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European Control Conference (ECC)

作者： Dariusz Uciński Department of Robotics and Software Engineering Technical University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland

A systematic procedure for planning sensor movements in a specified spatial domain in such a way as to maximize the accuracy of parameter estimation of a given distributed system is proposed. The global design criterion is the expectation of a general local design criterion defined on the Fisher information matrix, given a-priori distribution of the parameters to be identified. The approach converts the problem to an optimal control one in which both the control forces of the sensors and the initial sensor positions are optimized. Its solution is obtained with the use of a stochastic-gradient-like algorithm which handles various constraints imposed on sensors' motions. A technique to tackle minimax-optimality criteria is also indicated. A summary of numerical performance of the resulting algorithms is given in the final part of the paper.

关键词： Robot sensing systems Trajectory Approximation methods Pollution measurement Parameter estimation Algorithm design and analysis Atmospheric measurements

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Lyapunov stability theory for linear repetitive processes — The 1D equation approach

Lyapunov stability theory for linear repetitive processes —...

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European Control Conference (ECC)

作者： E. Rogers J. Gramacki A. Gramacki K. Gałkowski D. H. Owens University of Southampton Southampton Hampshire GB Department of Robotics and Software Engineering Technical University of Zielona Gora ul. Podgorna 50 65-246 Zielona Gora Poland The University of Sheffield Sheffield Sheffield GB

This paper reports further development of the so-called 1D Lyapunov equation based approach to the stability analysis of differential linear repetitive processes. In particular, it is shown that this approach leads to stability tests which can be implemented by computations with matrices which have constant entries, and that if the example under consideration is stable then physically meaningful information concerning one key aspect of `transient' performance is available for no extra cost. The computational efficiency of these new stability tests against alternatives is also discussed and some areas for short to medium term further research briefly noted.

关键词： Stability analysis Computed tomography Linear systems Eigenvalues and eigenfunctions Mathematical model Asymptotic stability Polynomials

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Higher order discretization of differential linear repetitive processes

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IFAC Proceedings Volumes 1999年第2期32卷 1903-1908页

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Departments of Robotics and Software Engineering/Electronics and Informatics Technical University of Zielona Gora Poland. Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK School of Engineering and Computer Science University of Exeter Exeter EX4 4QF UK.

Differential linear repetitive processes are a class of linear systems which can be used, for example, to model industrial processes such as long-wall coal cutting operations. The key feature of interest in this paper is the fact that information propagation in one of the two separate directions in such processes evolves continuously over a finite fixed duration and in the other it is, in effect, discrete. This paper develops discrete approximations for the dynamics of these processes and examines the effects of the approximation techniques used on two key control related properties, i.e. stability and the 2D linear systems structure of the resulting discrete stale space models.

关键词： Repetitive dynamics discrete approximations stability 2D linear systems

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Distributed flow control design for repetitive manufacturing processes

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IFAC Proceedings Volumes 1999年第2期32卷 1-6页

作者： M.B. Zaremba Z.A. Banaszak P. Majdzik K.J. Jedrzejek Département d'informatique Université du Québec Hull Quebec J8X 3X7 Canada Department of Robotics and Software Engineering Technical University of Zielona Gora 65-246 Zielona Gora Poland Department of Mathematics and Computer Science Kuwait University P.O. Box 5969 13060 Kuwait

This paper addresses resource allocation issues that are at the heart of a methodology proposed for the design of distributed control of a class of repetitive manufacturing systems. In particular, conditions sufficient for deadlock-free and starvation-free execution of a system of closed, sequential, repetitive manufacturing processes are considered. The relationship between system resource capacities and a set of admissible realizations of the component processes is discussed. Finally, a rapid prototyping procedure for designing systems with given performance parameters is presented.

关键词： manufacturing systems distributed control FMS rapid prototyping modeling

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Dynamic process initial conditions in repetitive processes. Controllability and stability analysis

Dynamic process initial conditions in repetitive processes. ...

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Information, Decision and Control (IDC)

作者： K. Galkowski E. Rogers A. Gramacki J. Gramacki D.H. Owens Institute of Robotics and Software Engineering Technical University of Zielona Góra Zielona Gora Poland Department of Electronics and Computer Science Image Speech and Intelligent Systems Research Group University of Southampton Southampton UK Institute of Computer Engineering and Electronics Technical University of Zielona Góra Zielona Gora Poland School of Engineering Centre for Systems and Control Engineering University of Exeter Exeter UK

Repetitive, or multipass, processes are a class of 2D systems of both practical and algorithmic/theoretical interest whose dynamics cannot be analysed or controlled using standard (1D) systems theory. Recently it has been shown that the modelling of the boundary conditions, also known as the process initial conditions, is a crucial feature in the analysis and control of these processes. This paper presents some further results on the effects of so-called 'dynamic' process initial conditions on the controllability and stability properties of discrete linear repetitive processes. Previous work has shown that these dynamic process initial conditions alone can destroy the stability properties of these processes. Hence their effects must be 'adequately' accounted for the process modelling stage in order to ensure that subsequent analysis does not lead to incorrect results/conclusions. The main results developed in this paper can be summarised as follows. (i) Computationally efficient stability tests which can, in effect, be applied using standard, or 1D, linear systems tests. (ii) Characterisation of so-called pass controllability in the form of matrix rank based conditions. (iii) Conditions under which the dynamic process initial conditions can be selected to ensure stability and pass controllability.

