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IEEE International Conference on Robotics and Automation (ICRA)

作者： E. Tunstel H. Danny T. Lippincott M. Jamshidi NASA Jet Propulsion Laboratory Pasadena CA USA NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

Adaptive behavioral capabilities are necessary for robust navigation in non-engineered environments. A control approach to adaptive behavior is described which exploits the approximate reasoning facility of fuzzy logic. In particular, a behavior-based architecture for hierarchical fuzzy control of mobile robots is presented. Its structure is described as well as mechanisms of control decision-making which give rise to adaptive behavior. control decisions result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Indoor navigation examples demonstrate the practicality of the approach and reveals characteristics of multiple behavior interaction.

关键词： Navigation Fuzzy logic Programmable control Adaptive control Mobile robots Fuzzy control Intelligent robots Fuzzy sets NASA Decision making

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autonomous navigation using an adaptive hierarchy of multiple fuzzy-behaviors

Autonomous navigation using an adaptive hierarchy of multipl...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： E. Tunstel H. Danny T. Lippincott M. Jamshidi Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

Adaptive behavioral capabilities are necessary for robust mobile robot navigation in non-engineered environments. Robust behavior requires that uncertainty be accommodated in the robot control system, especially when autonomy is desired. Fuzzy logic control technology enables development of controllers which can provide the necessary computational intelligence in real-time. This paper presents the incorporation of fuzzy logic, into the framework of behavior-based control. An architecture for hierarchical behavior control is presented in which control decisions result from a consensus of behavioral recommendations. Multiple fuzzy-behavior coordination is discussed and applied to autonomous navigation without explicit maps. Performance and robustness is demonstrated by implementation on a mobile robot with significant mechanical imperfections.

关键词： Mobile robots Fuzzy control Robust control Competitive intelligence Fuzzy logic Intelligent robots Aircraft navigation Programmable control Adaptive control Uncertainty

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Solving Randomly Generated Static and Dynamic Fuzzy Constraint Networks using Microevolutionary Hill-Climbing

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Intelligent Automation and Soft Computing 1997年第1期3卷 51-62页

作者： Dozier, Gerry Homaifar, Abdollah Esterline, Albert Bowen, James NASA Center for Autonomous Control Engineering North Carolina A&T State University Greensboro NC 27411 United States Department of Computer Science National University of Ireland at Cork Cork Ireland

In this article we combine the concept of microevolutionary hill-climbing search with the systematic search concept of arc revision to form a hybrid system that quickly finds solutions to static and dynamic Fuzzy Constraint Truth Optimization Problems (FCTOPs). Furthermore, we present the results of two experiments. In the first experiment, our microevolutionary hybrid system outperforms a modified version of a well known hill-climber, the Iterative Descent Method (IDM), on a test suite of 500 randomly generated static Fuzzy Constraint Networks. In the second experiment, we compare two methods for solving FCTOPs using a test suite of an additional 250 randomly generated FCTOPs. In the first method, all the constraints of a FCTOP are known by the hybrid system at run-time. We refer to this method as the static method for solving FCTOPs. In the second method, only half of the constraints of a FCTOP are known at run-time. Each time our hybrid system discovers a solution that satisfies all of the constraints of the current network, one additional constraint is added. This process of incrementally adding constraints is continued until all the constraints of a FCTOP are known by the algorithm or until the maximum number of function evaluations has been reached. We refer to this second method as the dynamic method for solving FCTOPs. Results show that our algorithm performs exceptionally well in the presence of dynamic (incremental) constraints. © 1997 Taylor & Francis Group, LLC.

