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Time and Supervisory control of Manufacturing Systems: a Flexible Manufacturing Cell experience

Time and Supervisory Control of Manufacturing Systems: a Fle...

引用

IEEE international conference on Industrial Informatics (INDIN)

作者： Diego Ruben Rodriguez Institute of Production Engineering Tampere University of Technology Tampere Finland

the objective of the present work is, firstly, to model, then control the operation times and finally to obtain performance measures for the flexible manufacturing cell under study. this cell is located in the robotics and automation laboratory in the Computer Science and Systems engineering Department of the University of Zaragoza. the first part of this work presents the formal modelling of the flexible manufacturing cell. Using the Petri net paradigm (D. Rodriguez, 2004), the behaviour of the system is modelled, starting from the PLC programs in charge of controlling the manufacturing system. this modelling part take into account some production policies implemented in an intermediate storage station. A second task considers the possible failure and blocking situations what helps improving the raw model of the FMC. this work shows also an implementation of all these elements in commercial SCADA software and also some timing results help concluding some arguments for the inclusion of a certain production policy under certain production configurations.

关键词： Supervisory control Manufacturing systems Flexible manufacturing systems Production Virtual manufacturing Automatic control robotics and automation Laboratories Computer science Systems engineering and theory

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Action Selection in Robots Based on Learning Fuzzy Cognitive Map

Action Selection in Robots Based on Learning Fuzzy Cognitive...

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IEEE international conference on Industrial Informatics (INDIN)

作者： Seyed Koosha Golmohammadi Ali Azadeh Amirhossein Gharehgozli Department of Computer Engineering Faculty of Engineering Islamic Azad University Iran Department of Industrial Engineering Faculty of Engineering University of Tehran Iran

One of the main issues in developing automatic response systems especially autonomous robots is selecting the best action among all possible actions. Fuzzy cognitive maps (FCMs) aim to mimic the reasoning process of the human. FCMs are able to capture and imitate human behavior by describing, developing and representing models. FCMs are also popular for their simplicity and transparency while being successful in a variety of applications. We developed a novel model that could be used for action selection in robots. this model is constructed on a learning FCM which is relied on improved nonlinear Hebbian algorithm. We tested our model through a series of practical experiments on the latest version of soccer server simulation 3D environment. Our tests involved carefully defined factors to measure the team performance. Our results showed a significant improvement in overall performance.

关键词： Cognitive robotics Fuzzy cognitive maps Humans Testing Intelligent robots Failure analysis Artificial intelligence Service robots robotics and automation Automatic control

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE international conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? the main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards Automation Software tools control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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First results from further experimental comparisons between pittsburgh and michigan fuzzy classifier systems for mobile robotics

First results from further experimental comparisons between ...

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Joint 4th conference of the European Society for Fuzzy Logic and Technology, EUSFLAT 2005 and 11th French Days on Fuzzy Logic and Applications, LFA 2005

作者： Pipe, A.G. Carse, B. Intelligent Autonomous Systems Laboratory Faculty of Computing Engineering and Mathematical Sciences University of the West of England Bristol United Kingdom

ISBN: (纸本)8476538723

this paper presents new work carried out in simulation on a performance comparison between the Michigan and Pittsburgh Fuzzy Classifier System approaches to a control problem in mobile robotics. First results from this work, combined with thoughts on our previous work, indicate that changes in the problem formulation can swing the balance between whether the Michigan or Pittsburgh approaches give the best results, in terms of fast and robust convergence on high performance solutions. In the context of the evolutionary and learning tasks overall, the changes could appear minor, in this case modifying the sensor range of the robot. However, such changes can fundamentally modify the processes of a fuzzy controller in a given environment and, thereby, the characteristics of fitness evaluations. However, these early results are not yet statistically significant, a larger experimental programme is required to achieve this.

关键词： Genetic algorithms

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Development of a CPM machine for injured fingers

Development of a CPM machine for injured fingers

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2005 27th Annual international conference of the engineering in Medicine and Biology Society, IEEE-EMBS 2005

作者： Fu, Yili Zhang, Fuxiang Ma, Xin Meng, Qinggang IEEE Robotics Institute Advanced Manufacturing Technology Center Harbin Institute of Technology Harbin CO 150001 China Robotics Institute Harbin Institute of Technology Harbin CO 150001 China Biomedical Imaging Lab. 30 Biopolis Street 138671 Singapore Singapore Harbin Medical University 4Th Affiliated Hospital Harbin CO 150086 China

ISBN: (纸本)0780387406

Human fingers are easy to be injured. A CPM machine is a mechanism based on the rehabilitation theory of continuous passive motion (CPM). To develop a CPM machine for the clinic application in the rehabilitation of injured fingers is a significant task. therefore, based on the theories of evidence based medicine (EBM) and CPM, we've developed a set of biomimetic mechanism after modeling the motions of fingers and analyzing its kinematics and dynamics analysis. We also design an embedded operating system based on ARM (a kind of 32-bit RISC microprocessor). the equipment can achieve the precise control of moving scope of fingers, finger's force and speed. It can serves as a rational checking method and a way of assessment for functional rehabilitation of human hands. Now, the first prototype has been finished and will start the clinical testing in Harbin Medical University shortly. © 2005 IEEE.

关键词： Biomedical equipment

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Series damper actuator: A novel force/torque control actuator

Series damper actuator: A novel force/torque control actuato...

