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Smart decision support tools for robotics and automation systems

Smart decision support tools for robotics and automation sys...

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作者： Lee, Jay Lapira, Edzel Skirtich, Tyler Siegel, David University of Cincinnati Cincinnati United States

ISBN: (纸本)9789898425751

For decades, companies have been trying to develop and deploy predictive maintenance and prognostics technologies with ad hoc and trial-and-error approaches. These efforts have resulted in limited success, due to the fact that it lacks a systematic approach in deploying the right prognostics tools for the right applications. The presentation will introduce the intelligent maintenance systems methodology as well as advanced decision support tools for product life cycle management and maintenance scheduling. Special emphasis on the use of toolbox of prognostics algorithms to convert machine condition data to useful information for real-time decision making and closed-loop product life cycle system will be examined. A number of case studies will be used to demonstrate the lessons learned from industry testbeds, including Toyota, GM, Komatsu, P&G, GE Aviation, etc. In addition, trends on service design using Dominant Innovation tools will be presented with case studies.

关键词： Life cycle

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Smart decision support tools for robotics and automation systems

Smart decision support tools for robotics and automation sys...

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作者： Lee, Jay Lapira, Edzel Skirtich, Tyler Siegel, David University of Cincinnati Cincinnati United States

ISBN: (纸本)9789898425744

关键词： Life cycle

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Two-state regulation in MATLAB for the comparison of some parameters (damage, power consumption) by PSD regulation

Two-state regulation in MATLAB for the comparison of some pa...

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2011 international conference on Computer, Communication, control and automation, 3CA 2011

作者： Brečka, Peter Magdin, Martin Koprda, Štefan Department of Informatics Faculty of Natural Sciences Constantine the Philosopher University in Nitra Trieda A. Hlinku 1 94901 Nitra Slovakia

ISBN: (纸本)9783642255403

In today's active era of ICT usage not only in education but also in the field of industrial and automation equipment there is a question coming into the foreground: how should some processes be used and controlled both to have their course reliable and to achieve the demanded result. One of the possibilities is the usage of regulators (e.g. adaptive ones) that ensure these functions. Besides the relatively low price we get protective, signalling, visual and registering function, while communication through them and the regulated system is practically either without a biased information or with a very small change. Afterwards an unlimited complexity of control algorithms comes into being and also the possibility of fast change of regulated system parameters. © 2011 Springer-Verlag.

关键词： Computational complexity

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Volvot: A spherical mobile robot with eccentric twin rotors

Volvot: A spherical mobile robot with eccentric twin rotors

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2011 IEEE international conference on robotics and Biomimetics, ROBIO 2011

作者： Ishikawa, Masato Kitayoshi, Ryohei Sugie, Toshiharu Department of Mechanical Engineering Osaka University 2-1 Yamadaoka Suita Osaka 565-0871 Japan Yasukawa Electric Corpolation Fukuoka Japan Department of Systems Science Graduate School of Informatics Kyoto University Kyoto Japan

ISBN: (纸本)9781457721373

In this paper, we propose a spherical mobile robot equipped with eccentric twin rotors and 2-d.o.f. actuators, which we call Volvot. The first actuator, called rotor actuator, drives a pair of off-centered metal disks fixed to both ends of the drive shaft. The second actuator, called base actuator, rotates the whole internal block relative to the spherical outer shell. An advantage of adopting eccentric rotors is that they are able to make use of two types driving force for locomotion;one is the gravity force due to uneven mass balance, and the other one is the reaction torque proportional to the angular acceleration of the rotors. In this paper, we derive its mathematical dynamic model of the spherical robot under rolling contact constraints, considering its rotation about the vertical axis which had been ignored in most of the past literatures. We then propose a periodic control scheme to perform steady locomotion based on the principle of holonomy, followed by some numerical simulations and experiments to examine the proposed approach. © 2011 IEEE.

关键词： Actuators

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Speed and position control of BLDC servo systems with low inertia

Speed and position control of BLDC servo systems with low in...

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作者： Stînean, Alexandra-Iulia Preitl, Stefan Precup, Radu-Emil Pozna, Claudiu Dragoş, Claudia-Adina RǍdac, Mircea-Bogdan Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Department of Informatics Széchenyi István University Gyõr Hungary Dept. of Production Design and Robotics Transilvania University of Brasov Brasov Romania

ISBN: (纸本)9781457718069

The paper deals with applicative aspects concerning the control of speed and position of a BLDC servo system with low but Variable in a given range Moment of Inertia (VMI). Detailed models of various applications, some control solutions are discussed and developed and part of them tested on the basis of the specific features of the plants with VMI. The adopted control solutions PI(D) control (as reference solution) and fuzzy control with homogenous and non-homogenous dynamics are briefly presented and some approaches regarding the methods are highlighted. Due to the applicability of the methods in the field of mechatronics applications with VMI (speed and positioning control of rapid plants), the presented aspects are of permanent actuality, and they offer directions of future research. © 2011 Scientific Assoc Infocomm.

关键词： Servomechanisms

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Towards patterns for handling safety critical adaptive control software

Towards patterns for handling safety critical adaptive contr...

