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IEEE International Conference on Mechatronics and Automation

作者： Yueshi Shen K. Huper Department of Information Engineering Research School of Information Sciences and Engineering Australian National University Canberra ACT Australia Systems Engineering And Complex Systems Program NICTA Canberra ACT Australia

This paper presents a joint space formulation for robot manipulator's hybrid motion/force control. The motivations come from 1) extending the previous work to general (either constrained or redundant) robots; and 2) improving the robustness against disturbances originated at the joint level. Contact geometry and closed-loop dynamics are derived in this paper, also a joint space hybrid control scheme is proposed. At the end, we show some simulation results to verify the applicability of our theory on a constrained (4-degree-of-freedom) robot WAM.

关键词： Motion control Orbital robotics Force control Force measurement Control systems Manipulator dynamics Force feedback Kinematics Motion measurement Filtering

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Cooperative driving and lane changing at blind crossings

Cooperative driving and lane changing at blind crossings

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IEEE Symposium on Intelligent Vehicle

作者： L. Li Fei-Yue Wang H. Kim Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Program for Advanced Research in Complex Syskms Department of Systems and Industnal Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Chinese Academy and Sciences Beijing China Engineering School of NorthWestern Polylechnic University Fremont CA USA

Cooperative driving technology with aid of inter-vehicle communication attracts increasing interests recently. Under cooperative driving guidance, motion of individual, vehicles can be conducted in a more safe and smooth manner. In this paper, cooperative driving at blind crossing (crossing without traffic lights) is studied. A concept named "safe driving patterns" is proposed to represent collision free movements of all encountered vehicles at crossings. The algorithm to determine a "safe driving pattern" is presented, too. The solution space of all allowable movement schedules is then described by a spanning tree in terms of safe driving patterns. Moreover, the corresponding trajectory planning technique considering lane changing around crossings is also discussed.

关键词： Vehicle driving Vehicle safety Trajectory Intelligent vehicles Road safety Road accidents Intelligent systems Control systems Road vehicles Navigation

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Digital and construction of a digital vehicle proving ground

Digital and construction of a digital vehicle proving ground

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2003 IEEE Intelligent Vehicles Symposium, IV 2003

作者： Wang, Fei-Yue Wang, Xiaojing Li, Li Mirchandani, Pit Wang, Zhixue Program for Advanced Research in Complex Systems University of Arizona TucsonAZ United States Key Laboratory for Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing China National Center for Intelligent Transportation Systems and Engineering Beijing China

ISBN: (纸本)0780378482

关键词： Automobile proving grounds

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Modeling intracranial fluid flows and volumes during traumatic brain injury to better understand pressure dynamics

Modeling intracranial fluid flows and volumes during traumat...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： W. Wakeland J. McNames M. Aboy D. Hollemon B. Goldstein Systems Science Ph.D. Program Portland State University Portland OR USA Biomedical Signal Processing Laboratory Electrical and Computer Engineering Portland State University Portland OR USA Complex Systems Laboratory Division of Pediatric Critical Care Oregon Health and Sciences University Portland OR USA

We describe a computer model of intracranial pressure (ICP) dynamics that evaluates clinical treatment options for elevated ICP during traumatic brain injury (TBI). The model uses fluid volumes as primary state variables and explicitly models fluid flows as well as the resistance, compliance, and pressure associated with each intra- and extracranial compartment (arteries and arterioles, capillary bed, veins, venous sinus, ventricles, and brain parenchyma). The model evaluates clinical events and therapies such as intraand extra-parenchymal hemorrhage, cerebral edema, cerebrospinal fluid drainage, mannitol administration, head elevation, and mild hyperventilation. The model is able to replicate observed clinical behavior in many cases, including elevated ICP associated with severe cerebral edema following subdural, epidural, or intraparenchymal hematoma. The model also mimics cerebrovascular regulatory mechanisms that are activated during TBI.

