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Multi-Microcomputer Robot control System Using a Special Robot-Arithmetic-Processor for Advanced Applications of Robot Manipulators

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IFAC Proceedings Volumes 1987年第4期20卷 179-184页

作者： K. Rathgeber M. Schnell Section Control Systems Theory Institute of Control Engineering Technical University of Darmstadt Schlossgraben 1 D-6100 Darmstadt Federal Republic of Germany

The performance of complex and advanced applications of industrial reports requires large computational power. The control system presented in this paper is designed as a multi-microcomputer system. The main purpose of this system is to create a pleasant environment for present and further studies in robotic research. The Advanced Robot control System (ARC) uses multiple microcomputers based on iAPX 8086 processors. A local bus of each processor allows additional memory and Input/output expansions for increased throughput. Nevertheless, the rising calculation effort for the kinematic and dynamic relations shows the insufficient computing power of standard microprocessors. Therefore a fast floating-point processor has been developed. This Robot Arithmetic Processor (RAP) is built up with bipolar bit-slice components, special arithmetic modules and hardware control mechanisms for on- and off-line diagnostic functions.

关键词： Special purpose computers Microprocessors Hierarchical systems Multiprocessing systems Microprogramming Diagnostic on Chip Computer Architecture Robots Closed Loop systems Real-Time control Cartesian Robot control

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Self-Tuning Cross Profile control for a Paper Machine

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IFAC Proceedings Volumes 1987年第4期20卷 219-224页

作者： A. Gräser W. Neddermeyer Lippke GmbH and Co. Wilhelm-Leuschner-Str. 12 D-5450 Neuwied 1 Federal Republic of Germany Section Control Systems Theory Institute of Control Engineering Technical University of Darmstadt Schlossgraben 1 D-6100 Darmstadt Federal Republic of Germany

The paper discusses a self tuning control algorithm for a multivariable plant applied to a grammage cross profile control of a paper machine. The plant model represents the steady-state couplings as well as the dynamics behaviour of the system. The control algorithm handles special situations including the case where the numper of measurments is not equal to the numper of actuators and the case where special actuators are locked. The whole identification algorithm with a specical filter and an estimation of the required measurment accuary for a succesful identification of the steady-state couplings will be discussed. The paper shows how to proof the stability of the control system including the cases of locked actuators and identification errors. Finally, the whole conrol system is verified by in house simulations and at a real plant. The obtained control results are discussed.

关键词： Computer control Direct Digital control Paper Industry Paper Cross Profile control Multivariable control systems Decoupling Stability

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USE OF ORTHOGONAL COLLOCATION APPROXIMATION FOR PARAMETER-IDENTIFICATION AND control OPTIMIZATION OF A DISTRIBUTED PARAMETER BIOLOGICAL REACTOR

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BIOTECHNOLOGY PROGRESS 1987年第4期3卷 248-258页

作者： ISAACS, S THOMA, M MUNACK, A Institut für Regelungstechnik Universität Hannover Appelstr. 11 D-3000 Hannover Federal Republic of Germany Steven Isaacs:received a Bachelor of Science degree from MIT in 1976 and a Master of Science degree from the University of California at Berkeley in 1978 both in chemical engineering. He has been employed by the IBM Corporation in San Jose California and was a member of the engineering staff at the Solar Energy Research Institute in Golden Colorado in the area of Biofuels. Since 1985 he has been employed at the Institute for Automatic Control at the University of Hannover. West Germany where he is working toward a PhD degree in the control of biological processes Axel Munack:received an electrical engineering degree in 1974 and a doctoral degree in control engineering in 1980 both from the University of Hannover. From 1974 to 1985 he was employed at the Institute for Automatic Control at the University of Hannover and since summer 1985 he has been a professor at the Technical University of Hamburg-Harburg. His main areas of scientific interest are distributed parameter systems from the theoretical side and with regard to applications modeling optimization and control of biotechnical processes Technische Universität Hamburg-Harburg Arbeitsbereich Regelungstechnik EiBendorfer Str. 38 2100 Hamburg 90 Federal Republic of West Germany Manfred Thoma:received the Dipl.-Ing. in electrical engineering and the Dr.-Ing. degree from the University of Darmstadt in 1957 and 1963 respectively. He held teaching and research positions at Darmstadt University and was a visiting professor at Purdue University Lafayette Indiana. Since 1967 he has been Professor of the Chair of Automatic Control at Hannover University. In addition he spent three months during 1977 as visiting professor at Kyoto University Japan. Professor Thoma has been with International Federation of Automatic Control since 1972 in different capacities. He is Past President of IFAC. He is a member of a number of scientific and professi

The orthogonal collocation method of approximation is applied to the differential equations describing the oxygen concentration profiles in the liquid and gas phases of the tower loop airlift reactor. This provides a relatively quick simulation method that can be used for the parameter identification and control optimization tasks of the Open Loop Feedback Optimal (OLFO) adaptive control algorithm. Results of simulated cell mass fermentations are compared to that of a slower, more accurate finite difference simulation method showing the effects of collocation order on approximation accuracy and computation time. An example of parameter identification of the spatially dependent oxygen mass transfer coefficient and the overall growth rate is provided. Also, an example is included showing the optimization of air feed rate policy over the course of a fermentation.

