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An architecture of configurable equipment connectivity in a future manufacturing information system

An architecture of configurable equipment connectivity in a ...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： S.X. Ye R.G. Qiu GL AgilityTech Inc. Collegeville PA USA Department of Information Sciences Pennsylvania State University Malvern PA USA

This paper discusses equipment integration architecture on the shop floor, aiming at design and development of suitable, intelligent, and cost-effective shop floor connectivity for future manufacturing information systems. Generic equipment connectivity is defined as a platform capable for continuous customization. By loading configurable equipment connectivity components and an equipment characteristic descriptor, generic equipment connectivity is enabled for supporting designated communication protocols. By considering data from a variety of heterogeneous sources in an advanced manufacturing information system, an RDF-type (resource description framework) scheme is used as an effective vehicle for assimilating different information structures and semantics. Effective mechanisms are created to extract pertinent information among overwhelming data from heterogeneous sources. The proposed architecture provides a necessary foundation for the creation of generic equipment connectivity on the shop floor.

关键词： Manufacturing Information systems Management information systems control systems SCADA systems Supply chains Production facilities Job shop scheduling Marketing and sales Educational institutions

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Gait designing of biped robot according to human walking based on six-axis force sensors

Gait designing of biped robot according to human walking bas...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Li Liu Mingguo Zhao Dingding Lin Jinsong Wang K. Chen Department of Precision Instrument Tsinghua University Beijing China

This work is the part of the project of development of THBIP-I humanoid robot. The robot has been completed and can perform some slow static walks. The next stage is realizing the fast and dynamic walking. So the six-axis force sensors will be used to obtain the reaction force from the ground in order to implement the stably control. We designed a pair of shoes similar to the robot feet, so the human walker could wear them to walk like the robot (bending kneels, flat sole parallel the ground surface, cross the arms on the chest). According to these data of ground reaction force and ZMP trajectory, a kind of gait was designed for the robot and was implemented. There are two purposes. The first one is aimed at verifying the six-axis sensor system. The second one consists in looking for an effective gait designing method for dynamic walking. Through the walking experiments, it is proved that the sensor system works well and this kind of gait is more smoothly, less impulse and less ground reaction force. So we can design the gait of dynamic walking next stage.

关键词： Legged locomotion Robot sensing systems Humans Force sensors Humanoid robots Parallel robots Sensor systems Force control Footwear Manipulators

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Morpho-Rate: a macroscopic evaluation and analysis of the Morpho-Functional Machine

Morpho-Rate: a macroscopic evaluation and analysis of the Mo...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： H. Yokoi Wenwei Yu R. Pfeifer AILAB University of Zurich Complex System Eng. Hokkaido University Japan

This paper describes an experimental approach of the macroscopic evaluation for the Morpho-Functional Machine. The robotics agent that has many degrees of freedom and large deformability has a difficulty of control, which is how to detect the influence of global body for the feedback signal of local agent. The Amoeba-like-Robot is an example we proposed for the Morpho-Functional Machine. The mathematical model of swarming behavior of multi agents system based on field technique gives a model of the Amoeba-like-Robot. The description of macroscopic observation is proposed and applied for the behavior analysis of Amoeba-like-Robot. The macroscopic observation proposed here suggested to define a so called as Morpho-Rate that consists of the Dynamics of multi agents system. One of the hardware designs of Amoeba-like-Robot consists of a group of distributed agents and is named SMA-net. The SMA-net type is built using a lattice structured field of shape memory alloy (SMA) spring coils, and distributed agents are arranged on all node of the lattice, where each agent includes controller, sensor, indicator and actuator. Based on evidence from performance tests using these proposed architectures we suggested using morpho-rate as design index for the macroscopic evaluation.

关键词： Mathematical model Lattices Robots Feedback Hardware Shape memory alloys Springs Coils Shape control Actuators

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Frequency domain singleton fuzzification in the design of fuzzy logic controllers

Frequency domain singleton fuzzification in the design of fu...

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ieee International symposium on Intelligent control (ISIC)

作者： S.A. Lopez M. Villabona U.A. Betancourt M.A. Melgarejo Department of Electronics Universidad Distrital FJDC Colombia Department of Electronics Engineering Universidad Distrital FJC Laboratory for Automation Microelectronics and Computational Intelligence Universidad Distrital FJDC Colombia Laboratory for Automation Microelectronics and Computational Intelligence Universidad Distrital FJC

In this paper, an alternative approach for implementing singleton fuzzification in fuzzy controllers is presented. Fuzzification is translated to the frequency domain by means of a frequency-modulated-sinusoid signal, whose spectral representation is a Dirac's delta function (singleton fuzzifier). This sinusoid is applied to a non recursive filter which is considered as a membership function generator. This approach facilitates the on line reconfiguration of membership functions in hardware based fuzzy controllers. Two control problems are presented where frequency domain singleton fuzzification has been used.

