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8th IEEE international conference on Emerging Technologies and Factory automation (ETFA 2001)

作者： Rouff, M Makany, P Lab Univ Sci Appl Cherbourg UCBN EIC F-50130 Octeville France

ISBN: (纸本)0780372417

Intelligent robots must be able to be faced to many new difficult tasks. this implies the used of many parameters in the control laws. Under the assumption of robust model, nonlinear state feedback decoupling methods is very suitable for this kind of task, because it is able to modify its own dynamics. For example, a partial decoupling of the only grand motion axes is more suitable. then state variables of the effector appear as parameters in the decoupling state equations. We show here, that if this parameters are slowly varying before the dynamics of the grand motion axes ( the exact mathematical meaning of this notion is given in this article), the classical decoupling methods remain valid with paramatrized laws, but if parameters dynamic are non negligible before the decoupling dynamic, we are in the fast varying parameters case, and we show in this case that decoupling methods operators must be changed in order to include these dynamical effects, which lead by using the classical decoupling methods, to non efficient control. the computation of the static and dynamic feedback laws are given in the case of nonlinear decoupling, linearization and rejection of perturbations. An robust example in robotics is given, and the contribution of parameters dynamic is shown. We show also that these kind of robust robot model can be treated by differential flatness methods. An N link robot manipulator are considered in this way and the same operators appear. At last an application to the pseudo differential flatness of these models are presented by a closed loop approach.

关键词： Intelligent robots

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Robust control of intelligent robots by parametrized state feedback methods

Robust control of intelligent robots by parametrized state f...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： M. Rouff P. Makany Laboratoire Universitaire Des Sciences appliquées de Cherbourg - UCBN-EIC Cherbourg Octeville France

ISBN: (纸本)0780372417

Intelligent robots must be able to be faced to many new difficult tasks. this implies the use of many parameters in the control laws. We show that if these parameters are slowly varying before the dynamics of the grand motion axes, the classical decoupling methods remain valid with parametrized laws, but if parameters dynamic are non negligible before the decoupling dynamic, we are in the fast varying parameters case, and we show in this case that decoupling methods operators must be changed in order to include these dynamical effects, which lead by using the classical decoupling methods, to non-efficient control. the computation of the static and dynamic feedback laws are given in the case of nonlinear decoupling, linearization and rejection of perturbations. A robust example in robotics is given, and the contribution of the parameters dynamic is shown. We show also that this kind of robust robot model can be treated by differential flatness methods. An N link robot manipulator is considered in this way and the same operators appear. Finally, an application to the pseudo differential flatness of these models are presented by a closed loop approach.

关键词： Robust control Intelligent robots State feedback State-space methods Robustness Equations Orbital robotics Motion control Manipulator dynamics Ear

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Open graphics system for 3D-mapping validation on robotics

Open graphics system for 3D-mapping validation on robotics

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IEEE international conference on Electronics, Circuits and Systems (ICECS)

作者： J.V. Catret M. Mellado D. Puig Departamento de Ingenieria de Sistemas y Automatica (DISA) Universidad Politecnica de Valencia Valencia Spain

An innovative product for 3D-mapping validation on robotics is introduced on this paper as result of the application of a multi-robot programming and simulation software to that purpose. the software, called Virtual Robot Simulator (VRS), has an open design that facilitates the integration of user applications by means of external components that give access to its main functionalities. For example, realistic and smart graphics representation of 3D-maps can be easily generated using simple functions. In fact, the user can concentrate the efforts on implementing sensor models, signal filters, 3D-mapping methods and so on, and leave the arduous work of graphics representation to VRS. then VRS acts as a "true" virtual cell composed of robots with sensors moving on their environment and reflecting the actions of the user's application. Even more, the specific physical sensor and robot is transparent to the user when decides to take the best of the hierarchical software structure offered to manage this kind of system. A practical example is commented on in the paper.

