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作者： Borangiu, Theodor Balibrea, Luis Manuel Tomas Anton, Florin Daniel Ivanescu, Nick Tunaru, Silvia Dogar, Anamaria Raileanu, Silviu Dept. of Automation and Applied Informatics University Politehnica of Bucharest Romania Facultad de Economia y Empresas Universidad de Murcia Spain

ISBN: (纸本)9783902661227

The paper describes a networked fault-tolerant assembly system of job shop type containing multiple robotized stations operating under visual control. During the assembly process, the products are identified, located, qualified, and controlled by analyzing images from virtual cameras associated to stationary- and arm-mounted cameras. The holonic control architecture is formed by the following types of entities: a Global Assembly Scheduler generating Order Holons, a dual layer of Material Handling (Robot) Holons and Sensory Holons, and a System Monitoring & Database entity. These elements are embedded in a 3-layer computing & control structure, and interconnected by a 4-fold fault-tolerant communication network keeping track of assembly job execution. Implementing issues and experimental results are reported. Copyright © 2007 IFAC.

关键词： Scheduling algorithms

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Low cost fuzzy controlled servo systems in mechatronic systems

Low cost fuzzy controlled servo systems in mechatronic syste...

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作者： Precup, Radu-Emil Preitl, Stefan Politehnica University of Timisoara Dept. of Automation and Applied Informatics Bd. V. Parvan 2 RO-300223 Timisoara Romania

ISBN: (纸本)9783902661173

The paper proposes original low cost fuzzy control solutions for controlling servo systems in mechatronic systems. In this situation the controlled plants can be characterized well by simplified mathematical models of second-order integral type. The development is done by using the linear case results on the basis of the Extended Symmetrical Optimum (ESO) method and of Iterative Feedback Tuning (IFT) techniques, and by the transfer of these results to the fuzzy case. There are proposed two fuzzy control system structures employing a basic PI-fuzzy controller. Real-time experimental results corresponding to a nonlinear servo system validate the proposed fuzzy control solutions. Copyright © 2006 IFAC.

关键词： Fuzzy control

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Parametric sensitivity reduction of PI-based control systems by means of evolutionary optimization algorithms

Parametric sensitivity reduction of PI-based control systems...

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6th IEEE International Symposium on applied Computational Intelligence and informatics, SACI 2011

作者： David, Radu-Codrut Precup, Radu-Emil Preitl, Stefan Tar, Jozsef K. Fodor, Janos Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Óbuda University Budapest Hungary

ISBN: (纸本)9781424491094

This paper proposes new optimization algorithms for the optimal tuning of PI controllers dedicated to a class of second-order processes with integral component and variable parameters. The sensitivity analysis with respect to the parametric variations of the controlled process leads to the sensitivity models. The augmentation of the output sensitivity functions over the integral of absolute error criterion results in the definition of objective functions, and the corresponding optimization problems are solved by Particle Swarm Optimization (PSO) and Gravitational Search Algorithms (GSA). The algorithms are tested in a case study associated with several analyses. © 2011 IEEE.

关键词： Sensitivity analysis

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Bird's Eye View on Systems and Control - General View and Case Studies

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IFAC-PapersOnLine 2016年第6期49卷 274-279页

作者： Vámos, T. Bars, R. Sik, D. Institute of Computer Science and Control Hungarian Academy of Sciences MTA-SZTAKI Budapest Hungary Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Engineering Research Group Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a website on the internet. © 2016

关键词： Control theory Algorithms Case studies Control disciplines Control education Control structure Systems and control

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Open source machine vision platform for manufacturing and robotics

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IFAC-PapersOnLine 2021年第1期54卷 522-527页

作者： Silviu Răileanu Theodor Borangiu Florin Anton Silvia Anton University Politehnica of Bucharest Dept. of Automation and Applied Informatics Bucharest Romania

The paper describes the design and implementation of an open source machine vision platform for visual robot guidance and automated product inspection in manufacturing, based on OpenCV library. Using this platform, the rigid, industry-specific organization of material flows can be relaxed, shop floor resources becoming reality-aware. The main functionalities are: acquisition of video streams from multiple sources, image analysis at scene level, part recognition, locating and interaction with industrial equipment using standard, open communication protocols. The paper describes design aspects: system architecture, data acquisition and standardization of the image representation used by the analysis algorithms and object recognition module and input/output interaction protocols for a set of predefined cases. Results are reported for an implementation of the platform using a commercial image acquisition device and an industrial robot.

关键词： machine vision interaction protocol industrial robot visual robot guidance extended visual environment open source OpenCV TCP

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BME-UW at SR'19: Surface realization with interpreted regular tree grammars 2

BME-UW at SR'19: Surface realization with interpreted regula...