关键词： Stability Controllability System testing Control system analysis Algorithm design and analysis Control systems Boundary conditions Process control Standards development Linear systems

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Path-constrained motion planning for multi-manipulator systems

Path-constrained motion planning for multi-manipulator syste...

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European Control Conference (ECC)

作者： D. Uciński M. Galicki Department of Robotics and Software Engineering Technical University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Department of System Management Technical University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland

The paper presents a systematic approach to the minimum-energy collision-free motion planning of many redundant manipulators along prescribed paths. It is based on using a parametric-decomposition method and a negative formulation of the Pontryagin Maximum Principle which handles efficiently various control and/or state constraints imposed on the manipulators' motions, which arise naturally out of joint limits and obstacle avoidance. In contrast to the penalty-function method, the proposed algorithm does not require an initial admissible solution and finds trajectories of a smaller cost than those generated by the penalty-function approach. A computer example involving two planar redundant manipulators of three revolute kinematic pairs is included to illustrate the discussed ideas.

关键词： Manipulators Collision avoidance Robot kinematics Planning Trajectory Optimal control

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1D models for class of 2D linear systems

1D models for class of 2D linear systems

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IEE Colloquium on Multidimensional Systems: Problems and Solutions (Ref. No. 1998/225)

作者： K. Galkowski E. Rogers D.H. Owens Department of Robotics and Software Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton UK School of Engineering University of Exeter UK

The basic unique control problem for repetitive processes arises from the explicit interaction between successive pass profiles. In particular, the output sequence of pass profiles can contain oscillations that increase in amplitude in the pass to pass direction. Such behaviour is easily generated in simulation studies and in experiments on scaled models of industrial examples such as long-wall coal cutting. In long-wall coal cutting this problem appears as severe undulations in the newly cut floor profile which means that cutting operations (i.e. productive work) must be suspended to enable their manual removal. This problem is one of the key factors behind the stop/start cutting pattern of a typical working cycle in a coal mine. In general, this problem cannot be removed by standard, i.e. 1D, control action. The basic reason for this is that such an approach essentially ignores their inherent 2D systems structure. Motivated by this key fact, Rogers and Owens (1992) have developed a stability theory for repetitive processes with linear dynamics and a constant pass length. This theory is based on an abstract model in a Banach space setting which includes all such processes as special cases. The results of applying this theory to a range of special cases are also known including discrete linear repetitive processes which are the subject of this paper.

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Logistics Models in Flexible Manufacturing

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IFAC Proceedings Volumes 1998年第15期31卷 331-336页

作者： Z.A. Banaszak X.Q. Tang S.C. Wang M.B. Zaremba Institute of Robotics and Software Engineering Technical University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Department of Manufacturing Engineering Beijing University of Aeronautics & Astronautics Beijing 100083 PR. China

An integrated modelling approach that considers the overall production schedule is needed in order to effectively manage different material flows in a Flexible Manufacturing System (FMS), where large amounts of data intervene in the dynamic control and decision-making process. This paper focuses on the development of an integrated FMS control model that includes such essential features as routing of simultaneously processed work orders and batch dispatching, as well as dynamic vehicle path determination and conflict-free routing. A logistics-oriented modelling methodology for FMS distributed control design is proposed that provides the capability for rapid . development and evaluation of the control policy

关键词： Flexible Manufacturing Systems distributed control process scheduling protocol design logistics AGV routing

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Elementary operation approach to state-space realizations of 2-D systems

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-FUNDAMENTAL THEORY AND APPLICATIONS 1997年第2期44卷 120-129页

作者： Galkowski, K Department of Robotics and Software Engineering Technical University of Zielona Gora Zielona Gora Poland

In this paper, the method for obtaining of various state-space realizations of the Roesser type for an assigned two-variable transfer function is developed, Two-variable elementary polynomial operations are employed. A new version of the general, state-space model is constructed too, One also throw some new light on the problem of the mutual connections among the different 2-D state-space models as the Roesser, the Fornasini-Marchesini, and the general one. Singular as well as the standard (nonsingular) models are considered.

关键词： multivariable (nD) systems systems theory

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A max-algebra approach to the robust distributed control of repetitive AGV systems

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 1997年第10期35卷 2667-2687页

作者： Zaremba, MB Obuchowicz, A Banaszak, ZA Jedrzejek, KJ Département d''informatique Université du Québec à Hull Hull Québec Canada J8X 3X7 Department of Robotics and Software Engineering Technical University of Zielona Gora Podgorna 50 65-246 Zielona Gora Poland Department of Mathematics and Computer Science Kuwait University PO Box 5969 Safat Kuwait

This paper presents a new approach for distributed control of automatic guided vehicle systems (AGVS) that uses max-algebra formalism to model system operation. The proposed method differs from previous works on performance analysis and control of such systems in that it constructs a feasible schedule by exploiting the repetitive character of the flow of automated guided vehicles. The AGVS is treated as a distributed system composed of autonomous and repetitive processes of AGV flows. Its periodic behaviour follows from the type of operation characterizing the job shops considered. The proposed approach employs a concept of asynchronous traffic semaphores that provide the local mechanism for vehicle flow synchronization. Setting the timing of particular semaphores results in distributed control of vehicle flows possessing self-synchronization capabilities.

关键词： AUTOMATIC control PROCESS control DISTRIBUTED computing OPERATIONS research AUTOMATED guided vehicle systems

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