H. Pastaci Department Electronic Systcms enginccring Tokyo Metropolitan Institute of Technology Tokyo Japan Electrical Electronics Faculty electrical engineering Department Yildiz technical University Istanbul Turkey Faculty of Science and Technology depart. of System Design engineering Keio University Yokohama Japan

Control systems have assumed an increasingly important role in the development and advancement of modern civilization and technology. Practically, every aspect of day-to-day activities is affected by some type of control system. Thus, the space-vector technique has become a popular pulse width technique (PWM) for three-phase inverters in applications such as control of AC induction and permanent-magnet synchronous motors. Digital control structures eliminate drifts, solve complex mathematical equations and by using a programmable processor, they can be easily upgraded for new control algorithms. Digital signal processors (DSPs) go further; their high performance allows them to perform high resolution control and minimize control loop delays. These technological improvements supported by artificial neural networks (ANN) have enabled the development of really effective AC drive control with ever lower power dissipation hardware and ever more accurate control structures.

关键词： Artificial neural networks Pulse width modulation inverters Space technology Control systems Space vector pulse width modulation Pulse inverters Synchronous motors Digital control Equations Signal processing algorithms

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On disjoint covers and ROBDD size

On disjoint covers and ROBDD size

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IEEE Pacific Rim Conference on Communications, Computers and Signal Processing

作者： E.V. Dubrova D.M. Miller Electronic System Design Laboratory Department of Electronics KTH-Electrum Royal Institute of Technology Sweden VLSi Design and Test Group Department of Computer Science University of Victoria Victoria BC Canada

ISBN: (纸本)0780355830

The relation between the number of nodes in a ROBDD and the number of implicants in the disjoint cover of the function represented by that ROBDD is studied. We identify a class of functions for which there are disjoint covers such that a cover of a larger size can be represented by a ROBDD with a smaller number of nodes. This shows that the size of a ROBDD is not a monotonically increasing function of the size of the disjoint cover.

关键词： Data structures Boolean functions Electronic equipment testing Input variables Circuits Very large scale integration system testing Computer science Adders Polynomials

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Intelligent motion task planning of redundant parallel manipulator

JSME International Journal, Series C: Dynamics, Control, Rob...

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JSME International Journal, Series C: Dynamics, Control, Robotics, design and Manufacturing 1999年第1期42卷 203-209页

作者： Ogawara, Tomohiro Nakazawa, Kazuo Faculty of Science and Technology Dept. of System Design Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan Faculty of Science and Technology Department of Mechanical Engineering Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama 223-8522 Japan

In this study, a robot that utilizes a parallel mechanism at parts of its body is proposed. The robot combines locomotion and manipulation, and consists mainly of four units of three degree of freedom (hereafter called DOF) parallel mechanism with linear actuators and two grippers attached to both sides of its body. The robot has high redundancy with 14-DOF without grippers. The purpose of this study is to realize the 'intelligent motion' in the redundant parallel manipulator that performs the basic motion of the proposed robot. The robot determines its motion while considering its redundancy and improves it using actuator information derived from the motion. First, we analyze the kinematics and statics about the parallel manipulator, and show a method to optimize the solution of inverse kinematics that includes the redundancy problem. Next, we discuss the intelligent motion task planning of the parallel manipulator using actuator information. Two methods are proposed based on the optimization of inverse kinematics. One optimizes the motion by iteration. The other optimizes the motion successively in continuous motion tasks. Finally, the effectiveness of the proposed methods is verified experimentally.

关键词： Motion planning

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Decentralized control of redundant manipulators: a control scheme that generates a cyclic solution to the inverse problem

Decentralized control of redundant manipulators: a control s...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Y. Yan K. Ohnishi T. Fukuda Department of Mechanical Engineering Faculty of Engineering University of Ryukyus Okinawa Japan Department of System Design Engineering Faculty of Science and Technology Keio University Yokohama Japan Department of Micro System Engineering University of Nagoya Nagoya Japan

A decentralized control scheme is proposed for three-dimensional (3-D) positioning of spatial redundant manipulators having all rotational joints. A cyclic kinematic algorithm is introduced that generates a closed joint-space trajectory corresponding to a closed end-effector path in Cartesian space. Cyclicity is a very important property for manipulators that must perform repeated tasks without the requirement for intermediate re-configuration maneuvers. Once the joint-space trajectory is generated, control of the manipulator becomes a joint-based control; independent control units for each joint are formed by the implementation of a proportional/derivative (PD) feedback controller and a disturbance observer at each joint. The validity of the proposed control scheme is shown by several simulations on multi-jointed redundant spatial manipulators and by experimental results from a 6-link planar redundant manipulator.

关键词： Distributed control Kinematics Manipulators Inverse problems PD control Proportional control Trajectory Closed-form solution Adaptive control Helium

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Modelling combat system manning and manpower reduction

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NAVAL ENGINEERS JOURNAL 1999年第3期111卷 153-171页

作者： Roos, CH Carl H. Roos:is a Senior Engineer with Logicon-Syscon. A graduate of the University of Pittsburgh with a BSEE degree he has over 35 years experience in functional operational combat system fire control interface and computer program design. As technology changed and the combat system was upgraded Mr. Roos maintained his level of technical expertise by taking graduate-level courses in computer science modelling & structured analysis networking & fiber optics. He has worked in various capacities on the LHD LHA DDG 993 DD 963 LPD 17 LCC LPD 13 CGN 38 CGN 9 CG 26 and the DDG Class Combat Systems. In recent years Mr. Roos has been responsible for managing directing and performing engineering design and analysis efforts associated with Battle Management Organization (BMO) functional analysis and operational analysis. These efforts were used in defining combat system operational requirements shipboard space requirements and integration requirements. His paper “Configuration Management of Digital Programs” was published at the 1972 IEEE Southeastern Conrence.

