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Portland International Conference on Management of engineering and Technology (PICMET)

作者： L. Whitman K.J. Rogers M. Johnson B.L. Huff Industrial and Manufacturing Engineering Department Wichita State University Wichita KS USA Industrial and Manufacturing Systems Engineering University of Technology Arlington TX USA Automation & Robotics Research Institute University of Technology Fort Worth TX USA

Summary form only given. Frequently when implementing new or maturing technologies, the impact to the entire supply chain is overlooked. This paper describes how total supply chain issues are considered in a new techn... 详细信息

关键词： Supply chains Manufacturing processes Manufacturing automation robotics and automation Manufacturing industries Companies Design engineering Manufacturing systems Systems engineering and theory Service robots

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Modeling design intent in concurrent engineering

Modeling design intent in concurrent engineering

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Annual Conference of Industrial Electronics Society

作者： L. Horvath I.J. Rudas J.F. Bito Department of Manufacturing Engineering Báki Donát Polytechnic Budapest Hungary Department of Information Technology Báki Donát Polytechnic Budapest Hungary Centre of Robotics and Automation Báki Donát Polytechnic Budapest Hungary

Concurrence of design, manufacturing and production engineering in advanced computer aided engineering systems utilizes advanced communication amongst engineers. Engineers who make decisions on objects and their parameters can be easily reached on a computer network at modification of these decisions during later steps of the engineering process. However in practice, huge amounts of decisions are made so that it is impossible to consult with all the original decision makers. Consequently, later modification of a design is often made by engineers other than the original decision makers. This can lead to deterioration of the quality of the design. The authors in this paper propose a method for modeling of design intent as a tool for solving this problem. The proposed model description contains information on what is behind a decision so it can be used at modification of a decision in the lack of the original decision maker. Because an engineer at decision making uses the intent of other engineers, chains of intents and relationships between intents are also to be studied. A product model is considered that is suitable for description of constraints and relationships between model entities and their parameters. The proposed intent description can be utilized at present and future applications, later modification or re-engineering of product models. In this paper, first of all basic concept and the place of the proposed method in the analyzed computer aided engineering process are explained. Then characteristics and content of design intent are described. Following this, representation of design intent and attaching intent data to the model are detailed. Finally, possibilities for application of the results in CAD/CAM modeling environments are concluded.

关键词： Concurrent engineering Computer aided manufacturing Computer aided engineering Design engineering Application software Production engineering Computer networks Decision making Joining processes Design automation

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Application of uniform structures and passive compliant components in an adaptive robot control for technological operation

Application of uniform structures and passive compliant comp...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： J.K. Tar O.M. Kaynak I.J. Rudas J.F. Bito Department of Information Technology Bánki Donát Polytechnic Budapest Hungary Faculty of Engineering Bogaziçi University Istanbul Turkey Centre of Robotics and Automation Bánki Donát Polytechnic Budapest Hungary

A novel and efficient approach invented for the adaptive control of approximately and partially known multivariable, nonlinear, strongly coupled mechanical systems under dynamic interaction with an unmodeled environment is applied in polishing as a technological process. The method overcomes the typical limitations of classical approaches via using a passive compliant component as an essential part of the control. By applying uniform structures derived from the Euler-Lagrange equations in the most general and formal level the method is a compromise between the classic hard computing (HC) and soft computing (SC). Thus typical difficulties in traditional SC as the a priori unknown number of the necessary free parameters, the scaling problems and the need for full system identification are evaded. Several ancillary uniform procedures also are applied to support machine learning. The method is proved and illustrated via simulation in the case of a 3 DOF SCARA arm as a basic robot paradigm.

关键词： Programmable control Adaptive control Robot control Robot sensing systems Motion control Equations Force sensors Service robots Space technology Mechanical systems

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Reformulation of organizing supervisory controller via parameterized fuzzy-petri nets

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IFAC Proceedings Volumes 1999年第2期32卷 391-396页

作者： Georgi M. Dimirovski Zoran M. Gacovski Miomir K. Vukobratovic Institute of Automation & Systems Engineering at Faculty of Electrical Engineering Sts. Cyril & Methodius University P.O.Box 574 MK-91000 Skopje R. of Macedonia Fax: ++ 389-91-36-42-62 Information Technology Department at Ministry of Defence Skopje R. of Macedonia Lab. of Robotics & Flexible Automation M.Pupin Institute Belgrade F.R. of Yugoslavia

This work presents a novel development on modelling the organisation control level in complex systems via mapping our previous model, based on fuzzy Petri-nets with respective rule-based decision-making and appropriate knowledge base, onto a model that is based on para-meterised fuzzy Petri-nets. Proposed model makes a further extension of previous forms of organising supervisory controllers employing fuzzy-Petri reasoning algorithms. This fuzzified and parameterised Petri-net reformulation follows the original concept of G.N. Saridis, and makes a fuzzy supllement to his organising and co-ordinating controllers. Thus it carries a novel generic feature of generality for the supervisory functions of organisation and co-ordination.

关键词： Complex systems supervisory control fuzzy-petri-nets parameterised fuzzy-fetri nets knowledge-based control

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Transfer of human control strategy based on similarity measure

Transfer of human control strategy based on similarity measu...

