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Automatically generating plans for manufacturing

Journal of Intelligent Systems 2000年第3期10卷 279-319页

作者： Harris, Billy Cook, Diane J. Lewis, Frank Department of Computer Science and Engineering University of Texas at Arlington Arlington TX 76019 United States Automation and Robotics Research Institute 7300 Jack Newell Blvd. South Fort Worth TX 76118 United States

Although machine planning has attracted great interest among researchers, it has seldom been used outside research labs. One impediment to widespread use is that existing planners are often difficult to integrate with other parts of a manufacturing system. We address this problem by showing how assembly trees (constructs often used by factories identifying how to construct an object) can easily be converted into HTN operators for our machine planner. We also demonstrate that our plans can be easily converted to a Petri-Net or matrix representation that ordinary discrete-event controllers can manipulate. We view our planner as one portion of a complete control system. We also demonstrate how our system can combine multiple alternatives into a single representation. Finally, we show that the combined representation can be converted back into a more conventional plan representation, allowing machine planners to compactly reason about alternate courses of action.

关键词： Computer aided manufacturing

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Procedure of system-formation as process of the purpose achievement in manufacturing systems

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IFAC Proceedings Volumes 2000年第20期33卷 499-504页

作者： Peter Groumpos Salavat Kusimov Barry Ilyasov Larisa Ismagilova Roza Valeeva Ilmira Gerasimova University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 OORion Greece Fax: +50 61 997 309 Ufa State Aviation Technical University 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

There are considered the creation problems of organizational and manufacturing systems as formalized system-formation process according to the construction conception of resource-goal triads. Triad is formed and is used as the base element of description formalization of the purpose achievement procedure by means of system-formation process and connects three components necessary for creation of any system (reasons of system origin, existence purpose, possibility of creation). The proposed procedure of system-formation is a basis for development of theoretical bases for modeling and research of controlled manufacturing systems.

关键词： system concepts system methodology system design manufacturing systems

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Tool integrated electromagnetic pulse induction technology to locate buried utilities

Tool integrated electromagnetic pulse induction technology t...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： B. Handlon S.J. Lorenc L. Bernold G. Lee Dept. of Civil Eng. North Carolina State Univ. Raleigh NC USA Construction Automation and Robotics Laboratory Department of Civil Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Department of Mechanical and Aerospace Engineering North Carolina State University Raleigh NC USA

Excavation of underground utility pipelines is a common task for residential and commercial development. One of the most important tasks in underground excavation is the location and orientation of buried utility lines. In this paper, several pulse induced electromagnetic sensor coils are discussed which have been designed, fabricated and tested for underground utility pipe recognition. The work has been performed through the Buried Utilities Detection System (BUDS) Consortium at North Carolina State University. Characteristics of the sensor coils, including resolution and range, are provided and field test results are discussed.

关键词： EMP radiation effects Acoustic sensors Pipelines Sensor phenomena and characterization Coils Costs Mechanical sensors Microwave sensors Soil robotics and automation

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Survey of telesensation and teleoperation technology with virtual reality and force reflection capabilities

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International Journal of Modelling and Simulation 2000年第1期20卷 79-88页

作者： Batsomboon, Pattaraphol Tosunoglu, Sabri Repperger, Daniel W. Department of Mechanical Engineering Florida International University Miami FL 33199 United States Air Force Research Laboratory AFRL/HECP Wright Patterson Air Force Base Dayton OH 45433 United States Florida International University Miami FL United States Robotics and Automation Program FIU Department of Mechanical Engineering FIU FIU University of Texas Austin TX United States Robotics Research Program University of Florida Gainesville FL United States University of Florida Rensselaer Polytechnic Institute Troy NY United States Purdue University Eta Kappa Nu Tau Beta Pi Sigma Xi Wright Patterson Air Force Base Dayton OH United States US Air Force Department of Veterans Affairs

A telesensation system implies the ultimate goal of teleoperation. Such a system provides the operator with the sensational feelings of the remote site as if he/she were working in the actual environment. Thus, the performance of the system is greatly improved. This paper mainly reviews some of the existing units of the three most important elements in a telesensation system. These units are force-reflecting manual controllers, virtual reality units, and an advanced operator interface. The feel of touch is provided by the force-reflecting manual controller, while the virtual reality unit gives the operator the 3-D view of the working environment. The telesensation system, also implemented with the advanced operator interface, allows the operator to easily control, model, plan, and simulate remote systems. These features have proven to be the most significant feedback of telesensation systems.