关键词： BIOREACTORS

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DOCTRINAL AUTOMATION IN NAVAL COMBAT systems - THE EXPERIENCE AND THE FUTURE

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NAVAL ENGINEERS JOURNAL 1987年第3期99卷 74-79页

作者： GERSH, JR The authoris a principal staff engineer at The Johns Hopkins University Applied Physics Laboratory where he supervises the AAW Operations Section of the Combat Direction Group. Since joining JHU/APL in 1980 he has been involved in the specification development and testing of advanced surface combat direction systems specializing in the application of rule-based control mechanisms to command and control problems. In 1985-86 he chaired the Doctrine Working Group of the Naval Sea Systems Command's Combat Direction System Engineering Committee. Mr. Gersh served in the U.S. Navy from 1968 to 1977 as a sonar technician and as a junior officer (engineering and gunnery) aboard Atlantic Fleet frigates and as a member of the U.S. Naval Academy's Electrical Engineering faculty. He was educated at Harvard University and the Massachusetts Institute of Technology receiving S. B. S. M. and E. E. degrees in electrical engineering from the latter. He holds certificates as a commercial pilot and flight instructor and is a member of the U.S. Naval Institute the IEEE Computer Society and the American Association for Artificial Intelligence.

For the last four years the most advanced surface combat direction system (CDS) of the U.S. Navy has employed a limited knowledge-based control mechanism. Implemented in the Aegis Weapon System's command and decision element, this capability is called control by doctrine, and is a foundation for the Ticonderoga class cruisers' exceptional performance. control by doctrine allows CIC personnel to direct that certain CDS functions be performed automatically upon tracks with specified characteristics. In effect, these CDS functions, from identification to engagement, can now be controlled through the specification and activation of general system response rules rather than by individual operator actions. The set of active rules, called doctrine statements, forms a system knowledge-base. The Advanced Combat Direction System, Block 1, successor to today's Naval Tactical Data System, will also employ control by doctrine. As part of a larger effort investigating Aegis/ACDS commonality issues, a Doctrine Working Group was chartered to consider, among other things, implications for force-wide interoperability of multiple systems with such rule-based control mechanisms. The working group produced a set of design objectives for doctrine statement standardization across CDSs. Principal features of these objectives are described. The prospect of several such ships operating together in a battle group has raised questions as to the methods by which the actions of ships with those doctrinally-automated systems can best be coordinated. Related questions deal with specific design features for the support of such coordinated action. Work is now being carried out to investigate these questions. Combat system automation through doctrine statements is only one kind of rule-based control. Much work in the area of artificial intelligence deals with the use and maintenance of complex systems of rules, usually in non-real-time problem solving applications. Such systems are just now beginning

关键词： WARSHIPS

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APPLICATION OF TITANIUM IN SHIPBOARD SEAWATER COOLING systems

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NAVAL ENGINEERS JOURNAL 1987年第3期99卷 124-134页

作者： ADAMSON, WL SCHUTZ, RW Wayne L. Adamson:is currently head of the Fluid Systems and Machinery Analysis Branch of the David Taylor Naval Ship Research and Development Center Annapolis Maryland. Mr. Adamson has conducted and directed research and development of heat exchangers condensers desalination equipment pumps and piping systems. He has been employed at DTNSRDC since 1957. During the past 10 years he has been actively involved in the development of titanium for shipboard machinery particularly for application in heat exchangers and steam condensers and in the evaluation of fouling and fouling control methods for piping and heat exchanger systems. Mr. Adamson is a member of ASME and ASNE having previously served as secretary for the Flagship Section and as a member of the ASNE Day Papers Committee. He has had several technical papers published in the Naval Engineers Journal as well as in other technical journals and books. He holds a bachelor of mechanical engineering degree (1962) and a master of science in mechanical engineering degree (1966) from Georgia Institute of Technology and a master of science in governmental administration from George Washington University (1969). He is a registered professional engineer in the State of Maryland. Ronald W. Schutz:received his B. S. (Cum Laude) and M. S. degrees in inorganic electrochemistry from Rensselaer Polytechnic Institute in Troy New York. He is a recipient of the 1981 A. B. Campbell Award for young authors from the National Association of Corrosion Engineers. He has eleven years experience with corrosion research product development and industrial application of titanium alloys. He has presented and published more than twenty technical papers including reference handbook articles on the subject of titanium corrosion behavior and related application guidelines. He currently holds position of supervisor industrial product development and corrosion research at TIMET Corp. Division of TMCA Henderson Nevada. Mr. Schutz is a member of ASTM and NACE.