关键词： Frequency domain analysis Fuzzy logic Finite impulse response filter Fuzzy control Signal generators Hardware Polynomials Signal design Laboratories Design automation

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Part geometric understanding for tool path planning in additive manufacturing

Part geometric understanding for tool path planning in addit...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Weihua Sheng Ning Xi Heping Chen Yifan Chen Mumin Song ECE. Department Kettering University Flint MI USA ECE. Department Michigan State University East Lansing MI USA Scientific Research Laboratory Ford Motor Company Limited Dearborn MI USA Control Science and Engineering Department Shandong University Shandong China

ISBN: (纸本)0780378660

Additive manufacturing processes such as spray coating, spray painting and rapid tooling, are very important steps in many products' life cycle. Robotic manipulators are widely adopted in these processes. The tool planning for these applications is usually time-consuming for human operators and the plans generated are prone to inaccuracy and low efficiency. This research develops fully-automated, CAD-guided tool planning system which eliminates the human involvement and also generates optimized tool plans in the sense of the motion performance of the robot. The core of this tool planning system is the partitioning of part surfaces into multiple, easy-to-handle patches, or the geometric understanding problem. In this paper, a decomposition-based approach is developed. Robot motion performance measures are integrated into the surface partitioning. Experimental tests and evaluation carried out on vehicle body parts validate this new approach.

关键词： Path planning Motion planning Additives Spraying Humans Manufacturing processes Coatings Painting Robots Manipulators

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Generating optimal behaviors of mobile robot using behavior network with planning capability

Generating optimal behaviors of mobile robot using behavior ...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Hyeun-Jeong Min Kyung-Joong Kim Sung-Bae Cho Deptartment of Computer Science Yonsei University Seoul Korea

ISBN: (纸本)0780378660

This paper presents an approach to the optimal method for behavior generation of mobile robot. Recently, a hybrid system that supplements gap between reactive and plan-based approaches by employing a reactive system for lower level control for fast reaction and a planner for higher level for generation of optimal sequence of behaviors has gained popularity. Behavior network structures may generate behaviors automatically through the internal links and external links with sensors and goals, and can be applied much into more complex problems. In this paper we propose an optimization method of behavior sequences for generating optimal behavior of mobile robot using behavior network with planning capabilities. Behavior network inspired by behavior selection of animals selects the next behavior that has the highest priority from the information acquired to sensors and goals. Globally optimal behavior selected in this behavior network is processed in advance and the next behavior is selected among behavior that approaches the goals. We could notice that robot reaches the goals faster in behavior network with planning capability rather than behavior network only through the experiment using Khepera mobile robot simulator.

关键词： Mobile robots Intelligent robots Animals Artificial intelligence Machine intelligence Working environment noise Robot sensing systems Humans Uncertainty Environmental factors

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Toward a mutual adaptive interface by utilizing a user's cognitive features

Toward a mutual adaptive interface by utilizing a user's cog...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： T. Komatsu A. Utsunomiya K. Suzuki K. Ueda K. Hiraki N. Oka Department of System Science University of Tokyo Japan Advanced Technology Research Laboratories Matsushita Elecrric Indusrrial Company Limited Japan

Recently, many researchers have tried to develop an interactive agent or robot that can communicate with humans smoothly and naturally. However, though many of these are in the media spotlight, none of them can achieve actual smooth communication with humans in everyday situations. We consider that one of the reasons is that these agents are not developed considering the human cognitive features that allow humans to adapt smoothly to their interaction partners. In our research, we focus on a speech interface system as an interactive agent. In addition, we propose a meaning acquisition model constructed as a basic technology for achieving the desired speech interface system. The model is based on cognitive features human use to communicate, and it can recognize a user's intention as a result of the interaction between the model and user. Our results confirmed that the constructed model could recognize the intentions/meanings of normal verbal instructions as a result of interaction with users and without our having to prepare a priori knowledge about the instructions as is necessary with a conventional speech interfaces. We expect that this result could contribute to achieving an interactive interface system and provide insights to those researchers studying human-agent interaction.