关键词： Arc revision Fuzzy constraint network Fuzzy constraint truth optimization Iterative descent method Microevolutionary hill-climbing

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Digital Adaptive Motion control for a Servo Mechanism

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IFAC Proceedings Volumes 1997年第11期30卷 323-328页

作者： T. Suehiro F. Ohkawa T. Hokamura S. Sagara Electronics Division Mechanics & Electronics Research Institute Fukuoka Industrial Technology Center 3-6-1 Norimatsu. Yahatanishi-ku Kitakyushu-shi 807 Japan Department of Control Engineering and Science Faculty of Computer & System Engineering Kyushu Institute of Technology lizuka 820 Japan Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Tobata Kitakyushu 804 Japan

This paper is concerned with an application of a digital adaptive control system to a servo mechanism. Mechanical systems in general include nonlinearities and additional uncertainties and which result from inertia and friction. So it is difficult to ensure robust performance and high accuracy for motion control. The digital adaptive control system presented here is considered to overcome the above stated problem. Experimental results from a feed drive system demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive control Servomechanism Nonlinearity Uncertainty Friction

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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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Influence of human engineering on manning levels and human performance on ships

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NAVAL ENGINEERS JOURNAL 1997年第5期109卷 67-76页

作者： Anderson, DE Oberman, FR Malone, TB Baker, CC David E. Anderson:has a bachelor of science degree in environmental engineering from Florida Technological University and a master's degree in environmental engineering from the University of Central Florida. He is a graduate of the Naval Sea Systems Command's Engineer-In-Training (EIT) Program. Mr. Anderson was instrumental in introducing the collective protection system (CPS) in the U.S. Navy developing the initial forward-fit package for the USS Gunston Hall and the engineering change proposal (ECP) for the USS Wasp. In 1990 he joined the Human Systems Integration (HSI) Division (SEA 55W5) where he was task leader for auxiliary ships. He is currently the HSI manager for the future technology variant of the SeaLift ship and the future carrier. Association of Scientists and Engineers 33rdAnnual Technical Symposium 26 April 1996. Fred R. Oberman:has B.A. and M.A. degrees from the University of Chicago and Loyola University (experimental psychology) and an M.S. degree in industrial engineering and operations research from Virginia Polytechnic Institute (VPI). He has more than 30 years experience in HSI management planning research analysis design and testing in government and private sector positions. He is currently responsible for NavSea HSI generic research and tool development efforts. He is responsible for Human Engineering Specifications and Standards (Commercial Hypertext) and is the NavSea 03D7 representative on HSI in Performance Specifications and for integration of HSI within Integrated Logistic Support (ILS). He has served as DoD HSI SubTAG chair and member of the Simulation and Modeling Test and Evaluation Display and Control Systems Human Computer Interaction Specifications and Standards and Systems Design Sub Tags as a member of the Society of Naval Architects and Marine Engineers (SNAME) Systems Safety Panel and a member of NATO RSG 14 on man-machine analysis. Thomas B. Malone: CHFEP received a Ph.D. in experimental psychology from Fordham University in 1964. He is president of Carlow

The objectives of Human engineering (HE) are generally viewed as increasing human performance, reducing human error, enhancing personnel and equipment safety, and reducing training and related personnel costs. There are other benefits that are thoroughly consistent with the direction of the Navy of the future, chief among these is reduction of required numbers of personnel to operate and maintain Navy ships. The Naval Research Advisory Committee (NRAC) report on Man-Machine Technology in the Navy estimated that one of the benefits from increased application of man-machine technology to Navy ship design is personnel reduction as well as improving system availability, effectiveness, and safety The objective of this paper is to discuss aspects of the human engineering design of ships and systems that affect manning requirements, and impact human-performance and safety The paper will also discuss how the application of human engineering leads to improved performance, and crew safety, and reduced workload, all of which influence manning levels. Finally, the paper presents a discussion of tools and case studies of good human engineering design practices which reduce manning.