Titanium alloys are evaluated as an alternative to the current copper-nickel components now employee in U.S. Navy surface ship seawater cooling systems. Titanium offers a solution to the accelerated seawater corrosion and erosion related attack being experienced in seawater systems aboard CG-47 class cruisers as well as other ship classes and can provide a means for extending service life and substantially improving reliability. Both the positive and potentially negative aspects of utilizing titanium in piping and heat exchangers are reviewed. Titanium's excellent resistance to corrosion and erosion attack, good yield strength and relatively low density permit use of thinner-walled, reduced diameter piping and heat exchanger tubing (relative to copper-nickel) and thus offer reduced system weight and volume. System design strategies are discussed for eliminating or greatly mitigating the adverse effects of galvanic corrosion and marine biofouling, the two major concerns when applying titanium in seawater piping and heat exchanger systems. An overall assessment of titanium versus copper-nickel alloys is provided with regard to piping and heat exchanger fabrication, cost, performance, design criteria, piping component (valves, pumps, etc.) selection criteria, and operational limitations. Specific topics addressed as part of that assessment include: (1) shipyard fabricability of titanium piping systems and onboard repair; (2) biofouling experience and biofouling control techniques with titanium in seawater; (3) galvanic corrosion effects when titanium is coupled to active (less noble) metals and the strategies for eliminating the risk of galvanic attack. The viability of titanium for surface ship seawater systems is summarized, and areas of future work are discussed with the intent of providing guidance for successful application of titanium in shipboard seawater systems.

关键词： TITANIUM AND ALLOYS

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WARSHIPS AND COST CONSTRAINTS

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NAVAL ENGINEERS JOURNAL 1986年第2期98卷 41-52页

作者： HOPE, JP STORTZ, VE Jan Paul Hope a native of Northern Virginia received his bachelor of science degree in mechanical engineering from the University of Virginia in 1969. Upon graduation he began his career in the Department of the Navy with the Naval Ship Systems Command in the acquisition of patrol craft mine sweepers and submarine rescue ships. In January 1971 he transferred to the ship arrangements branch of the Naval Ship Engineering Center. He was selected for the long-term training program at George Washington University in 1974 and completed the program in February 1976 with the degree of master of engineering administration. While at the Naval Ship Engineering Center Mr. Hope was general arrangement task leader on the AO-177 CG-47 CSGN CSGN (VSTOL) CGN-9 (Aegis) and CGN-42 and he also assisted in the landmark Naval Sea Systems Command civilian professional community study. In 1978 he was selected as acting head of the damage control section and subsequently was selected as acting head of the surface ship hydrodynamic section. In February 1980 he was promoted to head of the surface combatant arrangements design section. Mr. Hope was selected for the first class of the NA VSEA commander's development program. While on the program he served in the DDGX combat systems engineering division and the DDGX project office of NA VSEA was the assistant director for ship design in the office of the Assistant Secretary of the Navy for shipbuilding and logistics and was the director of weight engineering and the director of systems engineering for the DDG-51 project in NA VSEA. Upon completion of the program Mr. Hope was assigned as the deputy director of the boiler engineering division to create a new division as a major fleet support initiative by NA VSEA. In June 1985 he joined the staff of the Assistant Secretary of the Navy for shipbuilding and logistics. Mr. Hope was presented the Department of the Navy meritorious civilian service medal in June 1983 for his service with the Office of the Assistant Secretary of the

This paper discusses the need and processes for designing warships to meet cost constraints and for managing warship acquisition programs during the design phase to assure effective adherence to production cost constraints by the design team. The resource control methodology used during the contract design of the Arleigh Burke class destroyer, DDG-51, is examined as a potential model for controlling the cost while maintaining the combat effectiveness of warships. The paper begins with a summary of the basic issue — the relationship among unit cost, unit capability, force level numbers, and force capability — showing recent trends in destroyer costs and force levels. This introduction also includes a discussion of the cost constraint for the DDG-51 in relation to historical trends and ship construction funding allocation. The resource control methodology used to reduce and control costs of the DDG-51 is discussed with a summary of the approach, key concepts and tools, chronology of key events, examples, and results achieved. A number of observations on this methodology are then made which are followed by comments on life cycle costs. The paper concludes with remarks on the future application of the resource control methodology and areas for further work to improve future resource control efforts.

