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Solution of the Manufacturing Transportation control Using Petri Nets

IFAC Proceedings Volumes 2003年第18期36卷 223-228页

作者： Branislav Hrúz Leo Mrafko Slovak University of Technology Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovičova 3 812 19 Bratislava Slovak Republic Phone: +421 2 60291698

An analysis of the transportation systems used in the flexible manufacturing systems is introduced in the paper. Based on the analysis a class of the transportation systems is delimited, whose modeling and control is the subject of the paper. Important property of those systems is unidirectional zone movements of the automatic guided vehicles and transport requirements occurring spontaneously during the work of the system. A special group of the colored Petri nets interpreted for control is used for the control specification. The Petri net helps to analyze the function of the transportation system and to write the control program.

关键词： transportation systems in manufacturing discrete event dynamic systems Petri nets colored Petri nets

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Plant Uncertainty Contribution to QFT Tracking control Design

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IFAC Proceedings Volumes 2003年第11期36卷 517-522页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN. Tf.:+34 941 299496 Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía s/n 31006 Pamplona SPAIN Tf.:+34 948 16938

Tracking feedback control trade-offs increase dangerously with arbitrarily large uncertainties in the process model. This is shown by the bounds in the QFT domain. In this context, the paper develops a theory on the contribution of the plant uncertainty to the tracking QFT bounds through a serious study of tracking bound formulas. From this, a methodology for uncertainty fragmentation is developed. It hopes to loosen the bound toughness, or the control design trade-offs. Better feedback benefits can be achieved while reducing the high-frequency amplification of noises and disturbances at the plant input at the same time. Different QFT controllers in a controller-scheduler structure should drive different uncertainty boundaries.

关键词： Quantitative Feedback Theory Robust control Uncertain Dynamical systems

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Robust specification influence on feedback control strategies 15th

Robust specification influence on feedback control strategie...

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15th World Congress of the International Federation of automatic control, 2002

作者： Gil-Martínez, M. García-Sanz, M. System Engineering and Automation Group Electrical Engineering Department University of La Rioja Luis de Ulloa 20 Logroño26004 Spain Automatic Control and Computer Science Department Public University of Navarra Campus Arrosadía Pamplona31006 Spain

ISBN: (纸本)9783902661746

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design. Copyright © 2002 IFAC.

关键词： controllers

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

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IEEE International Conference on systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots Robotics and automation Humans Graphics Virtual environment Machine vision Computer science Augmented virtuality

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The response surface methodology for rapid prototyping of real-time control systems

The response surface methodology for rapid prototyping of re...

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American control Conference (ACC)

作者： P. Stewart P.J. Fleming Department of Electrical Engineering Electrical Machines and Drives Group University of Sheffield Sheffield UK Department of Automatic Control and System Engineering University of Sheffield UK

This paper investigates the use of a production control technique known as the Response Surface methodology as a rapid prototyping tool for real time control design. The problem under consideration here is the response of automotive drivetrains to aggressive driver input. The first torsional mode (otherwise known as "shuffle" mode) of automotive drivelines is excited by torque transients and is typically around 2-5 Hz. The effect is particularly severe during step changes from the throttle pedal ("tip in" or "tip out"), manifesting itself as an undesirable low frequency longitudinal acceleration oscillation, leading to driver discomfort. The control of this aspect of "driveability" (the error between expected vehicle response and actual vehicle response to an arbitrary control input) is examined, using feedforward control. The overriding principle to be obtained in this examination is the assessment of electronic throttle control in the context of rapid prototyping. The response surface methodology is adopted to achieve this goal. The potential of the electronic throttle for launch control is analyzed and experimentally verified.

关键词： Response surface methodology Prototypes Real time systems control systems Automotive engineering Vehicle driving Production control control design Torque Frequency

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controllability analysis of multi objective control systems

Controllability analysis of multi objective control systems

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： P. Stewart G.W. Jewell R.E. Clark P.J. Fleming The Electrical Machines and Drives Group the Department of Electrical Engineering University of Sheffield Sheffield UK The University of Sheffield Sheffield Sheffield GB The Department of Automatic Control and System Engineering University of Sheffield UK

The performance requirements stated in project specifications often comprise conflicting objectives. These objectives may further be a complex mix of steady state and dynamic performance. control devices such as solenoid actuators are often chosen purely on steady state force characteristics, due to the difficulty of appraising the conflicting and generally non-linear nature of the performance objectives. This can have ramifications in terms not only of the actuator performance, but also in the overall controllability of the system when closed-loop control is implemented. An example automotive application examining the multi objective controllability of electronically actuated valves is presented. Multi objective evolutionary techniques are utilised to derive the optimal force-displacement characteristics and also dynamic characteristics of the desired actuator under the constraint of design performance criteria. The selected actuator is then assessed for its controllability and dynamic performance.

关键词： controllability control system analysis control systems Actuators Vehicle dynamics Steady-state Force control Solenoids Appraisal Automotive applications

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ROBUST SPECIFICATION INFLUENCE ON FEEDBACK control STRATEGIES

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IFAC Proceedings Volumes 2002年第1期35卷 425-430页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía 31006 Pamplona SPAIN

关键词： Robust control Uncertain dynamical systems Quantitative Feedback Theory

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Multi-Agent systems for Model-based Fault Diagnosis

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IFAC Proceedings Volumes 2001年第22期34卷 83-88页

作者： X. Ren S.M. Hargrave H.A. Thompson P.J. Fleming Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Model-based methods are commonly used for fault diagnosis. But for modern complex processes, the analytical model of the overall process is not usually available. In this paper, a multi-agent framework for distributed fault diagnosis and isolation is proposed. The distributed fault diagnosis and isolation is achieved by a group of cooperative intelligent agents. The structure of the multi-agent framework is described. The learning algorithms employed by agents for building the fuzzy analytical model of the local process is detailed. The implementation of this agent-based approach on aero gas turbine engine fault diagnosis is also discussed.

关键词： Intelligent agents model-based fault diagnosis fuzzy inference systems

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O 2 CA 2 : A New Hybrid control Architecture for a Low Cost AUV

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IFAC Proceedings Volumes 2001年第7期34卷 311-316页

作者： P. Ridao M. Carreras J. Batlle J. Amat Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Department of Automatic Control and Computer Engineering Politechnical University of Catalunya. Pau Gargallo n°5 08028 Barcelona (Spain).

The Object Oriented control Architecture for Autonomy (O 2 CA 2 ) is a control architecture being developed at the University of Girona for the GARBI underwater vehicle. Conceived as a hybrid, it is organised in three layers (Deliberative, control Execution and Reactive) merging the deliberation mechanisms of planning with reactive behaviours in charge of controlling the robot. The aim of this paper is to provide an overall description of the whole architecture and an in depth description of the Reactive-layer. The concepts of the architecture have been tested with the simulation of a simple mission consisting of navigating through a sequence of way-points while avoiding contact with obstacles.

关键词： Autonomous Vehicles control architectures behaviour fuzzy systems guidance navigation marine systems

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Positioning an underwater vehicle through image mosaicking

Positioning an underwater vehicle through image mosaicking

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IEEE International Conference on Robotics and Automation (ICRA)

作者： R. Garcia J. Batlle X. Cufi J. Amat Computer Vision and Robotics Group IIiA University of Girona E. P. S. P-II Girona Spain Department of Automatic Control and Computer Engineering Polytechnic University of Catalonia Barcelona Spain

ISBN: (纸本)0780365763

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle.

关键词： Underwater vehicles Cameras Motion detection Navigation Oceans Floors Underwater tracking Lighting Optical scattering Feature extraction

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