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9th IFAC Symposium on Robot Control, SYROCO 2009

作者： Csapo, A. Resko, B. Sziebig, G. Hashimoto, H. Baranyi, P. Budapest Univ. of Technology and Economics Dept. of Telecommunications and Media Informatics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Budapest Univ. of Technology and Economics Dept. of Mechatronics Optics and Applied Informatics Budapest Hungary Univ. of Tokyo Institute of Industrial Science Tokyo Japan

ISBN: (纸本)9781617825583

The computerized modeling of cognitive visual information has been a research field of great interest in the past several decades. The research field is interesting not only from a biological perspective, but also from an engineering point of view when systems are developed that aim to achieve similar goals as biological cognitive systems. This paper briefly describes a general framework for the extraction and systematic storage of low-level visual features, and demonstrates its applicability in image categorization using a linear categorization algorithm originally developed for the characterization of text documents. The performance of the algorithm together with the newly developed feature array was evaluated using the Caltech 101 database. Extremely high (95% and higher) success rates were achieved when distinguishing between pairs of categories using independent test images. Efforts were made to scale up the number of categories using a hierarchical, branch-and-bound decision tree, with limited success.

关键词： Cognitive systems

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Management of changes in a holonic manufacturing system with dual-horizon dynamic rescheduling of production orders

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IFAC Proceedings Volumes 2009年第4期42卷 624-629页

作者： Theodor Borangiu Silviu Raileanu Andrei Rosu Mihai Parlea Florin D. Anton University Politehnica of Bucharest Dept. of Automation and Applied Informatics Bucharest RO 060032 ROMANIA (Tel: +40 21 402 9314)

The paper describes a solution and implementing framework for the management of changes which may occur in a holonic manufacturing system. This solution is part of the semi-heterarchical control architecture developed for agile job shop assembly with intelligent robots-vision workstations. Two categories of changes in the manufacturing system are considered: (i) changes occurring in resource status at process level: resource breakdown, failure of (vision-based) in-line inspection operation, and depletion of local robot storages; (ii) changes in production orders at business (ERP) level: rush orders. All these situations trigger production plan update and rescheduling (redefine the list of Order Holons) by pipelining CNP-type resource bidding at shop-floor horizon with global product scheduling at aggregate batch horizon. Failure- and recovery management are developed as generic scenarios embedding the CNP mechanism into production self-rescheduling. Implementing solutions and experimental results are reported for a 6-station robot-vision assembly cell with twin-track closed-loop pallet transportation system and product tracking RD/WR devices. Future developments will consider manufacturing integration at enterprise level.

关键词： holonic manufacturing distributed control reconfigurable systems robotics applied AI

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An Iterative GPC-like nonlinear predictive control algorithm for the parametric Volterra model

An Iterative GPC-like nonlinear predictive control algorithm...

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European Control Conference (ECC)

作者： Robert Haber Ruth Bars Fakhredin Arousi Institute of Chemical Process Engineering and Plant Design University of Applied Science Cologne Germany Dept. of Automation and Applied Informatics Budapest University of Technology and Economics (BME) Hungary

Predictive control recently has gained wide acceptance in the process industry. In practice mostly linear algorithms are applied. Control algorithms considering the nonlinearities of the processes would provide better control performance than the linear algorithms. A new iterative nonlinear predictive control algorithm is presented here based on the quadratic parametric Volterra model. The algorithm uses a GPC-like structure. The control performance is demonstrated by a simulation case study of level control of a two-tank system. The behavior of the new algorithm is compared with other suboptimal nonlinear algorithms.

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Object Categorization Based on Biologically Inspired Features Using a Hierarchical Categorization System *

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IFAC Proceedings Volumes 2009年第16期42卷 251-256页

作者： A. Csapo B. Resko G. Sziebig H. Hashimoto P. Baranyi Budapest Univ. of Technology and Economics Dept. of Telecommunications and Media Informatics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Budapest Univ. of Technology and Economics Dept. of Mechatronics Optics and Applied Informatics Budapest Hungary Univ. of Tokyo Institute of Industrial Science Tokyo Japan

Abstract The computerized modeling of cognitive visual information has been a research field of great interest in the past several decades. The research field is interesting not only from a biological perspective, but also from an engineering point of view when systems are developed that aim to achieve similar goals as biological cognitive systems. This paper briefly describes a general framework for the extraction and systematic storage of low-level visual features, and demonstrates its applicability in image categorization using a linear categorization algorithm originally developed for the characterization of text documents. The performance of the algorithm together with the newly developed feature array was evaluated using the Caltech 101 database. Extremely high (95% and higher) success rates were achieved when distinguishing between pairs of categories using independent test images. Efforts were made to scale up the number of categories using a hierarchical, branch-and-bound decision tree, with limited success.

关键词： Cognitive computational models visual features image categorization

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Evolutionary optimization methods for predictive on-off control

Evolutionary optimization methods for predictive on-off cont...

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作者： Schmitz, Ulrich Haber, Robert Bars, Ruth Shell Deutschland Oil Rhineland Refinery Department for Technology and Services Ludwigshafener Strasse l D-50389 Wesseling Germany University of Applied Science Cologne Institute of Process Engineering and Plant Design Betzdorfer Str. 2 D-50679 Cologne Germany Budapest Univ. of Technology and Economics Dept. of Automation and Applied Informatics MTA-BME Control Research Group Goldmann Gy.ter 3 H-1111 Budapest Hungary

ISBN: (纸本)9783902661661

On-off control is still widely used in the industry, especially for discontinuous actuators, e.g. compressors, steam turbines or furnace burners. Exact set-point control is not possible by an on-off controller. Lower and upper limits are defined for the control signal which should not be violated. For this predictive gap control quadratic and horizon dependent cost functions are defined. Traditional numerical optimization fails with longer prediction horizons, but a genetic algorithm can be effectively applied even for long horizons.