关键词： Telecontrol equipment

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THERMAL CONSIDERATIONS IN FLUID POWER SYSTEMS MODELING

THERMAL CONSIDERATIONS IN FLUID POWER SYSTEMS MODELING

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ASME 1999 International Mechanical engineering Congress and Exposition, IMECE 1999

作者： Fernandez, Raul Woods, Robert L. Automation and Robotics Research Institute Mechanical and Aerospace Engineering Department The University of Texas at Arlington United States

ISBN: (纸本)9780791816479

A systematic derivation of fluid capacitance for use in compressible and incompressible fluid power modeling is presented. Equations are stated explicitly for the control volume pressure and temperature states, which include a simple but realistic estimation of heat transfer effects based on a first-order approximation to the chamber wall thermal dynamics. Simulations representative of industrial hydraulic and pneumatic applications are presented, showing the expected fluid pressure and temperature responses for the control volume with various modeling assumptions, and ultimately justifying the use of simplified isothermal relations for hydraulics in general and for many low-pressure servopneumatic applications. © 1999 ASME International Mechanical engineering Congress and Exposition, Proceedings (IMECE). All rights reserved.

关键词： Heat transfer

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Recent algorithms for fuzzy and neurofuzzy path planning and navigation of autonomous mobile robots

Recent algorithms for fuzzy and neurofuzzy path planning and...

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1999 European Control Conference, ECC 1999

作者： Tzafestas, Costas S. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zografou Athens157 73 Greece

ISBN: (纸本)9783952417355

This paper reviews a number of recent algorithms for mobile robot path planning, navigation and motion control, which employ fuzzy logic and neuro-fuzzy learning and reasoning. Starting with a discussion of the structure of fuzzy and neuro-fuzzy systems, two fuzzy obstacle avoidance path planning algorithms are presented followed by a 3-level neuro-fuzzy local and global path planning scheme. Then the motion planning and control problem is considered. A fuzzy path tracking strategy is outlined, followed by a fuzzy navigation algorithm among polygonal obstacles and a learning-by-doing neuro-fuzzy motion planning scheme. The paper ends with a hybrid robust motion control technique which combines the minimum interference and sliding mode control principles with fuzzy inference. A representative set of examples are included which illustrate the performance of the algorithms under various realistic conditions. © 1999 EUCA.

关键词： Fuzzy inference

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A simulation study of a mobile manipulator

A simulation study of a mobile manipulator

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D.T. Pitts M.R. Emami A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical & Industrial Engineering University of Toronto Canada

This paper describes a step by step validation procedure of a mobile manipulator simulation. The procedure includes performing basic model simulations, a sensitivity analysis, and a stochastic output analysis. Static, quasi-static, and dynamic experiments performed on a real system and simulated using DADS/sup TM/ are also presented. An algorithm to time the model parameters, to match the output of the simulations to the output of the real system, was successfully implemented. Finally, an optimization procedure on the design parameters of the system is discussed.

关键词： Manipulator dynamics Analytical models robotics and automation Laboratories Kinematics Sensitivity analysis Stochastic processes Performance analysis Design optimization Explosives

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An improved robust fuzzy clustering algorithm

An improved robust fuzzy clustering algorithm

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： W.W. Melek M.R. Emami A.A. Goldenberg Robotics & Automation Laboratory Department of Mechanical & Industrial Engineering University of Toronto Canada

Fuzzy-c-means (FCM) and hard clustering algorithms are the most common tools for data partitioning. However, these clustering algorithms may fail completely in the presence of noise. We introduce a robust noise rejection clustering algorithm based on a combination of techniques that treat the FCM weak points with a traditional noise rejection algorithm. Unlike the traditional FCM, the proposed algorithm is a powerful tool for partitioning the data in the presence of noise (outliers).

关键词： Clustering algorithms robotics and automation Partitioning algorithms Noise robustness Phase change materials Service robots Laboratories Fuzzy sets Clustering methods Noise reduction

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On the robustness of fuzzy inference mechanism

On the robustness of fuzzy inference mechanism

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami W.W. Melek A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical & Industrial Engineering University of Toronto Canada

The robustness performance of the fuzzy inference mechanism is investigated in terms of maximum deviation of the fuzzy and crisp output as a result of deviation in the input membership grades. A parameterized formulation of fuzzy reasoning helps us adjust the robustness by varying the inference parameters. This feature will improve the generalization capability of the fuzzy logic models as illustrated in an example.

关键词： Robustness Inference mechanisms Predictive models robotics and automation Laboratories Fuzzy reasoning Training data Fuzzy systems Input variables Context modeling

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