关键词： Human engineering

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Comparison of microwave inductors fabricated on silicon-on-sapphire and bulk silicon

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IEEE MICROWAVE AND GUIDED WAVE LETTERS 1996年第9期6卷 323-325页

作者： Johnson, RA Chang, CE Asbeck, PM Wood, ME Garcia, GA Lagnado, I Department of Electricaland Computer Engineering University of California San Diego CA USA University of California San Diego CA USA Rockwell Science Center Inc. Thousand Oaks CA USA RDT&E Division Naval Command Control and Ocean Surveillance Center San Diego CA USA RDT&E Division Aval Command Control and Ocean Surveillance Center San Diego CA USA

Inductors are important elements of microwave circuits that frequently require high self-resonant frequencies and high quality factors. In this work, circular spiral inductors fabricated on silicon-on-sapphire (SOS) and bulk silicon are compared. Due to the low-loss dielectric substrate, SOS inductors showed both higher self-resonant frequencies and higher quality factors than those fabricated on bulk silicon, Small-signal models extracted for the inductors confirm that the degradation of the inductor characteristics in bulk silicon stems from losses in the substrate.

关键词： Inductors Silicon Dielectric substrates Frequency Q factor Spirals Metallization Electrical resistance measurement Sea measurements Microwave circuits

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Solving randomly generated fuzzy constraint networks using evolutionary/systematic hill-climbing

Solving randomly generated fuzzy constraint networks using e...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： J. Bowen G. Dozier Department of Computer Science National University of Ireland Cork Cork Ireland NASA Center for Autonomous Control EngineeringDepartment of Computer Science North Carolina Agriculture and Technical State University Greensboro NC USA

This paper introduces an evolutionary/systematic hybrid which combines the concept of evolutionary hill-climbing search with the systematic search concept of arc revision to form a hybrid that quickly find solutions to fuzzy constraint satisfaction problems. This hybrid outperforms a modified version of a well known hill-climber, the iterative descent method, on a test suite of 500 randomly generated fuzzy constraint networks.

关键词： Fuzzy systems Fuzzy sets computer science Testing NASA control engineering Fuzzy control Evolutionary computation Robustness Machine learning

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On Genetic Programming of Fuzzy Rule-Based Systems for Intelligent control

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Intelligent Automation and Soft Computing 1996年第3期2卷 271-284页

作者： Tunstel, Edward Jamshidi, Mo NASA Center for Autonomous Control Engineering Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 United States NASA/Jet Propulsion Laboratory Pasadena CA United States

Fuzzy logic and evolutionary computation have proven to be convenient tools for handling real-world uncertainty and designing control systems, respectively. An approach is presented that combines attributes of these paradigms for the purpose of developing intelligent control systems. The potential of the genetic programming paradigm (GP) for learning rules for use in fuzzy logic controllers (FLCs) is evaluated by focussing on the problem of discovering a controller for mobile robot path tracking. Performance results of incomplete rule-bases compare favorably to those of a complete FLC designed by the usual trial-and-error approach. A constrained syntactic representation supported by structure-preserving genetic operators is also introduced. © 1996 Taylor & Francis Group, LLC.

关键词： Fuzzy control Genetic programming Mobile robots Rule-base discovery Syntactic constraints

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Phase stabilization of reference signals in analog fiber-optic links

Phase stabilization of reference signals in analog fiber-opt...

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International Topical Meeting on Microwave Photonics (MWP)

作者： M. Shadaram V. Gonzalez J. Ceniceros N. Shah J. Mayers S. Pappert D. Lafaw Electrical and Computer Engineering Department University of Texas El Paso El Paso TX USA Control and Ocean Survedhce Center Research Development Test & Evaluation Division Naval Command San Diego CA USA Laboratory of Physical Science College Park MD USA

A feedback technique that utilizes a special optical modulator is used to reduce the phase noise of RF signals in microwave fiber-optic links. Experimental results indicate a reduction in the phase noise of a 150 MHz ... 详细信息

关键词： Phase noise Frequency Optical receivers Optical feedback Optical modulation Optical noise Phase modulation Optical transmitters Phase detection Optical sensors

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