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作者： Celano, G. Costa, A. Fichera, S. Dipartimento di Ingegneria Industriale e Meccanica Università di Catania Viale A. Doria 6 95125 Catania Italy

ISBN: (纸本)9789898425751

A permutational flowshop group scheduling problem (GSP) with sequence dependent set-up times, finite interoperational buffer capacity and workers with different skills has been investigated in this paper. the set-up times are influenced by the sequence of groups and the worker skill level;the manufacturing tasks on a part are completely automated and the working times do not depend on the operator's skill. the minimization of the completion time is the objective of the group scheduling. A Genetic Algorithm is proposed as an efficient tool to solve the investigated problem;a benchmark of problems has been generated to investigate the influence of the inter-operational buffer capacity and the worker skill level on the completion time.

关键词： Genetic algorithms

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On some peculiarities of cluster analysis of periodic signals

On some peculiarities of cluster analysis of periodic signal...

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作者： Znak, V. Institute of Computational Mathematics and Mathematical Geophysics SB RAS Pr. Lavrentieva 6 Novosibirsk Russia

ISBN: (纸本)9789898425003

An important task of geophysical research is in the answer to the question about the quality of signals, i.e., estimating the locus of the signal and the degree of their presence in noises. Such indications determine the degree of trust to consequent estimations (e.g., estimations of wave arrival times). As seismic data are periodic signals in their nature, conventional means for examining such signals are Fourier and spectral analyses. However, this method does not allow us to clear up questions about probability of signals presence and their locus in the recorded data. We consider another approach - the cluster analysis of periodic signals, propose the formal conditions which must be satisfied by a period of signal existence, and give some results of analysis of real data recorded in field conditions.

关键词： Estimation

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Mobile robot teleoperation via wireless multihop networks - Parameter tuning of protocols and real world application scenarios

Mobile robot teleoperation via wireless multihop networks - ...

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5th international conference on informatics in control automation and robotics, icinco 2008

作者： Zeiger, Florian Krämer, Nikolaus Sauer, Markus Schilling, Klaus University of Wuerzburg Department of Robotics and Telematics Am Hubland Wuerzburg Germany

ISBN: (纸本)9783642002700

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. this work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. the time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and BATMAN allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network. Finally a small application is presented to show the interaction of the different protocol layers in order to provide a communication network for services and applications to increase the capabilities of networked mobile robots. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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Planning stacking operations with an unknown number of objects

Planning stacking operations with an unknown number of objec...

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作者： Trilla, Lluis Alenyà, Guillem Institut de Robòtica i Informàtica Industrial CSIC-UPC Llorens i Artigas 4-6 08028 Barcelona Spain

ISBN: (纸本)9789898425010

A planning framework is proposed for the task of cleaning a table and stack an unknown number of objects of different size on a tray. We propose to divide this problem in two, and combine two different planning algorithms. One, plan hand motions in the Euclidean space to be able to move the hand in a noisy scenario using a novel Time-of-Flight camera (ToF) to perform the perception of the environment. the other one, chooses the strategy to effectively clean the table, considering the symbolic position of the objects, and also its size for stacking considerations. Our formulation does not use information about the number of objects available, and thus is general in this sense. Also, it can deal with different object sizes, planning adequately to stack them. the special definition of the possible actions allows a simple and elegant way of characterizing the problem, and is one of the key ingredients of the proposed solution. Some experiments are provided in simulated and real scenarios that validate our approach.

关键词： Cameras

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Generating multidimensional response surfaces from process data: Finding optimal set points for machine control

Generating multidimensional response surfaces from process d...

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作者： Mergenthaler, Wolfgang Feller, Jens Mauersberg, Bernhard Chevalier, Roger FCE Frankfurt Consulting Engineers GmbH Altmünsterstrasse 2D D-65439 Flörsheim Germany Electricité de France R and D 6 Quai Watier F-78401 Chatou Cedex France

ISBN: (纸本)9789898425744

Technical processes, notably in the power transforming industries, generate a wealth of process data, commonly organized in a file with M records and 1 + n + m fields, i.e. a time stamp, followed by n independent and m dependent variables, summarized in the vectors x and y, respectively. Regardless of the availability of physical models it is interesting and often necessary to generate functional relationships between x and y from process data. the most prominent purpose is the optimization of certain performance indices under given constraints. this paper describes response surface estimation using Gaussian shapes along with finding optimal points on the surfaces to be used in machine control. the practical impact lies in the usability of this technique to increase machine efficiency on a broad industrial scale with its applications towards energy efficiency and climate protection.

关键词： Dynamic programming

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Lecture Notes in Electrical Engineering: Preface

Lecture Notes in Electrical Engineering

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Lecture Notes in Electrical Engineering 2009年 37 LNEE卷 VI页

作者： Andrade-Cetto, Juan Ferrier, Jean-Louis Filipe, Joaquim Institut de Robòtica i Informàtica Industrial CSIC-UPC Llorens i Artigas 4-6 08028 Barcelona Spain INSTICC Av. D. Manuel I 27A 2 Esq. 2910-595 Setubal Portugal 62 avenue Notre Dame du Lac 49000 Angers France

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A morphing wing used shape memory alloy actuators new control technique with Bi-positional and pi laws optimum combination - Part 1: Design phase

A morphing wing used shape memory alloy actuators new contro...