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作者： Hauge, André A. Stølen, Ketil Department of ICT Risk and Dependability Institute for Energy Technology Halden Norway Department of Informatics University of Oslo Oslo Norway Department of Networked Systems and Services Sintef ICT Oslo Norway

ISBN: (纸本)9789898425744

This article puts forward a pattern format for use in the safety critical control domains where adaptable components are part of the control software. The pattern format may be seen as a first step towards establishing a pattern language uniting three interests. The first interest is related to the objective of providing the compre-hensibility and usability found in design patterns with respect to communication of solutions to problems that may be solved by means of adaptive control. The second interest is related to the need to make explicit the requirements to be satisfied in order to facilitate instantiation of a design in different safety critical contexts. The third interest is related to the need to provide argumentation for risk being satisfactory reduced. The pattern format supports not only documentation of a technical solution to a recurring problem, but also documentation of the requirements that must be satisfied when instantiating a design in different contexts as well as solutions for how the safety property may be demonstrated.

关键词： Safety engineering

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Extracting the frequency of robotic tasks with an adaptive fourier series: Application to Yo-Yo

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7th international conference on informatics in control, automation and robotics, ICINCO 2010

作者： Petrič, Tadej Gams, Andrej Žlajpah, Leon Department of Automation Biocybernetics and Robotics Jožef Stefan Institute Jamova cesta 39 Ljubljana 1000 Slovenia

ISBN: (纸本)9783642195389

On-line determination of the basic frequency of an unknown periodic signal with an arbitrary waveform is crucial in imitating and performing rhythmic tasks with robots. We present a novel method to determine the basic frequency of a periodic signal on-line. The method is based on adaptive frequency oscillators in a feedback loop. While so far several adaptive frequency oscillators in a loop had to be used and the basic frequency determined using logical algorithms that choose from the determined frequency components, our method extracts the basic frequency of the input signal without any additional logical operations. The proposed novel method uses a single oscillator combined with a whole Fourier series representation in a feedback loop. Such formulation allows extracting the frequency and the phase of an unknown periodic signal in real-time and without any additional signal processing or preprocessing. The method also determines the Fourier series coefficients and can be used for dynamic Fourier series implementation. The method can be used for the control of rhythmic robotic tasks, where successful performing of a task crucially depends on the extraction of the fundamental frequency. We demonstrate the properties and usefulness of the method in simulation and on a highly nonlinear and dynamic task of playing the robotic yo-yo. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Nonlinear dynamical systems

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Two elitist variants of differential ant-stigmergy algorithm

Two elitist variants of differential ant-stigmergy algorithm

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作者： Şerbencu, Adrian Emanoil Minzu, Viorel Şerbencu, Adriana Cernega, Daniela Control Systems and Industrial Informatics Department Computer Science Faculty Dunarea de Jos University from Galati Str. Domneasca 111 800201 Galati Romania

ISBN: (纸本)9789898425744

This paper deals with the analysis for two types of elitist variant proposed for the DASA algorithm. It is usual for the genetic algorithms to keep the best solution found in the population used from next generation. Another way to insert elitist behaviour in algorithms that construct solution is to use the most attractive components in order to obtain god quality solution, and may be the optimal ones. Based on particularities of ant colony based metaheuristics these two types of elitist behaviour were successfully applied to DASA algorithm. In this paper the efficiency of the proposed elitist variants of DASA algorithms is analyzed using experimental results. The analysis is applied to six benchmark functions from the class of high-dimensional real-parameter optimization problems.

关键词： Ant colony optimization

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Availability studies and solutions for wheeled mobile robots

Availability studies and solutions for wheeled mobile robots

引用

international conference on Advances in Intelligent control and Computer Engineering

作者： Korodi, Adrian Dragomir, Toma L. Politehnica University of Timisoara Faculty of Automation and Computer Science Department of Automation and Applied Informatics Bd. Vasile Parvan no. 2 300223 Timisoara Romania

ISBN: (纸本)9789400702851

The need of an increased availability in the field of robotics is essential. The subjects of this work are the wheeled mobile robots, and their key feature is the movement. The movement has to be realized as safely as possible. The safety implies faultless behavior, which means achieving the specification limits in any situation. A critical part in the wheeled mobile robots movement is the localization module. The first objective of the paper is to provide an availability analysis for wheeled mobile robots regarding the localization module. The first analysis focuses on a distance sensor used to detect static or dynamic obstacles from the environment and the second analysis is related to the entire localization module, the main part of the faults coming from odometry errors. The second objective of the paper is to realize a synthesis of redundant procedures meant to increase the value of the overall availability of the mobile robots. © 2011 Springer Science+Business Media B.V.

关键词： Fault tolerance

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IRIS image segmentation based on industrial vision tools

IRIS image segmentation based on industrial vision tools

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作者： Anton, Silvia Anton, Florin Daniel Department of Automation and Industrial Informatics University Politehnica of Bucharesty Spl. Independentei 313 Bucharest Romania

ISBN: (纸本)9789898425751

In the last few years biometric data acquisition and processing systems for person identity verification and / or identification started to be increasingly used. This is done both in military applications for person identification in military operations and war theatres, but also in civilian applications for personal identity verification, accounting systems, etc. Depending on the organization policy, such systems must be secured and customized, for application enhancement, and to fulfil the organization requirements. Such systems which allow customization and enhancement are not available for source code modification and feature enhancement. This paper presents a software image processing development environment IPDE based on vision tools, which is able to run vision projects but also allow the user to develop stand alone applications in a short amount of time, applications which are based on customized vision tools. The IPDE is used to exemplify the process of creating an iris recognition application where a set of vision tools were used in order develop a customized iris image segmentation routine. The paper is structured on three chapters presenting the IPDE architecture, the vision tools, the application development stages, and ends with some experimental data and conclusions.

关键词： Image segmentation

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