关键词： Brain modeling Brain injuries Fluid dynamics Blood Logic Laboratories Fluid flow Medical treatment Signal processing Cranial pressure

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Significance of intracranial pressure pulse morphology in pediatric traumatc brain injury

Significance of intracranial pressure pulse morphology in pe...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： M. Aboy J. McNames D. Cuesta-Frau W. Wakeland T. Thong S. Lai B. Goldstein Biomedical Signal Processing Laboratory Electrical and Computer Engineering Portland State University Portland OR USA Computer Vision Group ETS-Alcoi Polytechnic University of Valencia Spain Systems Science Ph.D. Program Portland State University Portland OR USA Biomedical Engineering OGI School of Science and Engineering Oregon Health and Sciences University Portland OR USA Complex Systems Laboratory Department of Pediatrics Oregon Health and Sciences University Portland OR USA

We investigated the relationship between the intracranial pulse pressure (ICP/sub PP/) and the mean intracranial pressure (ICP/sub M/). In adult patients, several research groups have described a linear relationship between ICP/sub PP/ and ICP/sub M/ within the range of cerebral autoregulation. Current monitoring and therapy are mainly based on the mean ICP/sub M/, since it is believed that the ICP/sub M/ contains most of the information provided by the other pulse morphology metrics. In this paper we attempt to answer whether there is further information within the ICP morphology not explained by ICP/sub M/ that might be of prognostic significance. We screened ICP records of 42 patients admitted to the Pediatric Intensive Care Unit at Doernbecher Children's Hospital for segments in which the ICP/sub M/ varied at least 5 mmHg during a 1-hour period. We found 54 segments in 9 different pediatric TBI patients (ages 0.2-17.8 years, mean=9.9 years). ICP/sub PP/ and ICP/sub M/ were calculated for each pulse using an automatic pressure detection algorithm. The coefficient of linear correlation r was > 0.70 in 43/54 segments (p < 0.001), which indicates that there exists a linear relationship between ICP/sub PP/ and ICP/sub M/. However, we found r > 0.90 only in 16/54 segments (p=NS) . This result and visual inspection of ICP/sub PP/ vs. ICP/sub M/ density plots suggest that ICP pulse pressure is not fully explained by the ICP M.

关键词： Cranial pressure Morphology Brain injuries Iterative closest point algorithm Pediatrics Patient monitoring Medical treatment Hospitals Detection algorithms Inspection

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Energy burdens of conventional wholesale and retail portions of product life cycles

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Journal of Industrial Ecology 2002年第2期6卷 59-69页

作者： Norris, Gregory A. Della Croce, Filippo Jolliet, Olivier Harvard School of Public Health 401 Park Drive Boston MA 02115 United States Sylvatica North Berwick ME United States Environ. Sci./Engineering Program Harvard Univ. Sch. of Public Health Boston MA United States Complex Systems Research Center University of New Hampshire Durham NH United States Harvard Univ. Sch. of Public Health Boston MA United States EPFL Ecl. Polytech. Federale de Lausanne Lausanne Switzerland

E-commerce is often cited as offering the potential to reduce wholesale and retail burdens within product life cycles;however its potential impacts upon transport may be positive or negative. But the relative environmental importance of wholesale and retail trade and their intervening transportation links within product life cycles has not been generally characterized. The objective of this research was to assess the upstream (preusage) life-cycle energy burden shares associated with retail trade and wholesale trade using input-output life-cycle assessment (IO LCA) with a special focus on the electronic computers sector. According to our results, the physical transfers of products within the distribution phase play a minor role in terms of energy consumption compared with wholesaling and retailing. On the other hand, the supply chains of the wholesale and retail trade sectors can lead to energy consumption that is a significant share of the total preconsumer energy consumption for many products. Thus, where e-commerce circumvents wholesale and/or retail trade, it can have a major impact on total preconsumer energy consumption. As an example, for the electronic computers sector, retailing and wholesaling as a portion of distribution are responsible for 38% of the total energy consumption from production until purchase (cradle to gate), whereas transportation within the distribution phase corresponds to only 9%. Our analysis of more than 400 commodities in the United States showed that for the large majority of them, retailing and wholesaling account for appreciable shares of the total preconsumer energy burdens. Wholesaling and retailing should be included in LCA, and IO LCA is an effective tool for doing so.