NAVSEA 03K41 is responsible for generating Combat system Rattle Management Organizations (BMO) and Functional Flow Diagrams (FFD). Several years ago, NAVSEA provided the resources to conduct a functional analysis that would support the development and validation of the BMOs and FFDs. The major obstacle in performing the analysis was obtaining a consensus on how the functional hierarchy was to be structured. The non-optimum organization of the hierarchy was selected;as a result, the functions were difficult to define, find, use, and validate. Recognizing the shortcomings of this effort, research was conducted to evaluate state-of-the-art structured modelling techniques, concepts, and methodologies. Two modelling concepts by James Martin were found to be applicable for the combat system functional analysis: Enterprise Modelling Concept and Functional Decomposition Modelling Concept. The Structure Modelling definitions of Whitten, Bently, and Barlow provided the guidelines for using the Martin concepts. During the ensuing BMO and FFD development efforts, a Ship's Combat system (SCS) Modelling concept evolved and a SCS Model was developed. This paper addresses how the modelling concepts and tools are used in the BMO and FFD development and validation process. Data from the SCS Model provides the basis for defining combat system requirements (e.g., software, data display, database, networking, etc.).

关键词： Naval vessels

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Parallel processor system specific for Monte Carlo analysis based on ring bus architecture 6

Parallel processor system specific for Monte Carlo analysis ...

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6th International Workshop on Computational Electronics, IWCE 1998

作者： Kurino, H. Ono, T. Kuroishi, N. Kawata, T. Miyakawa, N. Fukase, M. Aibara, R. Koyanagi, M. Intelligent System Design Lab. Dept. of Machine Intelligent and Systems Engineering Graduate School of Engineering Tohoku University Aoba-yama 01 Sendai980-8579 Japan Advanced Technology and Engineering Center Fuji Xerox Co. Ltd. Japan Faculty of Science and Technology Hirosaki University Japan Information Processing Center Hiroshima University Japan

ISBN: (纸本)0780343697

We have developed a new parallel processor system specific for the MC analysis, to dramatically reduce the calculation time. Our parallel processor system is based on ring bus architecture. The RISC micro processor chip, which contains a ring bus interface unit (RBIU), a floating point arithmetic unit (FAU) and so on, was also developed for our system. Speed up ratio compared with a single processor reached to 13.5 at 23 PEs. © 1996 IEEE.

关键词： Digital arithmetic

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Parallel processor system specific for Monte Carlo analysis based on ring bus architecture

Parallel processor system specific for Monte Carlo analysis ...

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International Workshop on Computational Electronics

作者： H. Kurino T. Ono N. Kuroishi T. Kawata N. Miyakawa M. Fukase R. Aibara M. Koyanagi Intelligent System Design Laboratory Department of Machine Intelligent and Systems Engineering Graduate School of Engineering University of Tohoku Sendai Japan Advanced Technology & Engineering Center Fuji Xerox Company Limited Faculty of Science and Technology Hirosaki University Information Processing Center Hiroshima Institute of Technology

关键词： Monte Carlo methods design engineering Analytical models Computational modeling Master-slave Intelligent systems Machine intelligence Poisson equations system analysis and design systems engineering and theory

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Steering Control for Car Cornering by Means of Learning Using Neural Network and Genetic Algorithm

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IFAC Proceedings Volumes 1998年第2期31卷 25-28页

作者： Akihiko Shimura Kazuo Yoshida Graduate School of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku Yokohama Kanagawa Japan Fax +81 45 560 1783 Tel +81 45 560 1289 Department of System Design Engineering Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku Yokohama Kanagawa Japan Fax +81 45 560 1783 Tel +81 45 560 1289

Car drivers learn steering operation with exercises, but car dynamics is nonlinear at high speed situation on rough roads or low friction roads. Although skillful drivers might control cars for such nonlinear dynamics, it is difficult for ordinary drivers to control cars for such a *** this paper, steering operation for cornering is learned by using a neural network (NN) and a genetic algorithm (GA). The NN controller drives car autonomously with visual information and car states. The inputs to the NN controller are the direction and the curvature of the object path, and the lateral position, the yaw rate and the slip angle of the car. The output from the NN controller is the front steering angle. 4 wheel nonlinear car model with the magic formula of pure cornering is used for an analytical model. The NN controller acquires the driving operation on the curved road as a result of 30 generations iteration of the GA learning. It drives the car successfully on learned and non-leamed curved roads. And, it shows the operation that is similar to the counter steering operation which is used by World Rally Championship drivers at tight curved roads. It achieves higher manoeuvrabilitythan any other positive steering controller by using the counter steering. As a result, the availability of the NN controller learns by the GA algorithm for vehicle autonomous driving in nonlinear region is shown.

关键词： Automotive control Genetic algorithms Learning algorithms Neural networks Nonlinear control

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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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