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IEEE International Conference on Robotics and automation (ICRA)

作者： Da-Yin Liao MuDer Jeng MengChu Zhou Department of Information Management National Chi Nan University Nantou Taiwan Department of Electrical Engineering National Taiwan Ocean University Keelung Taiwan Laboratory of Complex Systems and Intelligence Science Institute of Automation CAS Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark USA

Instead of making decisions with fast but local dispatching functions, the increasing computing power and up-to-moment information provisioning have made possible real-time vehicle scheduling in an automated material handling environment in 300mm semiconductor manufacturing. To our best knowledge, this paper is the first work to adopt the scheduling approach to solve the 300mm vehicle transportation problems. We adopt Petri nets to model the coupling dynamics among transport jobs and OHT vehicles in an intrabay loop. The congestion phenomenon among OHT vehicles is captured. The OHT scheduling problem is then formulated into an integer programming problem whose goal is to efficiently allocate OHT vehicles to jobs such that average job delivery time is minimized. A solution methodology that combines Lagrangian relaxation and the surrogate subgradient methods [13] is developed. To reduce computational efforts in solving each subproblem optimally, an approximation method is developed to solve for subproblems. A heuristic algorithm is developed to adjust the dual solution to a feasible schedule. Numerical results demonstrate that our solution methodology can generate good schedules within a reasonable amount of computation time for realistic problems. Compared to a popular vehicle dispatching rule, our approach can achieve 25.6% improvements on the average delivery time in our realistic test cases.

关键词： Lagrangian functions Vehicles Job shop scheduling Virtual manufacturing Semiconductor device manufacture Processor scheduling Dispatching computer aided manufacturing Materials handling Manufacturing automation

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Cooperative embodied communication emerged by interactive humanoid robots

Cooperative embodied communication emerged by interactive hu...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： D. Sakamoto T. Kanda T. Ono M. Kamashima M. Imai H. Ishiguro ATR Intelligent Robotics and Communication Laboratories Soraku-gun Kyoto Japan Department of Media Architecture Future University-Hakodate Hakodate Hokkaido Japan Department of Computer Science Graduate School of Science and Technology Keio University Yokohama Kanagawa Japan Department Adaptive Machine Systems Graduate School of Engineering Osaka University Osaka Japan

Research on humanoid robots has produced various uses for their body properties in communication. In particular, mutual relationships of body movements between a robot and a human are considered to be important for smooth and natural communication, as they are in human-human communication. We have developed a semi-autonomous humanoid robot system that is capable of cooperative body movements with humans using environment-based sensors and switching communicative units. And we conducted an experiment using this robot system and verified the importance of cooperative behaviors in a route-guidance situation where a human gives directions to the robot. This result indicates that the cooperative body movements greatly enhance the emotional impressions of human in a route-guidance situation. We believe these results allow us to develop interactive humanoid robots that sociably communicate with humans.

关键词： Humanoid robots Robot sensing systems Intelligent robots Human robot interaction Laboratories Sensor systems Communication switching computer science Adaptive systems Educational institutions

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Panel on future challenges in modeling methodology 04

Panel on future challenges in modeling methodology

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Simulation Winter Conference

作者： S.J.E. Taylor P. Lendermann R.J. Paul S.W. Reichenthal S. Strassburger S.J. Turner Centre for Applied Simulation Modeling Department of Information Systems and Computing Brunei University Uxbridge Middlesex UK Production and Logistics Planning Group Singapore Institute of Manufacturing Technology Singapore Boeing Anaheim CA USA Department Virtual Development Fraunhofer Institute of Factory Operation and Automation Magdeburg Germany Parallel & Distributed Computin Centre School of Computer Engineering Nanyang Technological University Singapore

ISBN: (纸本)9780780387867

This panel paper presents the views of six researchers and practitioners of simulation modeling. Collectively we attempt to address a range of key future challenges to modeling methodology. It is hoped that the views of this paper, and the presentations made by the panelists at the 2004 Winter Simulation Conference will raise awareness and stimulate further discussion on the future of modeling methodology in areas such as modeling problems in business applications, human factors and geographically dispersed networks; rapid model development and maintenance; legacy modeling approaches; markup languages; virtual interactive process design and simulation; standards; and Grid computing.

