Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, withthe objective of defining a mathematical model which accurately repre...
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ISBN:
(纸本)9789897580406
Automated distribution warehouses in which pallet and roll pallet loads are transported by means of forklift AGVs are considered in this work, withthe objective of defining a mathematical model which accurately represents the behaviour of AGVs in the system. AGVs can move freely in the warehouse (an open path AGV system is adopted), and their transportation activities can be modelled as a sequence of elementary or basic actions. In the paper, a coloured Petri net (CPN) model is proposed. It allows representing any sequence of elementary actions of AGVs (including pick-up and drop-off activities), and accurately models the interactions among AGVs, in order to guarantee the safety during the execution of activities. the CPN model can be used to analyse and implement deadlock prevention and deadlock recovery strategies, and it has been adopted in the building of a discrete-event simulator which is employed to analyse the system's performance and to evaluate scheduling policies for transportation tasks.
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the...
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ISBN:
(纸本)9789897585227
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. these processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.
the conference, in its customary full name 2012 IEEE internationalconference on automation, Quality and Testing, robotics - thETA 18th edition, follows the tradition of the 17 automation and testing related scientifi...
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Risk analysis in combination with terrain classification is a common approach in mobile robotics to adapt robot control to surface conditions. But for climbing robots it is hard to specify, how the robotic system and ...
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Many soft robotics researchers use numerical simulation;all of them wish their simulations would run faster. In this paper we highlight an attractive option for simulating pneumatic soft actuator designs: zero-thickne...
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ISBN:
(纸本)9781665408288
Many soft robotics researchers use numerical simulation;all of them wish their simulations would run faster. In this paper we highlight an attractive option for simulating pneumatic soft actuator designs: zero-thickness shell finite elements. these offer a favorable balance between predictive accuracy and computational cost relative to standard approaches. We find that shell finite elements offer a 7x reduction in analysis time while accurately predicting the behavior of a wide variety of soft actuators. the benefits conferred by shell finite element analysis are especially valuable in contexts where simulation speed is as important as absolute accuracy, such as automated design, optimization, and real-time control.
the proceedings contain 67 papers. the topics discussed include: a statistic-based approach for automatic multi-view face detection and pose estimation;open/closed eye recognition by local binary increasing intensity ...
ISBN:
(纸本)9781612842509
the proceedings contain 67 papers. the topics discussed include: a statistic-based approach for automatic multi-view face detection and pose estimation;open/closed eye recognition by local binary increasing intensity patterns;monocular viewpoint invariant human activity recognition;visual marker localization in robot-assisted stereotactic neurosurgery;homography-based ground area detection for indoor mobile robot using binocular cameras;inverse kinematics of modular cable-driven snake-like robots with flexible backbones;track slab fine adjustment system based on 6-DOF parallel mechanism;rotor field oriented control strategy of multiphase induction motor;position tracking control of PMSM based on state error PCH and MTPA principle;tracking control of two degree of freedom parallel robots with adaptive bounds for the actual torque;and development of real-time control system for single-wheeled inverted pendulum platform.
An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can ...
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ISBN:
(纸本)9789898565211
An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can be solved in various ways. In this paper, tracking is provided using proportional-integral (PI) or fuzzy logic controller (FLC). Unfortunately, tracking is never perfect, due to uncertainties and obstacles can change their positions in time. In order to overcome these difficulties, additional correction controller must be used. Here is proposed fuzzy controller, which slightly changes control action of the tracking controller in order to prevent collision with obstacles. this approach is proved to be efficient even in dynamic environments. Simulation results are presented as illustration of the proposed approach.
In the paper we recover the static characteristic of Wiener-Hammerstein (sandwich) system from inputoutput data. the system is excited and disturbed by random processes with arbitrary distribution. Two kernel-based es...
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Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. their main properties are briefly presented. Algorithmic details incorpor...
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ISBN:
(纸本)9789897580390
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. their main properties are briefly presented. Algorithmic details incorporated in the developed solver are described. the results of an extensive performance investigation on a large collection of examples are summarized. Several numerical difficulties and observed unexpected behavior are reported. these algorithms are strongly recommended for improving the solutions computed by other solvers.
this paper concerns two fundamental issues in video shots retrieval: key frame identification and similarity measurement between the key frames. We propose a simple key frame extraction algorithm based on optical flow...
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