关键词： Life cycle

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Decision analysis frameworks for life-cycle impact assessment

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Journal of Industrial Ecology 2001年第4期5卷 45-68页

作者： Seppälä, Jyri Basson, Lauren Norris, Gregory A. Environ-mental Technology Program Finnish Environment Institute Helsinki Finland Centre for Risk Environment Systems Technology and Analysis (CRESTA) Department of Chemical Engineering University of Sydney Sydney NSW Australia Sylvatica North Berwick ME United States Environmental Science and Engineering Program Harvard University School of Public Health Boston MA United States Complex Systems Research Center University of New Hampshire Durham NH United States Finnish Environment Institute SF-00251 Helsinki Kesäkatu 6 Finland

Life-cycle impact assessments (LCIAs) are complex because they almost always involve uncertain consequences relative to multiple criteria. Several authors have noticed that this is precisely the sort of problem addressed by methods of decision analysis. Despite several experiences of using multiple-attribute decision analysis (MADA) methods in LCIA, the possibilities of MADA methods in LCIA are rather poorly elaborated in the field of life-cycle assessment. In this article we provide an overview of the commonly used MADA methods and discuss LCIA in relation to them. The article also presents how different frames and tools developed by the MADA community can be applied in conducting LCIAs. Although the exact framing of LCIA using decision analysis still merits debate, we show that the similarities between generic decision analysis steps and their LCIA counterparts are clear. Structuring of an assessment problem according to a value tree offers a basis for the definition of impact categories and classification. Value trees can thus be used to ensure that all relevant impact categories and interventions are taken into account in the appropriate manner. The similarities between multiattribute value theory (MAVT) and the current calculation rule applied in LCIA mean that techniques, knowledge, and experiences derived from MAVT can be applied to LCIA. For example, MAVT offers a general solution for the calculation of overall impact values and it can be applied to help discern sound from unsound approaches to value measurement, normalization, weighting, and aggregation in the LCIA model. In addition, the MAVT framework can assist in the methodological development of LCIA because of its well-established theoretical foundation. The relationship between MAVT and the current LCIA methodology does not preclude application of other MADA methods in the context of LCIA. A need exists to analyze the weaknesses and the strengths of different multiple-criteria decision analysis metho

关键词： Decision analysis Life-cycle impact assessment (LCIA) Methods Multiple attribute Multiple-criteria decision analysis (MCDA) Normalization

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Operational systems, logistics engineering and technology insertion

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 205-220页

作者： Grubb, MJ Skolnick, A Michael J. Grubb:has perfomzed naval engineering at the Crane Division Naval Surface Warfare Center (NSWC) for more than twenty-five years. He currently the program manager for the Sustainable Hardware and Affordable Readiness Practice Program (SHARP). is a Navy-wide logistics research and development prgram aimed at the successful transiton of proved technologies inot the fleet. SHARP focuses on reducing acquisition performance capability reliability maintainability and readiness of these systems. Mr. Grubb has served as a department director for the past eleven years. His most recent assignment was as director of the Tactical Computer Resources and Test Equipment Department. This organization provided acquisition and in-service engineering support of the Navy's tectical embedded computers priphirals displays and mass memory storage devices. The organization also provided a complete range of product engineering and metrology engineerig services for SSP NevSeaSysCom and the Trident Program. Prior to this appointment Mr. Grubb was deptuy director psysical security programs department and site responsible for program management and system integration of ashore integrated security systems. Mr. Grubb holds a B.S. degree in industrial engineering from Iowa State Universtiy an M.S. degree in industrial engineering from Purdue University and has copleted the course work (Dec.'96 for a master's degree in public and environment affairs at Indiana University-Purdue Univeristy Indianapolis. Dr. Alfred Skolnick operates System Science Consultants (SSC) specilizing in strategic planning technical program definiton technology assessment and engineering analyses on selected matters of national interest. He has taught physics mathematics and management sciences at University of Virginia and Marymount University and is currently adjunct professor of mathematics at Northern Virginia Community College. Form 1985 to 1989 he was president of the American Society of Noval Engineers. Dr. Skolnick served at Applied Physic

