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A Genetic Algorithm for Warehouse Multi-Objective Optimisation

IFAC Proceedings Volumes 2000年第17期33卷 963-969页

作者： S.G. Tzafestas P. Poulos G.G. Rigatos A. Koukos Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece

The rapid increase of warehouse use demands automated management services in order to make decisions for all tasks concerned. These decisions must ensure optimised usage of resources, which leads to cost reduction and better customer service. A major consideration is the way the warehouse area, which consists of different storage types and similar product groups, is exploited. The optimisation of the warehouse's occupied area is the target of replenishment, which iS essentially a constrained placement problem. In this paper, a genetic algorithm with revised operators iS developed. This algorithm is applied to real warehouse data and results show that it produces successful replenishments in a complex environment where many criteria have to be considered and met to some user-defined extent.

关键词： genetic algorithms multi-objective optimisation constrained placement warehouse management

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Object hypothesis support in the context of knowledge-based fuzzy-possibilistic fusion of image descriptions

Object hypothesis support in the context of knowledge-based ...

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International Conference on Information Fusion

作者： S.N. Raptis S.G. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical & Computers Engineering National and Technical University of Athens Greece

Single images are often not enough to reveal all of the information contained in them, either because of the measurement ambiguity or because of the observer's imperfect knowledge. Integrating or fusing many knowledge sources is a recent trend in the pattern recognition field. In the work presented in this paper, fuzzy logic, which has been established to be a successful methodology in dealing with imprecision, provides a general conceptual framework and an analytical tool as well.

关键词： Image segmentation Image fusion Cameras Image recognition Intelligent robots robotics and automation Laboratories Knowledge engineering Electric variables measurement Pattern recognition

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Modeling and multilevel control of complex multistage processes with recycles and intermediate storages

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IFAC Proceedings Volumes 2000年第20期33卷 227-232页

作者： Peter P. Groumpos Mincho В. Hadjiski Kosta P. Boshnakov Nikolinka G. Christova Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Patras 26500 Rion Patras GREECE Department of Automation in Industry University of Chemical Technology and Metallurgy 1756 Sofia BULGARIA

A multilevel hierarchical control system for a single end product multistage plant is under consideration. It is shown that a variety of models and/or hybrid modeling are reasonable for inferred key variable forming, monitoring and control. Because of the complexity, uncompleted information, large uncertainties and mixture of batch, semi-batch and continuous processes different control strategies are appropriate for each hierarchical level. Two level reactive scheduler is proposed. Integration of operational and business management is carried out at the top hierarchical level using Fuzzy Cognitive Maps (FCM) approach. Some results of practical application of the system are reported.

关键词： modeling hierarchical control production planning scheduling

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Fuzzy-probabilistic object recognition based on edge and texture descriptors fusion

Fuzzy-probabilistic object recognition based on edge and tex...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S.N. Raptis S.G. Tzafestas Intelligent Robotics and Automation Laboratory Department of Electrical & Computers Engineering National and Technical University of Athens Athens Greece

A great deal of research effort has been devoted to information processing in pattern recognition. It has been established that when it comes to making decisions upon the perceptual content of the information there is no case-independent and commonly approved technique. This is in part due to the complexity of the real world information to the measurements' ambiguity or the observer's imperfect knowledge, but mostly, to the non-integrity of the available information. Fusing many knowledge sources is a recent trend in the pattern recognition field. Fuzzy logic provides a general conceptual framework and an analytical tool as well. Fusion and fuzzy uncertain modelling of salient image features such as edges and texture are at the core of the proposed method.

关键词： Object recognition Principal component analysis Logic Uncertainty Fuzzy reasoning Pattern recognition Image processing Information analysis Technological innovation Cost function

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Path following of a single wheel robot

Path following of a single wheel robot

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IEEE International Conference on robotics and automation (ICRA)

作者： Kwok Wai Au Yangsheng Xu Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Netherlands The Robotics Institute Carnegie Mellon University USA

A single wheel, gyroscopically stabilized robot was developed to provide a dynamic stability for rapid locomotion. It is a sharp-edged wheel actuated by a spinning flywheel for steering and a drive motor for propulsion. The spinning flywheel acts as a gyroscope to stabilize the robot and it can be tilted to achieve steering. In this paper, we present a path following controller for the robot. We first describe the robot motion by a set of configurations using the path curvature. We present a controller for tracking any desired straight line without falling over. For the controller, we first design the linear and steering velocities for driving the robot to the desired straight line through controlling the path curvature. The controller then applies the linear state feedback to stabilize the robot to the predefined lean angle such that the resulting steering velocity of the robot converges to the given steering velocity.