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作者： Grigorie, Teodor Lucian Popov, Andrei Vladimir Botez, Ruxandra Mihaela Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada National Research Council Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

the paper presents the design phase of the actuators control system development for a morphing wing application. Some smart materials, like Shape Memory Alloy (SMA), are used as actuators to modify the upper surface of the wing made of a flexible skin. the actuations lines control is designed and validated using a numerical simulation model developed in Matlab/Simulink. the finally adopted control law is a combination of a bi-positional law and a PI law;the control must behave like a switch between cooling phase and heating phase, situations where the output current is 0 A, or is controlled by a law of PI type. the PI controller, for the heating phase, is optimally tuned using the Ziegler-Nichols criterion and the linear model obtained using the System Identification Toolbox of Matlab. the controlled linearized system for heating phase is numerically tested in terms of time response, stability, controllability and the observability. In the actuation control design final phase, numerical simulations, based on SMA non-linear analytical model, were used for validation.

关键词： Observability

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Morphing wing real time optimization in wind tunnel tests

Morphing wing real time optimization in wind tunnel tests

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作者： Popov, Andrei V. Grigorie, Lucian T. Botez, Ruxandra Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada Institute for Aerospace Research NRC Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

In this paper, wind tunnel results of a real time optimization of a morphing wing in wind tunnel for delaying the transition towards the trailing edge are presented. A morphing rectangular finite aspect ratio wing, having a wind tunnel experimental airfoil reference cross-section, was considered with its upper surface made of a flexible composite material and instrumented with Kulite pressure sensors, and two smart memory alloys actuators. Several wind tunnel tests runs for various Mach numbers, angles of attack and Reynolds numbers were performed in the 6'x9' wind tunnel at the Institute for Aerospace Research at the National Research Council Canada. Unsteady pressure signals were recorded and used as feed back in real time control while the morphing wing was requested to reproduce various optimized airfoils by changing automatically the two actuators strokes. the paper shows the optimization method implemented into the control software code that allows the morphing wing to adjust its shape to an optimum configuration under the wind tunnel airflow conditions.

关键词： Wind tunnels

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6-DoF Extrinsic Calibration Between a Manipulator and a 2D Laser Scanner 16th

6-DoF Extrinsic Calibration Between a Manipulator and a 2D L...

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16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Alberts, Jan Kleinschmidt, Sebastian P. Wagner, Bernardo Real-Time Systems Group Institute for Systems Engineering Leibniz Universität Hannover Appelstraße 9A Hannover30167 Germany

ISBN: (纸本)9783030631925

A precise geometric calibration between the subsystems of a robotic system is crucial for its usage and applicability. As mobile robots are already being used in industry and households, the interest in mobile manipulators rises, and the calibration procedures between manipulators and the robot’s exteroceptive sensors becomes necessary. Nevertheless, state-of-the-art calibration procedures between a manipulator and a 2D laser scanner often require complex calibration targets or additional sensors for calibration. As a consequence the practical usage in an industrial context is limited. For this reason, we propose a simple but effective approach for determining the transformation between a manipulator and a 2D laser scanner. the transformation is solved for six degrees of freedom using a 1D calibration target. In this paper, the modeling of the original approach presented in[1] is extended to decrease the number of restrictions. therefore, the objective function was improved leading to better optimization results and the methodology of the proposed approach is presented in more detail. Moreover, additional experiments are carried out to evaluate the accuracy of the extended calibration procedure. the effect of different calibration trajectories and calibration target’s geometries is evaluated additionally. © 2021, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

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2-DOF PI-fuzzy controllers for a magnetic levitation system

2-DOF PI-fuzzy controllers for a magnetic levitation system

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作者： Drago, Claudia-Adina Precup, Radu-Emil Petriu, Emil M. Tomescu, Marius L. Preitl, Stefan David, Radu-Codruţ RǍdac, Mircea-Bogdan Dept. of Automation and Appl. Inf. Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania School of Information Technology and Eng. University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada Computer Sci. Faculty Aurel Vlaicu University of Arad Complex Univ. M Str. Elena Dragoi 2 310330 Arad Romania

ISBN: (纸本)9789898425744

this paper treats aspects concerning the design of two-degree-of-freedom (2-DOF) PI-fuzzy controllers dedicated to the position control of magnetic levitation system. 2-DOF Mamdani and Takagi-Sugeno PI-fuzzy controller structures based on the fuzzification of some linear blocks in the 2-DOF linear controller structures are discussed. A design approach of three new cascade control system structures is offered. the design approach carries out first the pole placement design of the inner state feedback control system. the 2-DOF PI-fuzzy controllers in the outer loops are next designed to merge separately designed linear PI controllers accounting for the linearization of the process model at certain operating points. Samples of realtime experimental results related to a laboratory equipment are given to validate the new fuzzy control system structures and the design approach.

关键词： Degrees of freedom (mechanics)

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