The problem of deadlock in a large class of re-entrant flowline systems is analysed. Based on a Petri net (PN) model, circular blocking is rigorously defined and shown to be equivalent to part-path deadlock. The analy...
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The problem of deadlock in a large class of re-entrant flowline systems is analysed. Based on a Petri net (PN) model, circular blocking is rigorously defined and shown to be equivalent to part-path deadlock. The analysis is performed in terms of circular waits. Coupling the PN marking transition equation with the matrix rule-based controller equation yields a dynamical system representation, a framework in which algorithms of polynomial complexity can be developed for computing the structures of deadlock analysis. This allows efficient dispatching with deadlock avoidance using a generalised kanban scheme.
作者：
Peter GroumposBary IlyasovLarisa IsmagilovaRoza ValeevaUniversity of Patras
Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 00 Rion Greece Fax: +30 61 997 309 Ufa State Aviation Technical University Department of Technical Cybernetics 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18 Ufa State Aviation Technical University
Department of Technical Cybernetics 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18
The problem of production control as of a complex dynamic object is under discussion. There are elaborated and studied intelligent control algorithms using modelling results of system functioning dynamics which testif...
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The problem of production control as of a complex dynamic object is under discussion. There are elaborated and studied intelligent control algorithms using modelling results of system functioning dynamics which testify to uncertainty of environment. The proposed procedure of information exchange allows to unit effectively the dynamic and intelligent algorithms as well as man participation in decision making.
The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem usin...
A deadzone compensator is designed for nonlinear systems using a fuzzy logic (FL) controller. The classification property of FL systems makes them a natural candidate for the rejection of errors induced by the deadzon...
The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem usin...
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The problem of designing a minimum-weight one-link flexible arm for a specified fundamental frequency of vibration has been investigated. The optimum design problem is formulated as a nonlinear eigenvalue problem using the variational method. Two iteration schemes are developed to find the optimum solution in the normal and degenerated cases. Numerical results have indicated that a significant reduction in link weight can be achieved by the proposed method. For example, for a geometrically similar cross section and a specified fundamental frequency ranging from 1 Hz to 10 Hz, the weight of an optimum link is 400% to 600% lighter than that of an uniform link. (C) 1997 John Wiley & Sons, Inc.
This paper investigates the application of conventional and neural adaptive control schemes to Gas Metal Are (GMA) welding. The goal is to produce welds of high quality and strength. This can be achieved through prope...
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This paper investigates the application of conventional and neural adaptive control schemes to Gas Metal Are (GMA) welding. The goal is to produce welds of high quality and strength. This can be achieved through proper on-line control of the geometrical and thermal characteristics of the process. The welding process is variant in time and strongly nonlinear, and is subject to many defects due to improper regulation of parameters like arc voltage and current, or travel speed of the torch. Adaptive control is thus naturally a very good candidate for the regulation of the geometrical and thermal characteristics of the welding process. Here four adaptive control techniques are reviewed and tested, namely: model reference adaptive control (MRAC), pseudogradient adaptive control (PAC), multivariable self-tuning adaptive control (STC), and neural adaptive control (NAC). Extensive numerical results are provided, together with a discussion of the relative merits and limitations of the above techniques.
The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments...
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The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.
The paper introduces fundamental principles for design of position and force (P/F) controllers. There are two principles guiding the design of a P/F controller: (i) the principle of invariancy;and (ii) the principle o...
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The paper introduces fundamental principles for design of position and force (P/F) controllers. There are two principles guiding the design of a P/F controller: (i) the principle of invariancy;and (ii) the principle of consistency. The principle of invariancy serves as a guideline for the decomposition of the task space into force and position subspaces. The principle of consistency relates the free motion and constrained force to the characteristics of the environment. This principle guarantees the overall stability and the reduction of interactions between the position and force subcontrollers. Based on these two principles, a theoretical framework for design and analysis of P/F controllers is established, and a generic P/F controller is proposed. The proposed P/F controller and other generic P/F controllers are compared in terms of stability and interactions between the two subcontrollers.
作者：
Tzafestas, SGProkopiou, PAIntelligent
Robotics and Automation Laboratory Computer Science Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Campus 15773 Athens Greece
The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. T...
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The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. The original system is enhanced by replacing the previous controller of each robot with a sliding mode robust one. A two-stage approach is employed: a desired trajectory is first generated and then tracked by the controller. The difficulties incurred for the man/machine cooperation are discussed. This extension of the original teleoperator architecture is tested through simulations and compared with a twin system based on neural controllers, presented elsewhere. (C) 1997 Elsevier Science Ltd.
This paper presents the basic theory and algorithmic structure of a design system that implements four position synthesis for both planar and spherical four bar linkages. The formalism uses complex numbers to define t...
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