关键词： Computational modeling Virtual manufacturing Logistics Human factors computer aided manufacturing Markup languages Process design Standards development Grid computing Discrete event simulation

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An intelligent automaton for the control of an active sludge process

An intelligent automaton for the control of an active sludge...

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IEEE International Conference on Industrial technology (ICIT)

作者： R.E. King A. Stathaki F. Koumboulis N. Kouvakas Division of Systems and Control Department of Electrical and Computer Engineering University of Paros Patras Greece Computer Technology Institute Athens Greece Department of Automation Halkis Institute of Technology Halkis Greece

This paper describes the principles of an intelligent automaton for controlling the secondary stage of a wastewater treatment plant. The automaton has been implemented as a finite state machine that can be integrated into the existing supervisory control and data acquisition system of any wastewater treatment plant. Human knowledge, in the form of linguistic rules, is embedded in the automaton, which has been shown to be capable of controlling the process very satisfactorily in all but extreme conditions.

关键词： Automata Automatic control Application specific processors Control systems SCADA systems Wastewater treatment Humans Process control Effluents Intelligent control

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Reuse of information as a base for development and verification of control programs for flexible manufacturing cells

Reuse of information as a base for development and verificat...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Richardsson M. Fabian Control and Computer Systems Advanced Equipment Engineering Volvo Car Corporation Goteborg Sweden Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Goteborg Sweden

Shortened product life-cycles decreases the output rate of manufacturing systems as the introduction of new products into the manufacturing system becomes more frequent. Improvements of the development process of manufacturing systems are needed to increase the output. Information handling and development of control programs based on information reuse are two of the most important improvement areas. These areas, among other things, can be a support for offline verification, which promises to directly increase the output rate due to shortening product introduction times. This paper deals with two problems of the many connected to enabling offline verification. First, a general control program structure, adapted to information reuse, is needed and secondly, the information necessary to generate the control programs needs to be defined. A method is proposed where information from the mechanical design of a cell, from the product, and from manual simulation are reused and automatically converted into control programs that schedule the work in a collision-free, deadlock-free and time-optimized way. The correctness of the generated programs is guaranteed by use of formal methods, simulation and an uncorrupted conversion of specifications into control programs.

关键词： Flexible manufacturing systems Control systems Manufacturing systems computer aided manufacturing Automatic generation control Automatic control Manufacturing automation Production computer bugs systems engineering and theory

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An integrated approach to intelligent modeling of industrial plants

An integrated approach to intelligent modeling of industrial...

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IEEE International Symposium on Computational Intelligence in Robotics and automation (CIRA)

作者： N. Christova M. Hadjiski G. Vachkov C. Stylios Department of Automation of Industry University of Chemical Technology and Metallurgy-Sofia Sofia Bulgaria Department of Reliability Information Systems Engineering Faculty of Engineering Kagawa University Takamatsu Japan Department of Computer Science University of Ioannina (UoI) Ioannina Greece

In this paper an integrated hierarchical soft computing methodology for modeling of industrial plants by aggregating models of different types is presented. The problem of designing adequate and reliable models for non-linear plants with large uncertainties in under consideration here. The proposed approach has the ability to model system behavior under different circumstances and it is especially efficient for complex industrial systems with immeasurable process variables and large uncertainties. A fuzzy cognitive map (FCM) is used to aggregate multiple models and to create a hybrid model, which makes a selection between the different models, according to the current operational conditions of the industrial process. The proposed methodology is considered as a promising way to cope with the modeling of a real industrial plant.

关键词： Industrial plants Fuzzy cognitive maps Uncertainty Fuzzy logic Reliability engineering automation Chemical technology Information systems systems engineering and theory Cities and towns

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Improvement of product sustainability

Improvement of product sustainability

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IEEE International Conference on Robotics and automation (ICRA)

作者： Meimei Gao MengChu Zhou Fei-Yue Wang Department of Electrical & Computer Engineering New Jersey Institute of Technology Newark NJ USA Institute of Automation Chinese Academy and Sciences Beijing China Systems and Indusmal Engineering Department University of Arizona Tucson Tucson AZ USA

ISBN: (纸本)0780377362

Increasing global population and consumption are causing declining natural and social systems. Sustainable development addresses these issues by integrating strategies for economic successes, environmental quality, and social equity. A Sustainability Target Method (STM) provides a practical sustainability target for individual businesses and products through determining the relative indicator resource productivity for environmental performance and the absolute indicator Eco-Efficiency. Based on the indicators in STM, this paper formulates the component selection problem such that a company can improve sustainability of its products most effectively through improving components' performance. The approach is illustrated through an example.