关键词： Graphics Application software Robot programming Robot sensing systems robotics and automation Mobile robots Robot control Remote monitoring Control system synthesis Automatic programming

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Automatic generation of behaviors for mobile robot by GA with automatically generated action rule-base

Automatic generation of behaviors for mobile robot by GA wit...

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Annual conference of Industrial Electronics Society

作者： H. Watabe T. Kawaoka DepartmentKnowledge Engineering & Computer Science Doshisha University Kyotanabe Kyoto Japan

To design behaviors of a mobile robot for realizing given tasks, a designer has to make a set of rules which generate a proper action from a state of sensors. In general, however, it is difficult that the designer makes all set of rules since the number of rules is very large and the proper action for a state of sensors is not clear. Many methods have been proposed to solve such a problem using reinforcement learning genetic programming or genetic algorithm and so on. However, those methods are not sufficiently applied to the case in which the environment changes or is unknown. In this paper, new method which is efficiently applied to such a difficult case is proposed. the proposed method is constructed by genetic algorithm and action rule-base. the experimental results, using a mobile robot simulator, shows that the mobile robot can properly act in the unknown environments.

关键词： Mobile robots Robot sensing systems robotics and automation Genetic algorithms Robot control Learning systems Knowledge engineering Genetic programming Automatic generation control Orbital robotics

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Audio-visual guided predictive simulator in multi-telerobot coordination

Audio-visual guided predictive simulator in multi-telerobot ...

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Annual conference of Industrial Electronics Society

作者： Nak Young Chong T. Kotoku K. Ohba H. Sasaki K. Komoriya K. Tanie Robotics Dept. Mech. Eng. Lab. Tsukuba Japan Robotics Department Mechanical Engineering Laboratory Tsukuba Japan Institute of Engineering Mechanics and Systems University Tsukuba Japan

the MEL is developing technologies for multi-robot collaboration in remote environments with the TMSL. In the paper, an audio-visual guided predictive simulator is described to cope with the operator's delayed visual perception in the multi-operator-multi-robot (MOMR) tele-collaborative system through a network with time delay. the communication delay over the network would seriously affect the collaboration performance in the MOMR tele-manipulation and accordingly require an additional information to guide the operators. We have built an experimental test bed in MEL and TMSL to investigate the time-delayed remote collaboration. In the test bed, one operator controls her master hand nearby two cooperating slave robot systems and another from a distance. Several coordination methods are exploited by employing the audio-visual guided predictive simulator to avoid the collision arising from the communication delay. To verify the validity of the predictive simulator assisted scheme, we have demonstrated a maintenance work on a plant mock-up by two different slave systems and two distant operators through an integrated services digital ne/sub t/work (ISDN).

关键词： Predictive models Collaboration Delay effects Visual perception System testing Communication system control Control systems Master-slave Robot kinematics Intserv networks

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Colored Petri nets for the performance evaluation of a semiconductor fabrication facility

Colored Petri nets for the performance evaluation of a semic...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： A. Zimmermann H. Westphal S. Gramlich Real-Time Systems and Robotics Technical University Berlin Germany AMD Saxony Manufucturing GmbH Dresden Germany

the design, implementation, and operation of modern manufacturing systems is a complex task. Without powerful modeling and performance evaluation techniques it is practically impossible to efficiently design a manufacturing system. In the paper the application of Petri net modeling and analysis techniques is demonstrated using a real-life industrial example from the semiconductor fabrication field. It is shown how the performance can be evaluated and, using the results, system parameters are adjusted for an efficient production. A hierarchical colored model of the application example is presented. the detailed models of identical failing machines are aggregated to reduce the computational effort of the performance evaluation. Using the industrial example as a case study, the paper aims at presenting some theoretical methods and their application using a software tool during the design of manufacturing systems.

