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7th IFAC Workshop on Intelligent Manufacturing Systems, IMS 2003

作者： Christova, Nikolinka G. Stylios, Chrysostomos D. Groumpos, Peter P. Lab. for Automation and Robotics Dept. of Electrical and Computer Engineering University of Patras Rion Patras26500 Greece Computer Science Dept. University of Ioannina P.O. Box 1186 Ioannina45510 Greece

This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the chemical process of a complex plant with successful results and at the highest hierarchical level the production planning should meet the fluctuating demands in optimal way. This level integrates the operational and business management requirements where the soft computing technique of Fuzzy Cognitive Maps is proposed to model these tasks. The strategic planning for the hierarchical integrated system realizes the optimal total management at the corporate level. The obtained simulation results prove the applicability of the proposed methodology and the advantages of using soft computing modeling techniques for the sophisticated high level of hierarchical systems. © 2003 IFAC.

关键词： Industrial plants

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Sensor bias fault isolation in a class of nonlinear systems 5

Sensor bias fault isolation in a class of nonlinear systems

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5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2003

作者： Zhang, X. Parisini, T. Polycarpou, M. Intelligent Automation Inc. RockvilleMD20855 United States Dept. of Electrical Electronic and Computer Engineering DEEI-University of Trieste Trieste34127 Italy Dept. ECE University of Cyprus Cyprus and Dept. ECECS University of Cincinnati Nicosia 1678 CincinnatiOH45221-0090 United States

This paper presents a robust fault isolation scheme for a class of nonlinear systems with sensor bias type of faults. The proposed fault diagnosis architecture consists of a fault detection estimator and a bank of isolation estimators, each corresponding to a particular output sensor. Based on the class of nonlinear systems and sensor bias faults under consideration, the stability and learning properties of the fault isolation estimators are obtained, adaptive thresholds are derived for isolation estimator, and fault isolability conditions arc rigorously investigated, characterizing the class of nonlinem faults that are isolable by the proposed scheme. © 2003 International Federation of Automatic Control.

关键词： Nonlinear systems

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Grasping Motion Control of Robotic Hands Using MIDS

Grasping Motion Control of Robotic Hands Using MIDS

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2003年中国智能自动化会议

作者： Alan H．F．Lam Martin Y．Y．Leung Raymond H．W．Lam Centre for Micro and Nano Systems Dept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Hong Kong SAR Dept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Hong Kong SAR Centre for Micro and Nano Systems Dept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Hong Kong SAR

A novel input and sensing system - the Micro Input Devices System (MIDS) is under development by merging MEMS sensors and existing wireless technologies. Previously,we have demonstrated MIDS to be applicable as a new form of humancomputer interface to potentially replace the mouse, keyboard, and light-pen. We have also shown that MIDS can be used as a generalized wireless distributed sensing system and successfully utilized it to measure the motion of the fingers of a robotic hand under manipulation. In this paper, we will present our recent results on using MIDS for grasping motion control of robotic hands. MIDS acts as a human-robot-interface that is used to detect and transduce an operator's finger motion to control a five-finger robotic hand to perform grasping motion. Experimental results indicate that MIDS is capable of obtaining real-time acceleration signals and tilt angle data for the operator's fingers. With the PD control algorithm, the robotic finger angles (measured by the joint angle sensors) tracked the angle data from MIDS, and hence, allowing the operator to control the robotic hand manipulator wirelessly using his own arm and finger motion.

关键词： Grasping Motion Control of Robotic Hands Using MIDS

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Production Planning for Complex Plants using Fuzzy Cognitive Maps

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IFAC Proceedings Volumes 2003年第3期36卷 81-86页

作者： Nikolinka G. Christova Peter P. Groumpos Chrysostomos D. Stylios Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Pat ras 26500 Rion Patras GREECE Computer Science Dept. University of loannina P.O. Box 1186 45510 Ioannina GREECE

关键词： Complex Industrial Plant Production Planning Intelligent Integrated Control System Hierarchical Structure Fuzzy Cognitive Maps

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Implementation of an immuno-genetic network on a real Khepera II robot

Implementation of an immuno-genetic network on a real Kheper...

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Congress on Evolutionary Computation

作者： P.A. Vargas L.N. de Castro R. Michelan F.J. Von Zuben Dept. of Computer Engineering and Industrial Automation (DCA) State University of Campinas (UNICAMP) Campinas SP Brazil

The design of autonomous navigation systems for mobile robots, with simultaneous objectives to be satisfied such as garbage collection with integrity maintenance, requires refined coordination mechanisms to deal with modules of elementary behaviour. This paper shows the implementation on a real Khepera II robot of an immuno-genetic network for autonomous navigation that combines an evolutionary algorithm with a continuous immune network model. The proposed immuno-genetic system has the immune network implementing a dynamic process of decision-making, and the evolutionary algorithm defining the network structure. To be able to evaluate the controllers (immune networks) on the evolutionary process, a virtual environment was used for computer simulation, based on the characteristics of the navigation problem. The immune networks obtained by evolution were then analyzed and tested on new situations, presenting coordination capability in simple and more complex tasks. Some preliminary experiments on a real Khepera II robot demonstrate the feasibility of the evolved immune networks.