关键词： Environmental economics Economic indicators Productivity Decision making Companies Sustainable development Protection Pulp manufacturing Sensitivity analysis Manufacturing automation

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Synthesizing executable models of object oriented architectures

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systems engineering 2003年第4期6卷 266-300页

作者： Wagenhals, Lee W. Haider, Sajjad Levis, Alexander H. Systems Architecture Laboratory C3I Center George Mason University Fairfax VA 22030-4444 Electrical and Computer Engineering Department School of Information Technology and Engineering GMU U.S. Air Force

The U.S. department of Defense (DoD) has mandated the development of architectures to support the acquisition of systems that are interoperable and will meet the needs of military coalitions. This paper provides a general description of an architecting process based on object orientation and UML. It then provides a rationale for style constraints on the use of UML artifacts for representing DoD Command, Control, Communications, computers, Intelligence, Surveillance, and Reconnaissance (C4ISR) architectures. Finally the paper describes a mapping between the UML artifacts and an executable model based on colored Petri nets that can be used for logical, behavioral, and performance evaluation of the architecture. A procedure for the conversion is also provided. © 2003 Wiley Periodicals, Inc.

关键词： Object oriented programming

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Sketching informal presentations

Sketching informal presentations

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ICMI'03: Fifth International Conference on Multimodal Interfaces

作者： Li, Yang Landay, James A. Guan, Zhiwei Ren, Xiangshi Dai, Guozhong Group for User Interface Research Computer Science Division University of California Berkeley Berkeley CA 94720-1776 United States Intelligence Engineering Lab Institute of Software Chinese Academy of Sciences Beijing 100080 China Department of Information Systems Engineering Kochi University of Technology Tosayamada-cho Kochi 782-8502 Japan National Research Council in Software Engineering Automation Center Naval Postgraduate School Monterey CA 93940 United States

ISBN: (纸本)1581136218

Informal presentations are a lightweight means for fast and convenient communication of ideas. People communicate their ideas to others on paper and whiteboards, which afford fluid sketching of graphs, words and other expressive symbols. Unlike existing authoring tools that are designed for formal presentations, we created SketchPoint to help presenters design informal presentations via freeform sketching. In SketchPoint, presenters can quickly author presentations by sketching slide content, overall hierarchical structures and hyperlinks. To facilitate the transition from idea capture to communication, a note-taking workspace was built for accumulating ideas and sketching presentation outlines. Informal feedback showed that SketchPoint is a promising tool for idea communication. Copyright 2003 ACM.

关键词： Information analysis

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Development of a hospital service robot for transporting task

Development of a hospital service robot for transporting tas...

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IEEE International Conference on Robotics, Intelligent systems and Signal Processing

作者： W.K. Fung Y.Y. Leung M.K. Chow Y.H. Liu Y. Xu W. Chan T.W. Law S.K. Tso C.Y. Wang Chinese University of Hong Kong New Territories HK Joint Center for Intelligent Sensing and Systems National University of Defense Technology China Department of Automation & Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

ISBN: (纸本)078037925X

This paper presents a mobile robot fro routine delivery tasks of medicine, specimen, and medical devices from one station to another in hospitals. This hospital transport robot uses the fluorescent lamps on the ceiling of the corridor as natural landmarks to localize its position and orientation. A simple and efficient algorithm has been developed based on motion continuity and features matching for on-line computation of the position and orientation. A robust method is also presented for the robot to avoid collisions with static obstacles and people moving in the hospital. We have implemented this transport robot in a hospital in Hong Kong. An experimental result was demonstrated to confirm the performance of the localization and navigation algorithms.

关键词： Hospitals Service robots Mobile robots Medical robotics Humans Robot sensing systems Lamps Navigation computer aided engineering computer aided manufacturing

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