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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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Core line detector of a multi purpose geometry scanner

Core line detector of a multi purpose geometry scanner

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Tibor Kovács Gergely Mezei Dept. of Automation and Applied Informatics Budapest University of Tech. and Economics Budapest Hungary

In cognitive informatics, attention is drawn to create, model, analyze and interact with three-dimensional representation of the objects from the environment. Having a precise 3D scanner solution for an affordable price is an important step to achieve this goal. Our research group focuses on creating such a solution consisting of a scanner device and a software component. As part of the research, a cost effective active triangulation laser scanner hardware is built. Currently we focus on developing a high-precision line tracking method based on software solution instead of using expensive hardware components. More precisely, at the moment, a noise model is set to describe the noise of the imaging system, and it is to be integrated into the triangulation core engine. As the part of this research, a new and accurate algorithm is defined to find the initial point of line tracking. The paper presents an overview of the scanner environment and a detailed discussion is given on the new algorithm. Besides the details of the algorithm, measurements are also presented and a comparison is drawn between our approach and existing algorithms.

关键词： Noise Three-dimensional displays Detectors Solid modeling Accuracy Hardware Light sources

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A method of machine code translation to intermediate representation

A method of machine code translation to intermediate represe...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Dmitriy Dunaev Hassan Charaf László Lengyel Dept. of Automation and Applied Informatics Budapest University of Technology and Economics (BME) Budapest Hungary

Translation of machine code to intermediate representation is an essential part of a platform-independent obfuscator that deals with intermediate code. The paper discusses a method of assembly code analysis and its translation to three-address code. The focus is set on basic block splitting, alias analysis, value-sets analysis, and interprocedural analysis. The presented techniques are universal, and can be used apart from an obfuscator tool.

关键词： Registers Assembly Algorithm design and analysis Abstracts Optimization Data structures Software

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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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Cascade Control for Telerobotic Systems Serving Space Medicine *

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IFAC Proceedings Volumes 2011年第1期44卷 3759-3764页

作者： Tamás Haidegger Levente Kovács Radu-Emil Precup Stefan Preitl Balázs Benyó Zoltán Benyó Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics (BME IIT) Hungary “Politehnica” University of Timisoara Dept. of Automation and Applied Informatics Romania

Abstract Long distance teleoperation formulates a current control problem task yet to be solved, primarily due to the difficulty to compensate for signal latency. Predictive and model-based control can only give satisfying results if proper description of the system's behavior is provided. The interdisciplinary field of telesurgery has become a focal point of technology-extended medicine, where master–slave type control over large distances poses significant challenges. Innovative solutions are required to deal with the modeling human teleoperation and varying communication quality parameters. In this paper, we investigate the feasibility a more straight-forward, classical control solution based on Kessler's Extended Symmetrical Method, formulated in a cascade control approach to tackle the problems caused by latency and uncertainties in a modeled telesurgical robot system.

关键词： Teleoperation Cascade control Time-delay control Surgical robotics

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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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Fault detection methods for frequency converters fed induction machines

Fault detection methods for frequency converters fed inducti...

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12th IEEE International Conference on Emerging Technologies and Factory automation, ETFA 2007

作者： Mihet-Popa, Lucian Prostean, Octavian Filip, Loan Szeidert, Iosif Vasar, Cristian Dept. of Electrical Machines and Drives POLITEHNICA University of Timisoara Blvd. V. Parvan no. 2 300223 Timisoara Romania Dept. of Automation and Applied Informatics POLITEHNICA University of Timisoara Blvd. V. Parvan no. 2 300223 Timisoara Romania

ISBN: (纸本)1424408261

The paper focuses on experimental investigation for stator faults detection and fault detection methods of electrical drive systems using Voltage Source Inverter (VSI) fed cage rotor induction machines (CRIM). Two experimental investigations (one stator phase unbalance and one stator phase open) have been performed to study the behaviour of the electrical machine. A description of the measurement system including acquisition and processing of the data is presented and stator current signature, current Park's vector and instantaneous power as diagnostic techniques are considered. © 2007 IEEE.

关键词： Fault detection

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NDSP: A platform for audiophile software audio processing

NDSP: A platform for audiophile software audio processing

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

作者： Paul, Adrian-Sebastian Precup, Radu-Emil Pozna, Claudiu David, Radu-Codrut Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania Faculty of Engineering Széchenyi István University Györ Hungary

ISBN: (纸本)9781424474332

This paper proposes a platform referred to as nDSP to interconnect different software audio signal processing effects which are modularized. The new platform is focused on having all processing done by the system CPU at higher quality than that achieved using hardware DSPs. The software representation of the module inside the platform is defined such that its state can be externally controlled, therefore the design of self-tuning filters is allowed. The design aims the further use of software audio signal processing in low-cost audiophile loudspeaker systems taking full advantage of the new personal computer hardware products. © 2010 IEEE.

关键词： Computer hardware

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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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