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2004 4th IEEE-RAS international conference on Humanoid Robots

作者： Chew, Chee-Meng Hong, Geok-Soon Zhou, Wei Department of Mechanical Engineering National University of Singapore 9 Engineering Drive 1 Singapore 117576

ISBN: (纸本)0780388631

A novel force/torque control actuator called Series Damper Actuator (SDA) is proposed, modeled and analyzed. Compared to conventional force/torque control schemes and Series Elastic Actuator (SEA), SDA has good output force/torque fidelity, low output impedance and large force/torque range. Furthermore, varying damping coefficient endows the SDA with more advantages and makes the system more versatile. An experimental SDA system is developed, in which a Magneto-Rheological (MR) fluid damper is employed as the series damper. the experimental results show that SDA system is an effective force/torque control actuator. © 2004 IEEE.

关键词： Actuators

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Positioning control of the leg of the humanoid robot by linear visual servoing

Positioning control of the leg of the humanoid robot by line...

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2004 4th IEEE-RAS international conference on Humanoid Robots

作者： Yamamura, Yoshiyuki Maru, Noriaki Grad. School of Systems Engineering Wakayama University Japan Department of Systems Engineering Wakayama University Japan

ISBN: (纸本)0780388631

this paper presents a positioning control of the 4 d.o.f. leg of the humanoid robot by linear visual servoing. Linear visual servoing is based on the linear approximation between binocular visual space and joint space of the leg of the humanoid robot. It is very robust to calibration error, especially to camera angle errors and joint angle errors, because it uses neither camera angles nor joint angles to calculate feedback command. We obtain the linear approximation matrix of the inverse kinematics of the leg using the binocular visual space by the least squares approximation. Some experimental results are presented to demonstrate the effectiveness of the proposed method. © 2004 IEEE.

关键词： Intelligent robots

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Continuing education in power electronics

Continuing education in power electronics

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international conference on Power Electronics and Motion control (IPEMC)

作者： C. Mi Z.J. Shen T. Ceccarelli Department of Electrical and Computer Engineering University of Michigan Dearborn Dearborn MI USA

Continuing education has become an increasingly important part of the mission of higher education in the United States and around the world. the objective of engineering continuing education is to help practicing engineers stay current with technology advances relevant to their current or future job assignments. this paper presents the strategies and guidelines for the continuing education in power electronics. Critical issues pertaining to engineering education, such as on how to identify learning needs, define learning outcomes, design course contents, select instructional methods, assess student performance, and conduct course evaluation, are discussed in details.

关键词： Continuing education Automotive engineering Power electronics Power engineering and energy Design engineering Road vehicles Propulsion Process control Telecommunication control robotics and automation

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Biologically inspired joint control for a humanoid robot

Biologically inspired joint control for a humanoid robot

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IEEE-RAS international conference on Humanoid Robots

作者： D. Kee G. Wyeth J. Roberts School of Information Technology and Electrical Engineering University of Queensland Saint Lucia QLD Australia Information and Communication Technology Commonwealth Science and Industrial Research Organisation Kenmore Australia

the GuRoo is a 1.2 m tall, 23 degree of freedom humanoid constructed at the University of Queensland for research into humanoid robotics. the key challenge being addressed by the GuRoo project is the development of appropriate learning strategies for control and coordination of the robot's many joints. the development of learning strategies is seen as a way to side-step the inherent intricacy of modeling a multi-DOF biped robot. this paper outlines the approach taken to generate an appropriate control scheme for the joints of the GuRoo. the paper demonstrates the determination of local feedback control parameters using a genetic algorithm. the feedback loop is then augmented by a predictive modulator that learns a form of feed-forward control to overcome the irregular loads experienced at each joint during the gait cycle. the predictive modulator is based on the CMAC architecture. Results from tests on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.

关键词： Biological control systems Humanoid robots Robot kinematics Feedback control Genetic algorithms Feedback loop Feedforward systems System testing Stability control systems

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Experimental demonstration of disturbance suppression control with novel nonlinear disturbance predictor based on reconstructed attractor

Experimental demonstration of disturbance suppression contro...

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international conference on Power Electronics and Motion control (IPEMC)

作者： N. Bando Y. Hori Department of Electrical Engineering Division of Engineering Institute of Industrial Science University of Tokyo Meguro Tokyo Japan Information & System Division Electrical Control System Engineering Institute of Industrial Science University of Tokyo Meguro Tokyo Japan

In this paper, disturbance suppression control with a novel nonlinear disturbance predictor to be used for motion control system is proposed. By design of the novel disturbance predictor, we develop disturbance observer to realize disturbance feedback without time delay. this predictor is built from the reconstructed attractor which is often used in chaos analysis. the reconstructed attractor consists of the time series of disturbance and expresses the dynamics of disturbance. Due to the characteristics of the reconstructed attractor, it is not necessary to identify or model the dynamics of disturbance. therefore the proposed method is especially effective to compensate the interference force of multiple axes robot manipulator friction force and so on which control tends to be complicated in the conventional methods. In the proposed method, one-step-ahead prediction can be realized by extension of the trajectory in the state space of disturbance intuitively. But in the reconstructed attractor, the order of the space can be selected arbitrarily as prediction is succeeded. Additionally the state transition equation of disturbance is not necessary. To verify the effectiveness of the proposed method, some simulation results using a double pendulum system are shown. In this simulation, though the chaotic interference force gives bad influence to the system, the proposed method can be succeeded in stabilizing the behavior of the double pendulum.

关键词： Motion control Chaos Interference Nonlinear control systems control systems Feedback Delay effects Orbital robotics Manipulator dynamics Friction

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