关键词： Wheels Mobile robots Velocity control Spinning Flywheels Stability Propulsion Gyroscopes Robot control Robot motion

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Trajectory fitting with smoothing splines using velocity information

Trajectory fitting with smoothing splines using velocity inf...

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IEEE International Conference on robotics and automation (ICRA)

作者： C. Lee Yangsheng Xu Robotics Institut Carnegie Mellon University Pittsburgh PA USA Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

We present a derivation for a spline smoother which takes into account local velocity information. This smoother is well suited for finding a best-fit trajectory from multiple example trajectories and is thus useful in applications such as programming by demonstration and online gesture recognition for teleoperation. Currently available smoothers are designed to consider only position information and not local velocity information, and are thus less suited for smoothing trajectories over time of dynamic systems.

关键词： Smoothing methods Fitting Mechanical splines Robot programming Animation automation Assembly systems Robotic assembly Handicapped aids Orbital robotics

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Reducing the complexity of geometric selective disassembly

Reducing the complexity of geometric selective disassembly

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.A. Garcia A. Larre B. Lopez A. Oller Department of Computer Science and Mathematics Intelligent Robotics and Computer Vision Group Tarragona Spain Department of Electrical Electronic and Automation Engineering Rovira i Virgili University Tarragona Spain

This paper presents an efficient technique for determining a low-cost disassembly sequence suitable to extract a subset of s components from an assembly containing n components, e of which are exterior (e/spl Lt/n). The most efficient solution to this so-called geometric selective disassembly problem is the wave propagation algorithm, which is reported to have a computational complexity of O(sn/sup 2/). Instead, the complexity of the proposed algorithm is O(enlogn) when s/spl Lt/n, and O(sn) when s/spl sime/n. Experimental results with synthetic 3D assemblies are presented.

关键词： Assembly Intelligent robots robotics and automation Computational complexity Recycling Fasteners Polynomials Costs Robot vision systems Computer vision

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Computing 3-D optimal form-closure grasps

Computing 3-D optimal form-closure grasps

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IEEE International Conference on robotics and automation (ICRA)

作者： Dan Ding Yun-Hui Liu Shuguo Wang Department of Mech. and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China The Robotics Institute Harbin Institute of Technology Harbin China

We address the problem of computing optimal fingertip locations yielding n-finger form-closure grasps of polyhedral objects. Given grasping points of m fingers not in form-closure, we show that the calculation of optimal grip points for the n-m fingers can be viewed as a nonlinear programming problem. We propose a sufficient and necessary condition for the n-m fingers to achieve an n-finger form-closure grasp with the m fingers given. Based on this condition, we derive a set of nonlinear constraints for the nonlinear programming problem. Furthermore, we give a performance index serving as an objective function which measures the distance between the center of mass of the grasped object and the contact points to be determined. In addition, the algorithm proposed can be applied to the frictionless grasp. We have implemented the algorithm and verified its efficiency by two examples.

关键词： Fingers Stability Space technology automation Performance analysis Robots Shape Councils Orbital robotics Linear programming

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The synthesis of 3D form-closure grasps

The synthesis of 3D form-closure grasps

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IEEE International Conference on robotics and automation (ICRA)

Presents a formulation of the synthesis of 3D frictional form-closure grasps of n robot fingers. First, using a recursive reduction technique, we transform the problem in 6D wrench space to one in three dimensions. Then we rewrite the sufficient and necessary condition for form-closure grasps in the equivalent form of the inconsistency of each of the two sets of linear inequalities. Then we propose three conditions to check the inconsistency of the inequality system, which geometrically indicates whether the convex region formed by the inequality system is empty. We have implemented the algorithms and confirmed their real-time efficiency for the synthesis of 3D form-closure grasps.

关键词： Testing Fingers robotics and automation Robots Linear programming Orbital robotics Stability Councils Constraint theory

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On tracking control of mobile manipulators

On tracking control of mobile manipulators

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IEEE International Conference on robotics and automation (ICRA)

作者： Wenjie Dong Yangsheng Xu Qi Wang Department of Mechanical and Automation Engineering Chinese University of Hong Kong The Seventh Research Division Beijing Aeronautics and Astronautics University Beijing China The Robotics Institute Carnegie Mellon University USA

This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat's lemma. The proposed controller ensures that the full state of the system asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach.

关键词： Manipulator dynamics Vehicle dynamics Aerodynamics Control systems Automatic control robotics and automation Vehicles Stability Mobile robots Error correction

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