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IEEE International Conference on robotics and automation (ICRA)

作者： Jinyan Song Yangsheng Xu M.C. Nechyba Y. Yam Chinese University of Hong Kong New Territories HK The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Department of Mechanical and Automation Engineering Chinese University of Hong Kong New Territories Hong Kong China Department of Electrical and Computer Engineering University of Florida Gainesville FL USA

We address the problem of transferring human control strategies (HCS) from an expert model to an apprentice model. The proposed algorithm allows us to develop useful apprentice models that incorporate some of the robust aspects of the expert HCS models. We first describe our experimental platform, a real-time graphic driving simulator, for collecting and modeling human control strategies. Then, we discuss an adaptive neural network learning architecture for abstracting HCS models. Next, we define a hidden Markov model (HMM) based similarity measure which allows us to compare different human control strategies. This similarity measure is combined subsequently with simultaneously perturbed stochastic approximation to develop our proposed transfer learning algorithm. In this algorithm, an expert HCS model influences both the structure and the parametric representation of the eventual apprentice HCS model. Finally, we describe some experimental results of the proposed algorithm.

关键词： Humans Hidden Markov models Stochastic processes Automatic control robotics and automation Neural networks Approximation algorithms Intelligent robots Systems engineering and theory Research and development management

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Formal non-exact analytical modeling of mechanical systems and environmental interactions in an adaptive control

Formal non-exact analytical modeling of mechanical systems a...

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IEEE International Conference on robotics and automation (ICRA)

作者： J.K. Tar O.M. Kaynak J.F. Bito I.R. Rudas Department of Information Technology Bánki Donát Polytechnic Budapest Hungary UNESCO Chair of Mechatronics Faculty of Engineering Bogaziçi University Istanbul Turkey Centre of Robotics and Automation Bánki Donát Polytechnic Budapest Hungary

On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic interaction with an unmodeled environment. This standardized form contains well defined free parameters by tuning of which the complex effect of the behavior of the controlled system as well as that of the external interactions can be 'imperfectly' modeled and learned. These structures, free parameters and procedures play exactly the same role as that of the traditional artificial neural networks (ANNs) or fuzzy controllers: the structures and the procedures are fit for a wide class of problems more or less similar to each other, while parameter tuning corresponds to learning the concrete properties of a particular element of this wider set. While in the case of the standard soft computing methods there is no reliable a priori information on the number of the concrete elements in the uniform structures, the proposed method has definite indication for this by using the Lie parameters of the orthogonal group. In the initial stage of learning the proposed methods also use a standardized ancillary procedure, a very simple form of regression analysis based controller compensating the remnant errors whenever appropriate. In this paper certain details of the uniform control and parameter-tuning are discussed on the basis of simulation results. It can be concluded that the approach is promising therefore experimental investigations are under preparation.

关键词： Analytical models Mechanical systems Concrete Lagrangian functions Adaptive control Robots Control system synthesis Artificial neural networks Fuzzy control Fuzzy neural networks

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New matrix formulation for supervisory controller design in practical flexible manufacturing system

New matrix formulation for supervisory controller design in ...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： S. Bogdan F.L. Lewis Z. Kovacic A. Gurel M. Stajdohar Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Department Electrical and Electronics Engineering Eastern Mediterranean University Famagusta Turkey D.P. Elektra Sisak HEP Sisak Croatia

The paper deals with a new matrix formulation of a supervisory controller design in practical flexible manufacturing system (FMS). Design method is applied to the laboratory setup of a finite-buffer multiple re-entrant flow line FMS. Control of the FMS is based on a matrix model approach which significantly reduces the computational effort. The results obtained during experiments have confirmed that effectiveness of matrix-based FMS control in terms of deadlock-free operation is a fully feasible goal.

关键词： Flexible manufacturing systems Automatic control System recovery Dispatching robotics and automation Manufacturing automation Laboratories Controllability Observability Testing

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Towards variable-time-delays-robust telemanipulation through master state prediction

Towards variable-time-delays-robust telemanipulation through...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： P.A. Prekopiou S.G. Tzafestas W.S. Harwin Dept. of Electr. & Comput. Eng. Nat. Tech. Univ. of Athens Greece Intelligent Robotics & Automation Laboratory Department of Electrical & Computer Engineering National and Technical University of Athens Zografou Greece The Human-Robot Interface Laboratory Department of Cybernetics University of Reading Reading UK

This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.

关键词： Humans Predictive models Master-slave Delay effects Intelligent robots robotics and automation Communication channels Displays Computational modeling Computer simulation

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A new solution methodology for fuzzy relation equations 11th

A new solution methodology for fuzzy relation equations

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11th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 1998

作者： Tzafestas, Spyros G. Stamou, Giorgos B. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Greece

ISBN: (纸本)3540645829

In this paper a general methodology for studying and solving fuzzy relation equations based on sup-t composition, where t is any continuous triangular norm, is proposed. To this end the concept of the "solution matrices" is introduced, as a way of representing the process information required for the resolution. Using this concept, the solution existence of a fuzzy relation equation is first examined. When the relation equation has no solution, the reasons for this lack of solvability are found. Otherwise, the solution set is determined. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fuzzy systems

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