A system has been developed for monitoring large-scale distributed processes and modifying the control plan in real time, in response to deviations from the planned production schedule. The monitoring method is based ...
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In traditional geometric modeling, it is common to assume that models of objects created are complete and correct. Unfortunately in real life robots and other autonomous machines may have only uncertain knowledge of o...
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A novel approach to inspection is presented based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volu...
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Presents a new approach to detect step edges with subpixel accuracy. The proposed approach is based on a set of orthogonal complex moments of the image known as Zernike moments. An ideal 2-D step edge is modeled in te...
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Presents a new approach to detect step edges with subpixel accuracy. The proposed approach is based on a set of orthogonal complex moments of the image known as Zernike moments. An ideal 2-D step edge is modeled in terms of four parameters: the background gray level, the step size, the distance of the edge from the center of the mask, and the orientation of the edge. Discrete Zernike moments are used to obtain a total of three masks to compute all the edge parameters for subpixel detection. For pixel-level edge detection only two masks (one real and one complex) are required. The theoretical analysis of the influence of noise on the location and the orientation of an edge is presented. This analysis reveals that the accuracy of the proposed approach is virtually unaffected by the additive noise. Experimental results are presented to demonstrate the efficacy of the proposed technique.< >
A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the fir...
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A practical solution to the path planning problem for a six degree-of-freedom manipulator robot with arbitrary payload is described. The three phases of operation are explained. Phase one involves planning for the first three joints in a configuration space model using a distance transform. A real space model and heuristics are then used for the orientation planning of the wrist, gripper and payload. The execution of the path is monitored with sensor panels covering the robot so that safe adjustments to the path can be made if necessary.< >
Automation of on-line monitoring and reactive control of complex manufacturing processes requires the intelligent integration of process-specific knowledge with numerical methods for simulation and optimization. This ...
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Automation of on-line monitoring and reactive control of complex manufacturing processes requires the intelligent integration of process-specific knowledge with numerical methods for simulation and optimization. This paper presents an architecture for integrating these functions in the real-time control system. Process monitoring and fault detection are based on behavioral models of the process and equipment dynamics. Reactive scheduling is carried out by an interaction of operating rules and numerical optimization managed by a real-time production system, CROPS5 (Concurrent Real-Time OPS5). The paper presents an overview of the architecture and experimental results from a prototype implementation for scheduling beats for electric arc furnaces in continuous-caster steel mills.
作者：
S.S. KrishnanA.C. SandersonElectrical
Computer and Systems Engineering Department Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA
The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem e...
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The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem entails finding the shortest feasible path. The authors present two versions of the window corner (WC) algorithm, which is a novel solution to the problems for the case of single and multistep translational paths for two dimensions, and then summarize the extension to the three-dimensional WC algorithm, for feasible paths. The concept of window corners in the polyhedral cone representation (PCR) is introduced, which reduces the search space. The PCR cones store constraints between boundary elements. The PCO representation has O(m) vertices compared to O(m/sup 2/) in a C-space representation. The WC algorithm was tested and an example from assembly path planning is presented.< >
Traditional process monitoring techniques are unable to utilize the delayed, infrequent, and sometimes uncertain information available in many complex industrial processes. This paper presents the trajectory encoding ...
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Traditional process monitoring techniques are unable to utilize the delayed, infrequent, and sometimes uncertain information available in many complex industrial processes. This paper presents the trajectory encoding method for process monitoring that is specifically designed to handle this type of information. Using a behavioral model specification of the range of admissible dynamic behaviors, a graphical representation of the system trajectories consistent with the process data is constructed on line as observations are received from the process. The monitor reports when the observations are no longer consistent with the behavioral model specification, giving timely fault-detection information to the operator. This paper describes the elements of the trajectory encoding method and its application to computer-controlled industrial processes.
A class of models developed for online monitoring of complex processes which exhibit both continuous and discrete dynamics is presented. The authors describe the basic elements of the hybrid system modeling formalism ...
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A class of models developed for online monitoring of complex processes which exhibit both continuous and discrete dynamics is presented. The authors describe the basic elements of the hybrid system modeling formalism and the trajectory encoding method for maintaining an online representation of the set of valued system trajectories that are consistent with the observations from the process. It is shown analytically that the class of models and associated observation relations defined satisfy two properties essential for a modeling formalism to be used in online monitoring, i.e. causality and time monotonicity. A brief description is presented of current research into extensions of the trajectory encoding method to monitor systems with divergent dynamic evolutions.< >
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