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2nd Workshop on Multilingual Surface Realisation, MSR@EMNLP-IJCNLP 2019

作者： Kovács, Ádám Ács, Evelin Ács, Judit Kornai, András Recski, Gábor Dept. of Automation and Applied Informatics Budapest U of Technology Hungary SZTAKI Insititute of Computer Science Hungary University of Washington United States Sclable

ISBN: (纸本)9781950737765

The Surface Realization Shared Task involves mapping Universal Dependency graphs to raw text, i.e. restoring word order and inflection from a graph of typed, directed dependencies between lemmas. Interpreted Regular Tree Grammars (IRTGs) encode the correspondence between generations in multiple algebras, and have previously been used for semantic parsing from raw text. Our system induces an IRTG for simultaneously building pairs of surface forms and UD graphs in the SR'19 training data, then prunes this grammar for each UD graph in the test data for efficient parsing and generation of the surface ordering of lemmas. For the inflection step we use a standard sequence-to-sequence model with a biLSTM encoder and an LSTM decoder with attention. Both components of our system are available on GitHub under an MIT license. © 2019 Association for Computational Linguistics.

关键词： Forestry

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Experimental results of evolving Takagi - Sugeno fuzzy models for a nonlinear benchmark

Experimental results of evolving Takagi - Sugeno fuzzy model...

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3rd IEEE International Conference on Cognitive Infocommunications, CogInfoCom 2012

作者： Precup, Radu-Emil Filip, Horatiu-Ioan RǍdac, Mircea-Bogdan Pozna, Claudiu Dragos, Claudia-Adina Preitl, Štefan Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Department of Informatics Széchenyi István University Gyõr Hungary Dept. of Production Design and Robotics Transilvania University of Brasov Brasov Romania

ISBN: (纸本)9781467351874

The paper offers evolving Takagi-Sugeno (T-S) fuzzy models for a nonlinear benchmark represented by the pendulum-crane system and focused on the dynamics of pendulum angular position behavior. The rule bases and parameters of T-S fuzzy models are continuously evolved by an online identification algorithm in terms of computing the potentials of new data points. Accepting the pendulum angle as model output, two T-S fuzzy models are derived, viz. with a single input and with three inputs. The experimental results are obtained for a pendulum-crane laboratory equipment system and they show the performance of the proposed evolving T-S fuzzy models. © 2012 IEEE.

关键词： Pendulums

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ADDRESSING CHALLENGES IN MODELING REAL-TIME APPLICATIONS FOR COMPLEX DISTRIBUTED SYSTEMS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2023年第4期85卷 181-192页

作者： Dobrica, Liliana Dept. of Automation and Applied Informatics UNST POLITEHNICA of Bucharest Romania

The paper explores the current challenges in software modeling of real-time applications for complex distributed systems taking benefits of the current abstracted mechanisms and graphical elements supported by UML and its MARTE profile. The main concerns are focused on modeling the structure and behavior of a set of various types of tasks that are executed concurrently, modeling asynchronous events including a more detailed representation of the hardware interrupts mechanism, modeling timing constraints in structural diagrams, scheduling policies, concurrency on shared resources and intertask communication mechanisms. A model-driven development approach based on open-source tools integrated in Eclipse platform is used to address the modeling challenges. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Software design

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Double inverted pendulum control by linear quadratic regulator and reinforcement learning

Double inverted pendulum control by linear quadratic regulat...

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IEEE International Joint Conferences on Computational Cybernetics and Technical informatics, ICCC-CONTI 2010

作者： Biro, Sandor Precup, Radu-Emil Todinca, Doru Crabel Capital Research Timisoara Romania Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Dept. of Computer Science and Engineering Politehnica University of Timisoara Timisoara Romania

ISBN: (纸本)9781424474332

The paper gives an original combination of linear quadratic regulator and reinforcement learning dedicated to the position control of a double inverted pendulum system. An agent based on a modified Sarsa algorithm is applied to swing up the pendulum. The linear quadratic regulator is applied to the linearized mathematical model of the process in the vicinity of upright position. Digital simulation results show the performance of the new approach. © 2010 IEEE.

关键词： Reinforcement learning

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Manufacturing Service Bus Integration Model for Implementing Highly Flexible and Scalable Manufacturing Systems

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IFAC Proceedings Volumes 2012年第6期45卷 1850-1855页

作者： Cristina Morariu Octavian Morariu Theodor Borangiu Silviu Raileanu University Politehnica of Bucharest Dept. of Automation and Applied Informatics Bucharest Romania 060042

This paper presents an integration model for designing manufacturing systems using the concept of manufacturing service bus. The manufacturing service bus (MSB) provides a uniform communication framework at the shop floor layer, integrating all components involved. The main characteristics of the MSB integration layer together with the advantages and requirements of the software products used in this model are discussed. The overall architectural goal of this integration model is to assure a very low coupling between the modules at the shop floor level, providing a high degree of flexibility for the manufacturing enterprises. Physical resources as production line robots, conveyors and existing transportation paths, scheduling algorithms can be plugged in and out without or with a very low impact on the entire system functionality. Another important aspect of this design is that it provides elasticity through a dynamic queued communication model, allowing a seamless scaling capability at the shop floor level.

关键词： manufacturing service bus multi agent system flexible manufacturing systems

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