Robust Learning Control for Shipborne Manipulator With Fuzzy Neural Network

The shipborne manipulator plays an important role in autonomous collaboration between marine vehicles. In real applications, a conventional proportional-derivative (PD) controller is not suitable for the shipborne manipulator to conduct safe and accurate operations under ocean conditions, due to its bad tracing performance. This paper presents a real-time and adaptive control approach for the shipborne manipulator to achieve position control. This novel control approach consists of a conventional PD controller and fuzzy neural network (FNN), which work in parallel to realize PD+FNN control. Qualitative and quantitative tests of simulations and real experiments show that the proposed PD+FNN controller achieves better performance in comparison with the conventional PD controller, in the presence of uncertainty and disturbance. The presented PD+FNN eliminates the requirements for precise tuning of the conventional PD controller under different ocean conditions, as well as an accurate dynamics model of the shipborne manipulator. In addition, it effectively implements a sliding mode control (SMC) theory-based learning algorithm, for fast and robust control, which does not require matrix inversions or partial derivatives. Furthermore, simulation and experimental results show that the angle compensation deviation of the shipborne manipulator can be improved in the range of ±1°

Advanced Techniques for Design and Manufacturing in Marine Engineering

Modern engineering design processes are driven by the extensive use of numerical simulations; naval architecture and ocean engineering are no exception. Computational power has been improved over the last few decades; therefore, the integration of different tools such as CAD, FEM, CFD, and CAM has enabled complex modeling and manufacturing problems to be solved in a more feasible way. Classical naval design methodology can take advantage of this integration, giving rise to more robust designs in terms of shape, structural and hydrodynamic performances, and the manufacturing process.This Special Issue invites researchers and engineers from both academia and the industry to publish the latest progress in design and manufacturing techniques in marine engineering and to debate the current issues and future perspectives in this research area. Suitable topics for this issue include, but are not limited to, the following:CAD-based approaches for designing the hull and appendages of sailing and engine-powered boats and comparisons with traditional techniques;Finite element method applications to predict the structural performance of the whole boat or of a portion of it, with particular attention to the modeling of the material used;Embedded measurement systems for structural health monitoring;Determination of hydrodynamic efficiency using experimental, numerical, or semi-empiric methods for displacement and planning hulls;Topology optimization techniques to overcome traditional scantling criteria based on international standards;Applications of additive manufacturing to derive innovative shapes for internal reinforcements or sandwich hull structures

Research and Technology Report. Goddard Space Flight Center

This issue of Goddard Space Flight Center's annual report highlights the importance of mission operations and data systems covering mission planning and operations; TDRSS, positioning systems, and orbit determination; ground system and networks, hardware and software; data processing and analysis; and World Wide Web use. The report also includes flight projects, space sciences, Earth system science, and engineering and materials

Research & Technology Report Goddard Space Flight Center

The main theme of this edition of the annual Research and Technology Report is Mission Operations and Data Systems. Shifting from centralized to distributed mission operations, and from human interactive operations to highly automated operations is reported. The following aspects are addressed: Mission planning and operations; TDRSS, Positioning Systems, and orbit determination; hardware and software associated with Ground System and Networks; data processing and analysis; and World Wide Web. Flight projects are described along with the achievements in space sciences and earth sciences. Spacecraft subsystems, cryogenic developments, and new tools and capabilities are also discussed

AAS/GSFC 13th International Symposium on Space Flight Dynamics

This conference proceedings preprint includes papers and abstracts presented at the 13th International Symposium on Space Flight Dynamics. Cosponsored by American Astronautical Society and the Guidance, Navigation and Control Center of the Goddard Space Flight Center, this symposium featured technical papers on a wide range of issues related to orbit-attitude prediction, determination, and control; attitude sensor calibration; attitude dynamics; and mission design

Safety and Reliability - Safe Societies in a Changing World

The contributions cover a wide range of methodologies and application areas for safety and reliability that contribute to safe societies in a changing world. These methodologies and applications include: - foundations of risk and reliability assessment and management - mathematical methods in reliability and safety - risk assessment - risk management - system reliability - uncertainty analysis - digitalization and big data - prognostics and system health management - occupational safety - accident and incident modeling - maintenance modeling and applications - simulation for safety and reliability analysis - dynamic risk and barrier management - organizational factors and safety culture - human factors and human reliability - resilience engineering - structural reliability - natural hazards - security - economic analysis in risk managemen

1995 BRAC Commission

Data Call - Naval Command, Control and Ocean Surveillance Center, Research Development Test Evaluation Division - San Diego, CA. Data Call #5. Box 186, L-118

Research and Technology Objectives and Plans Summary (RTOPS)

This publication represents the NASA research and technology program for FY-93. It is a compilation of the Summary portions of each of the RTOP's (Research and Technology Objectives and Plans) used for management review and control of research currently in progress throughout NASA. The RTOP Summary is designed to facilitate communication and coordination among concerned technical personnel in government, in industry, and in universities. The first section containing citations and abstracts of the RTOP's is followed by four indexes: Subject, Technical Monitor, Responsible NASA Organization, and RTOP Number