关键词： Navigation Robot sensing systems Robot kinematics Mobile robots Robotics and automation Service robots computer networks Evolutionary computation Genetics Organisms

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Motion sensing for robot hands using MIDS

Motion sensing for robot hands using MIDS

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IEEE International Conference on Robotics and automation (ICRA)

作者： A.H.F. Lam R.H.W. Lam W.J. Li M.Y.Y. Leung Yunhui Liu Dept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Hong Kong SAR Hong Kong China Centre for Micro and Nano Systems Dept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Hong Kong SAR

A novel computer input system-the Micro Input Devices System (MIDS)-is under development by merging MEMS sensors and existing wireless technologies. This system could potentially replace the functions of the mouse, pen, and keyboard as input devices to the computer. The system could also be used as a general wireless 3D motion sensing device. In this paper, we will present our work on using MIDS for motion sensing application of robot hands. MIDS is used to evaluate the performance of PD adaptive control and Impedance control schemes in manipulating a five-fingered robot hand and in manipulating this hand to grasp a ball. Experimental results indicate that MIDS is capable of obtaining real-time 3D acceleration/vibration data wirelessly for the robotic hand, hence eliminating the need to perform the time-consuming integration of the position sensor data to obtain acceleration. Moreover, our initial results also indicate that further exploration of this technology could eventually produce a new control-input device for robotic grasping manipulators. These results are presented in this paper.

关键词： Robot sensing systems Wireless sensor networks Acceleration Merging Micromechanical devices Sensor systems Mice Keyboards Application software PD control

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A course in air traffic control for developing countries development and implementation

A course in air traffic control for developing countries dev...

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2003 IEEE Aerospace Conference

作者： Dimirovski, Georgi Marko Dogus University Dept. of Computer Engineering and Information Technologies Acibadem Zeamet Sk. No: 21 Kadikoy TR-81010 Istanbul Turkey SS Cyril and Metbodius University Inst. of Automation and Systems Engineering FEE Karpos 2 Rugjer Boskovic b.b. MK-1000 Skopje Macedonia

ISBN: (纸本)078037651X

This paper presents a working implementation of a course in Air Traffic Control (in the Rep. of Macedonia), which is believed to be properly tailored according to the needs of small developing countries that are likely to be users of this technology only. One version was designed for the undergraduate studies in Traffic engineering at the Technical Faculty (TFB) in Bitola. The other version is designed for the graduate studies in automation & Systems engineering at Faculty of Electrical engineering (FEE) in Skopje. While it may not he widely suitable for developing countries in general, it is believed these have largely met the objectives for such dedicated comes. Since, in all countries, some knowledge on air traffic control is indispensable in order to meet the internationally approved criteria, requirements and standards for proper world-wide air traffic operations. © 2003 IEEE.

关键词： Air traffic control

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A simulator for line-of-sight missile control and guidance systems: Object-oriented design

A simulator for line-of-sight missile control and guidance s...

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2003 IEEE Aerospace Conference

作者： Dimirovski, Georgi M. Mohenski, Darko D. Deskovski, Stoyce M. Dogus University Dept. of Computer Engineering and Information Technologies Acibadem Zeamet Sk. No: 21 Kadikoy TR-8 1080 Istanbul Turkey SS Cyril and Methodius University Institute of Automation and Systems Engineering at FEE Karpos 2 Rugjer Boskovic b.b. MK-1000 Skopje Macedonia Dept. of Information and Control Systems Military Academy of RM General M. Apostolski MK-1000 Skopje Macedonia

ISBN: (纸本)078037651X

A standard PC platform based simulator system for personnel training in anti-tank guided missile (ATGM) systems has been designed and implemented;its operation is managed through instructor-trainee interaction. It makes use of object-oriented simulation modeling, 6 degree-offreedom (6DOF) missile model and mask modeling of terrain and weather conditions. The main topic of research are the short-range and line-of-sight (CLOS) missiles as well as their guidance and control and target selection and tracking in combat situation. The simulation model specifications are built around the set of concurrent cooperating objects, including representation model of the system's environment. The set of compatible models and software implementations for missiles and moving ground targets, involving their interrelated kinematics, has been elaborated by own research entirely. An appropriate designed user-system interface employing Visual Basic enhances the instructor-trainee co-operation. Its significance stems fiom being usable for personnel training and simulating all typical combat situations given country's landscapes, and being amenable to adjustments to serve a combat command and control instrument if endowed with some hardware-in-the-loop (HIL) elements and interface to launching platform. In addition, it is aimed for investigating new tracking algorithms in multi-target environment. © 2003 IEEE.

关键词： Target tracking

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Sensor Bias Fault Isolation in a Class of Nonlinear Systems

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IFAC Proceedings Volumes 2003年第5期36卷 621-626页

作者： X. Zhang T. Parisini M. Polycarpou Intelligent Automation Inc. Rockville MD 20855 USA Dept. of Electrical Electronic and Computer Engineering DEEI-University of Trieste 34127 Trieste Italy Dept. ECE University of Cyprus Nicosia 1678 Cyprus and Dept. ECECS University of Cincinnati Cincinnati OH 45221-0090 USA

关键词： Sensor Fault Detection and Isolation Nonlinear Systems

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Using damping time for epileptic seizures detection in EEG

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IFAC Proceedings Volumes 2003年第15期36卷 255-258页

作者： X. Li X. Guan R. Du Dept. of Automation & Computer-Aided Eng. The Chinese University of Hong Kong HK Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 P. R. China

The dynamical characteristics of a complex system can be inferred from an observation of the system. In this paper, a calculation algorithm of the damping time of a signal from a complex system is presented by using information retrieve and autoregressive model. Two EEG recordings during tonic-clonic seizure are analyzed; the damping time of EEG calculated by means of the proposed algorithm can successfully identify the difference between the seizure and pre/post-seizure. In light of this we suggest that the concept of damping time of the EEG may find an application in the development of new detection method for epileptic seizures.

关键词： Dynamic system Embedding Eigenmodes EEG Epileptic seizure

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