关键词： Petri nets Manufacturing systems Power system modeling Machinery production industries Manufacturing industries Application software Textile industry Fabrication Production systems Computer industry

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Comparing soft computing methods in prediction of manufacturing data 11th

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11th international conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA-1998-AIE

作者： Koskimäki, Esa Göös, Janne Kontkanen, Petri Myllymäki, Petri Tirri, Henry Helsinki University of Technology Department of Information Technology Automation Laboratory P. O Box 3000 FIN-02015 HUT Finland VTT Electronics P. O. Box 1100 OuluFIN-90571 Finland Department of Computer Science University of Helsinki P.O.Box 26 FIN-00014 Finland

ISBN: (纸本)3540645748

In the literature there exist several soft computing methods for building predictive models: neural network models, fuzzy models and probabilistic approaches. In this paper we are interested in the question which one of these approaches is likely to give best performance in practice. We study this problem empirically by selecting a set of typical models from the different model families, and by experimentally evaluating their predictive performance. For the evaluation, we use two real-world manufacturing datasets from a production plant of electrical machines. the models considered here include fuzzy rulebases, various neural network models and probabilistic finite mixtures. Our investigation indicates that all the methods can produce predictors that are accurate enough for practical purposes. Moreover, the results show that adding expert knowledge leads to improved predictive performance in the domain where such knowledge was available. In the domain where no expert knowledge was available, the probabilistic approach produced the best results. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Neural network models

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Unsupervised learning of probabilistic models for robot navigation

Unsupervised learning of probabilistic models for robot navi...

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Proceedings of the 1996 13th IEEE international conference on robotics and automation. Part 1 (of 4)

作者： Koenig, Sven Simmons, Reid G. Carnegie Mellon Univ Pittsburgh United States

Navigation methods for office delivery robots need to take various sources of uncertainty into account in order to get robust performance. In previous work, we developed a reliable navigation technique that uses partially observable Markov models to represent metric, actuator, and sensor uncertainties. this paper describes an algorithm that adjusts the probabilities of the initial Markov model by passively observing the robot's interactions with its environment. the learned probabilities more accurately reflect the actual uncertainties in the environment, which ultimately leads to improved navigation performance. the algorithm, an extension of the Baum-Welch algorithm, learns without a teacher and addresses the issues of limited memory and the cost of collecting training data. Empirical results show that the algorithm learns good Markov models with a small amount of training data.

关键词： Robot learning

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Proceedings of the 1995 8th international Symposium on System-Modelling-Control

Proceedings of the 1995 8th International Symposium on Syste...

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Proceedings of the 1995 8th international Symposium on System-Modelling-Control

20 papers submitted to the international conference on Systems Analysis, Modelling and Simulation are presented. the papers are mainly devoted to the applications of the modelling, simulation and computer simulation methods to the problems of control systems, controllability, control theory, cognitive systems, artificial intelligence, learning systems, brain models, neural networks, lubricants (including such biological materials as synovia), military electronic countermeasures, ore (mineral) treatment, cardiology, design, image analysis, biotechnology, chemostats, sensitivity analysis, robotics, automation. the mathematical models and techniques include statistical methods, integration, solving integral and differential equations, linear self-adjoint operators, iterative methods, discriminant analysis, algorithms, optimization.

关键词： Systems analysis

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PROCESS MANAGEMENT IN MANUFACTURING

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CONTROL ENGINEERING PRACTICE 1995年第4期3卷 537-543页

作者： thOMSON, V Mechanical Engineering McGill University 817 Sherbrooke St. W. Montreal QC Canada H3A 2K6

For more than a decade, the productivity of knowledge workers has been going down. In addition, the knowledge work content of products and services is increasing;this is creating a productivity crisis. Knowledge worker productivity can be increased by using better methods for defining, planning and controlling processes, not just production processes, but mainly Support processes where most knowledge workers are employed. the adoption of a process management culture is discussed, and highlighted in the context of two examples.

关键词： BUSINESS PROCESS REENGINEERING PROCESS automation PRODUCTIVITY PROCESS models ENTERPRISE INTEGRATION COORDINATION

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