关键词： Human robot interaction Speech recognition Laboratories Service robots Cognitive robotics Stress Data mining Computer interfaces Motion control Velocity control

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Automatic generation of fuzzy classification systems using hyper-cone membership functions

Automatic generation of fuzzy classification systems using h...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： L. Hng K. Miyasaka H. Inoue M. Tsukamoto Graduate School of Education Fukui University of Technology Fukui Japan Faculty of Education and Regional Studies Fukui University of Technology Fukui Japan

In this paper, we propose automatic generation methods of fuzzy classification rules with the Genetic Algorithms (GAs) to obtain compact fuzzy systems. This time, we propose an approach of hyper-cone membership function to construct rules for the antecedent part. Then, this method is used to determine the location and shape of hyper-cone membership function in the antecedent part, output class and the number of necessary inputs of each rule by GAs. Also, using the rule addition method in GA process, compact fuzzy classification systems are obtained. Though the proposed methods are quite simple, the process of GAs on both methods presents a solution for solving two-objective optimization problems: increasing the numbers of correct pattern classification, while decreasing the rule and input numbers optimally. This method was applied to Wine data sets and Wisconsin Prognostic Breast Cancer (WPBC) data sets. Wine data sets consist of 13 inputs and three outputs, while WPBC data sets contain 33 inputs and two outputs.

关键词： Fuzzy systems Genetic algorithms Fuzzy control Shape Pattern classification Breast cancer Fuzzy reasoning Optimization methods Neural networks Vehicles

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High precision polishing robot using a learning-based surface following controller

High precision polishing robot using a learning-based surfac...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： F. Nagata Y. Kusumoto K. Watanabe K. Kiguchi K. Tsuda K. Yasuda K. Yokoyama M. Umetsu N. Mori M. Omoto Fukuoka Industrial Technology Center Interior Design Research Institute Fukuoka Japan Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka JAPAN Department of Advanced Systems Control Engineering Saga University Saga JAPAN ASA SYSTEMS INC. Kitakyushu Fukuoka JAPAN YASKAWA ELECTRIC CORP. Kitakyushu Fukuoka JAPAN Tobataku Nakabmshinmachi Asa Systems Inc. Fukuoka Japan MEIHO CO. LTD. Fukuoka JAPAN

In this paper, a high precision polishing robot with a learning-based surface following controller is proposed for polishing PET (poly ethylene terephthalate) bottle molds with curve surface. The shape of a mounted abrasive tool, attached to the tip of the robot arm, is a ball-end type. When a PET bottle mold with a large curvature is polished, not only the orientation of the mounted abrasive tool is fixed but also its revolution is locked. The motion of the mounted abrasive tool is feedforwardly controlled based on initial trajectory calculated in advance. The trajectory is generated by cutter location data constituted from a CAM system. The trajectory is modified through the process of actual polishing. The surface is polished by a polishing force acting between the mold and the abrasive tool. The polishing force is assumed to be considered as a composite force of the contact and kinematic friction forces, in which the friction consists of Coulomb and viscous frictions. Velocities in the normal and tangent directions are delicately controlled so that the proposed system is effective for obtaining a polishing surface as achieved by skilled workers.

关键词： Robots Abrasives Friction Positron emission tomography Shape Motion control Computer aided manufacturing CADCAM Kinematics Velocity control

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A study of reinforcement learning with knowledge sharing for distributed autonomous system

A study of reinforcement learning with knowledge sharing for...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： K. Ito A. Gofuku Y. Imoto M. Takeshita Department of Syst.ems Engineering Faculty of Engineering Ohyama University Japan

Reinforcement learning is one of effective controller for autonomous robots. Because it does not need priori knowledge and behaviors to complete given tasks are obtained automatically be repeating trial and error. However a large number of trials are required to realize complex tasks. So the task that can be obtained using the real robot is restricted to simple ones. Considering these points, various methods that prove the learning cost of reinforcement learning have been proposed. In the method that uses priori knowledge, the methods lose the autonomy that is most important feature of reinforcement learning in applying it to the robots. In the Dyna-Q, that is one of simple and effective reinforcement learning architecture integrating online planning, a model of environment is learned from real experience and by utilizing the model to learn, the learning time is decreased. In this architecture, the autonomy is held, however the model depends on the task, so acquired knowledge of environment cannot be reused to other tasks. In the real world, human beings can learn various behaviors to complete complex tasks without priori knowledge of the tasks. We can try to realize the task in our image without moving our body. After the training in the image, by trying to the real environment, we save time to learn. It means that we have model of environment and we utilize the model to learn. We consider that the key ability that makes the learning process faster is construction of environment model and utilization of it. In this paper, we have proposed a method to obtain an environment model that is independent of the task. And by utilizing the model we have decreased learning time. We consider distributed autonomous agents, and we show that the environment model is constructed quickly by sharing the experience of each agent, even when each agent has own independent task. To demonstrate the effectiveness of the proposed method, we have applied the method to the Q-learning and si

关键词： Learning Knowledge engineering Robotics and automation Systems engineering and theory Costs Automatic control Robot control Humans Indium tin oxide control systems

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