In an era of fiscal austerity, downsizing and unforgiving pressure upon human and economic capital, it is an Augean task to identify resources for fresh and creative work. The realities of the day and the practical demands of more immediate fleet needs can often dictate higher priorities. Yet, the Navy must avoid eating its seed corn. Exercising both technical insight and management foresight, the fleet, the R&D community, the Office of the Chief of Naval Operations (OpNav) and the product engineering expertise of the Naval Surface Warfare Center (NSWC) are joined and underway with integrated efforts to marry new, fully demonstrated technologies and operational urgencies. Defense funding today cannot sponsor all work that can be mission-justified over the long term because budgets are insufficient to support product maturation within the classical development cycle. However, by rigorous technical filtering and astute engineering of both marketplace capabilities and currently available components, it is possible in a few select cases to compress and, in effect, integrate advanced development (6.3), engineering development (6.4), weapon procurement (WPN), ship construction (SCN), operation and maintenance (O&M,N) budgetary categories when fleet criticalities and technology opportunities can happily meet. In short, 6.3 funds can be applied directly to ''ripe gateways'' so modern technology is inserted into existing troubled or aging systems, sidestepping the lengthy, traditional development cycle and accelerating practical payoffs to recurrent fleet problems. To produce such constructive results has required a remarkable convergence of sponsor prescience and engineering workforce excellence. The paper describes, extensively, the philosophy of approach, transition strategy, polling of fleet needs, technology assessment, and management team requirements. The process for culling and selecting specific candidate tasks for SHARP sponsorship (matching operational need with t

关键词： Naval vessels

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Shipboard controls of the future

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Naval Engineers Journal 1997年第3期109卷 143-153页

作者： Amy Jr., J.V. Doerry, N.H. McCoy, T.J. Zivi, E.L. Udr. John V. Amy Jr.:USN graduated from the United States Naval Academy with a B.S.E.E. degree in 1983 and then served as antisubmarine warfare officer on USS Boone (FFG 28). He then reported to M.I.T where he earned an S. M. E. E. C.S. degree Naval Engineer degree and a Ph.D. in naval electric power systems. An engineering duty oficez he was assistant project officer for aircraft carrier overhaul at Supervisw of Shipbuilding Conversion and Repail: USN Newport Nms Virginia assigned to the refueling complex overhaul of USS Enterprise (CVN 65) and her subsequent post-shakedown avail-ability. Presently he is the deputy program manager for the Integrated Power System (IPS) Program at the Naval Sea systems command. Udr. Norbert H. Doerry USN:graduated from the United States Naval Academy with a B.S.E.E. degree in 1983 and then served as gunnery and fire control officer on USS Deyo (DD 989). He then reported to M.I.T where he earned a S.M.E.E.C.S. degree Naval Engineer degree and a Ph.D. in naval electrical power systems. An engineering duty officer he was assigned to the Advanced Surfme Machinery Programs for the development athe Integrated Power System from 1992 to 1995. Presently he is assistant project officer for aircrafi carrier construction at Supervisor of Shipbuilding Conversion and Repair: USN Newport News Virginia. LCdr. Timothy J. McCoy USN:graduated from the Univer-sity of Illinois with a B.S. degree in marine engineering in 1982. He was cmnmissirmed in 1985 and served as jrst lieuten-ant and communications officer on USS John Young (DD 973). He then was assigned to Supervisor of Shipbuilding Conversion and Repair USN San Diego California as repair ship superin-tendent repair project manager and new construction ship superintendent. Subsequently he attended M.I.T earning a S.M.E.E.C.S. degree Naval Engineer degree and a Ph.D. in naval engineering. Presently he is assigned to Naval Surface Warfare Center Carderock Division Annapolis Detachment where he works as the technical manager f

Recent advances in computer networking and control system technologies present an opportunity to improve the capability of naval shipboard control systems. Most existing digital machinery control systems merely replace one-for-one their analog predecessors. These recent advances motivate rethinking the basic role and architecture of shipboard controls. Traditional machinery system control has remained largely separate from combat systems and other ship information systems. Existing machinery control systems have concentrated on four functions: machinery status, control, system stability, and fault response. To implement these functions, custom systems have been designed, built and debugged for each class of ship. This lack of commonality has been expensive in terms of development costs, maintenance costs over the lifetime of the ship, and also the unrealized benefits stemming from prohibitive costs of adapting machinery controls to take advantage of emerging technologies. This paper proposes a new paradigm for developing a shipboard control system based upon a functional decomposition of ships' missions that leads to defining technology independent interface standards. Multiple vendors may be able to independently develop control system hardware and software elements adhering to such interface standards without a priori knowledge of a particular ship application, leading to the ability to develop a total ship control system with low risk by integrating proven hardware and software elements to meet specific ship design requirements. With this new concept, other functions not normally associated with machinery controls are feasible: spontaneous reconfiguration after a damage event, integrated training, condition based maintenance planning, data archiving, operator assistance, and configuration management. This new approach may also allow for the integration of machinery controls into a total ship control system with seamless support for combat systems. This new shipbo

关键词： Naval vessels

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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