关键词： WARSHIPS

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A Robot Arithmetic Processor Concept for Cartesian Closed-Loop control with Prescribed Dynamics

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IFAC Proceedings Volumes 1985年第16期18卷 491-496页

作者： E. Ersü K. Rathgeber M. Schnell W. Neddermeyer Institute of Control Engineering Section Control Theory Technical University Darmstadt Darmstadt FRG

The hardware implementation of a cartesian closed-loop control scheme will be presented which allows to define the dynamic behaviour of each degree of freedom of the cartesian coordinate system in a prescribed sense. The control system at joint level is designed by multivariate design methods with an additional feedforward component using the concept of inverse dynamics. To achieve high accuracy for cartesian motions quasi-continuous control mode with cartesian sampling periods of not greater than 5 ms is aimed at. A special purpose processor for calculation of kinematic and dynamic terns is designed and integrated into a multiprocessor architecture. This implementation concept with Robot Arithmetic Processor provides the necessary computational power and allows real-time cartesian closed-loop control which is also essential for cartesian sensory control tasks.

关键词： Robots cartesian robot control special purpose processors force control closed-loop systems real-tine control multivariable control systems control system synthesis

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A CONDITION AND PERFORMANCE MONITORING-SYSTEM WITH APPLICATION TO UNITED-STATES NAVY SHIP OPERATIONS

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NAVAL ENGINEERS JOURNAL 1985年第7期97卷 29-38页

作者： REID, RE was born in Glasgow Scotland. He received the BS degree with honors in 1964 from the University of Glasgow and the ME and Ph.D. degrees from the University of Virginia in 1977 and 1979 all in mechanical engineering. From 1964 to 1970 he worked for Ferranti Ltd. Edinburgh Scotland as research engineer in the design of inertial navigation systems. From 1970 to 1972 he was systems engineer with Litton Ship Systems responsible for the navigation system for the Spruance class destroyer. He was research section head with Sperry Marine Systems Charlottesville Virginia from 1972 to 1978 responsible for the design and development of navigation and steering control systems. He is currently president of Erskine Systems Control Inc. and also holds an appointment as associate professor of mechanical engineering at the University of Illinois at Urbana-Champaign the faculty of which he joined in 1979. His present primary research interests are in the application of control and estimation theory to ship control and operations with particular emphasis on energy efficiency and management. Dr. Reid is chairman of the technical panel on optimal control in the Dynamic Systems and Control Division of the American Society of Mechanical Engineers and is a member of the Institute of Electrical and Electronic Engineers the Society of Naval Architects and Marine Engineers Tau Beta Pi and Sigma Xi. He is registered as a Chartered Engineer in the United Kingdom.

The paper describes a microprocessor based onboard automatic ship condition/performance monitoring system. The capabilities of the system for achievement of improved maintenance management and increased operational standard are presented. By the design principles employed, and the system implementation as a distributed digital processing system, it is shown that the technology described is compatible with current U.S. Navy goals both for onboard control and surveillance systems and for reduction in the maintenance costs necessary to achieve high availability and performance of its ship.

关键词： NAVAL VESSELS

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A numerical solution of the general kinematic problem 1

A numerical solution of the general kinematic problem

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1st IEEE International Conference on Robotics and Automation, ICRA 1984

作者： Ersu, E. Nungesser, D. Institute of Control Engineering Section Control Systems Theory Technical University of Darmstadt Schloßgrabe 1 Darmstadt FRGD-6100 Germany

ISBN: (纸本)081860526X

关键词： Real time control

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A numerical solution of the general kinematic problem

A numerical solution of the general kinematic problem

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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Ersu D. Nungesser Institute of Control Engineering Section Control Systems Theory Technical University of Darmstadt Darmstadt Germany

The paper proposes a method for the solution of the general kinematic problem, i.e. the transformations between the joint coordinate and the cartesian robot coordinate system. Based on homogeneous transformation matrices the method solves the kinematic problem for a series of n (n >/=/< 6) one-degree-of-freedom joints either revolute or prismatic and with or without branching analytically. The inverse kinematic problem is handled numerically via linearization. The numerical solution is evaluated with respect to some constraints like joint workspace, velocities, energy, e.t.c. The numerical results and the computation time show the applicability of the method for real-time control systems.

关键词： Robot kinematics control systems Arm Robot control Manipulators control engineering Nonlinear equations Algorithm design and analysis Anthropomorphism Elbow

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