关键词： Actuators

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Evolutionary optimization methods for predictive on-off control

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IFAC Proceedings Volumes 2009年第19期42卷 408-413页

作者： Ulrich Schmitz Robert Haber Ruth Bars Shell Deutschland Oil Rhineland Refinery Department for Technology and Services Ludwigshafener Strasse l D-50389 Wesseling Germany University of Applied Science Cologne Institute of Process Engineering and Plant Design Betzdorfer Str. 2 D-50679 Cologne Germany Budapest Univ. of Technology and Economics Dept. of Automation and Applied Informatics MTA-BME Control Research Group Goldmann Gy.ter 3 H-1111 Budapest Hungary

Abstract On-off control is still widely used in the industry, especially for discontinuous actuators, e.g. compressors, steam turbines or furnace burners. Exact set-point control is not possible by an on-off controller. Lower and upper limits are defined for the control signal which should not be violated. For this predictive gap control quadratic and horizon dependent cost functions are defined. Traditional numerical optimization fails with longer prediction horizons, but a genetic algorithm can be effectively applied even for long horizons.

关键词： predictive control on-off control discontinuous actuators genetic algorithms

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Implementation of the High Availability Concept in Networked Robotic Systems

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IFAC Proceedings Volumes 2008年第2期41卷 10403-10408页

作者： Florin Daniel Anton Theodor Borangiu Silvia Anton University Politehnica of Bucharest Dept. of Automation and Applied Informatics 313 Spl. Independentei sector 6 RO-060032 Bucharest

In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. This is achieved through the elimination of hardware and software single points of failure (SPOF). A high availability solution will ensure that the failure of any component of the solution - either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) reintegration. The paper discusses the implementing of a high availability solution in a robotized manufacturing line.

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Gain-scheduling and iterative feedback tuning ofPI controllers for longitudinal slip control

Gain-scheduling and iterative feedback tuning ofPI controlle...

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ICCC 2008 - IEEE 6th International Conference on Computational Cybernetics

作者： Radac, M.-B. Precup, R.-E. Preitl, S. Tar, J.K. Fodor, J. Petriu, E.M. Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech. Polytechnical Institution Budapest Hungary School of Information Technology and Engineering University of Ottawa Ottawa Canada

ISBN: (纸本)9781424428755

The paper suggests PI controllers for longitudinal slip control in the framework of a laboratory Anti-lock Braking System (ABS). The new design methods make use of gain-scheduling and Iterative Feedback Tuning. They prove to be relatively simple and transparent thus ensuring low-cost automation solutions. The digital implementation of the controllers is done for the laboratory ABS. Real-time experimental results validate the theoretical approaches. © 2008 IEEE.

关键词： Controllers

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Pole placement approaches for linear and fuzzy systems

Pole placement approaches for linear and fuzzy systems

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6th International Symposium on Intelligent Systems and informatics, SISY 2008

作者： Preitl, S. Precup, R.-E. Clep, P.A. Ursache, I.-B. Fodor, J. Škrjanc, I. Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech. Polytechnical Institution Budapest Hungary Laboratory of Modelling Simulation and Control University of Ljubljana Ljubljana Slovenia

The paper investigates several pole placement methods in the linear case and suggests a new pole placement method by means of fuzzy linear equations. The linear methods concern the constant real part poles, the poles places on a circle, Butterworth configurations without and with the correction of the imaginary part, the pole-zero cancellation, and the poles placed on an ellipse. Low order systems are considered. The pole placement methods are compared by the digital simulation of control systems' behaviors with respect to the modification of the reference input. The conclusions are useful for continuous control systems, and they can be extended easily to digital control systems including quasi-continuous ones. ©2008 IEEE.

关键词： Poles

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Virtual power electronics: Novel software tools for design modeling and education

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IEEJ Transactions on Industry Applications 2008年第8期128卷 969-978页

作者： Hamar, Janos Nagy, István Funato, Hirohito Ogasawara, Satoshi Dranga, Octavian Nishida, Yasuyuki Dept. of Automation and Applied Informatics Budapest University of Technology and Economics Goldmann Gyorgy ter 3 1111 Budapest Hungary Power Electronics Laboratory Dept. of Electrical and Electronic Engineering Utsunomiya University 7-1-2 Yoto Utsunomiya 321-8585 Japan Division of System Science and Infomatics Graduate School of Information Science and Technology Hokkaido University Kita 14 Nishi 9 Kita-ku Sapporo 060-0814 Japan School of Engineering James Cook University Townsville QLD 4811 Australia Dept. of Electrical and Electronic Eng. College of Engineering Nihon University Tokusada Tamura-machi Kouriyama 963-8642 Japan

The current paper is dedicated to present browser-based multimedia-rich software tools and e-learning curriculum to support the design and modeling process of power electronics circuits and to explain sometimes rather sophisticated phenomena. Two projects will be discussed. The so-called Inetele project is financed by the Leonardo da Vinci program of the European Union (EU). It is a collaborative project between numerous EU universities and institutes to develop state-of-the art curriculum in Electrical Engineering. Another cooperative project with participation of Japanese, European and Australian institutes focuses especially on developing e-learning curriculum, interactive design and modeling tools, furthermore on development of a virtual laboratory. Snapshots from these two projects will be presented. © 2008 The Institute of Electrical Engineers of Japan.

关键词： E-learning

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